version: 66.04
glider: 167
mission: 2
dive: 213
start: 6 25 109 5 25 31
data:
$ID,167
$MISSION,2
$DIVE,213
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9259.1406
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,051854,2457.871,12331.473,41,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-65.8
$GPS2,052508,2457.952,12331.656,14,1.0,14,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,171.5,38599,-23.2,-12.000
$D_GRID,2052
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-24.48,0.000,2,0.000,0.000,140,2416,2336
$GC,44,-1.18,-121.7,3.0,-2.0,4,112,8.40,2.15,-53.67,0.000,4,0.247,0.058,2149,3763,3989
$GC,261,-0.39,-121.7,58.1,-33.5,41,268,0.95,1.98,0.00,0.000,6,0.190,0.024,2415,2387,3990
$GC,606,-0.90,-121.7,96.7,-8.9,102,614,0.40,2.12,0.00,0.000,4,0.050,0.046,2241,3762,3992
$GC,805,-0.69,-121.7,135.2,-20.4,137,812,0.28,1.85,0.00,0.000,6,0.160,0.025,2320,2456,3992
$GC,1150,-0.91,-121.7,179.9,-9.7,198,1158,0.17,2.03,0.00,0.000,4,0.066,0.044,2233,3771,3994
$GC,1301,-0.91,-121.7,198.9,-11.9,224,1307,0.00,1.83,0.00,0.000,6,0.000,0.024,2233,2471,3994
$GC,1644,-0.91,-121.7,242.7,-13.0,285,1650,0.00,2.00,0.00,0.000,4,0.000,0.046,2229,3775,3996
$GC,1747,-0.91,-121.7,256.1,-12.9,303,1752,0.00,1.77,0.00,0.000,6,0.000,0.025,2228,2513,3996
$GC,2095,-0.91,-121.7,303.2,-12.8,363,2098,0.00,1.92,0.00,0.000,4,0.000,0.046,2221,3767,3996
$GC,2118,-0.91,-121.7,306.2,-13.2,365,2121,0.00,1.77,0.00,0.000,6,0.000,0.025,2221,2504,3996
$GC,2451,-0.91,-121.7,344.6,-10.8,396,2455,0.00,1.95,0.00,0.000,4,0.000,0.048,2218,3768,3997
$GC,2636,-0.91,-121.7,366.5,-12.0,412,2642,0.12,1.75,0.00,0.000,6,0.158,0.025,2250,2532,3996
$GC,2963,-1.09,-121.7,401.0,-10.8,443,2965,0.17,0.00,0.00,0.000,6,0.071,0.000,2179,2532,3997
$GC,3281,-1.01,-121.7,447.7,-15.3,473,3285,0.15,1.90,0.00,0.000,4,0.171,0.048,2209,3766,3995
$GC,3397,-1.01,-121.7,464.5,-14.9,483,3403,0.00,1.77,0.00,0.000,6,0.000,0.026,2209,2544,3995
$GC,3724,-1.06,-121.7,504.9,-11.5,512,3727,0.00,1.90,0.00,0.000,4,0.000,0.050,2207,3767,3993
$GC,3842,-1.06,-121.7,518.5,-11.0,517,3845,0.00,1.75,0.00,0.000,6,0.000,0.027,2207,2544,3993
$GC,4169,-1.11,-121.7,552.6,-10.3,533,4173,0.00,1.92,0.00,0.000,4,0.000,0.051,2207,3786,3991
$GC,4220,-1.11,-121.7,558.2,-11.3,535,4224,0.00,1.77,0.00,0.000,6,0.000,0.028,2207,2555,3991
$GC,4548,-1.18,-121.7,594.1,-12.1,551,4552,0.12,1.90,0.00,0.000,4,0.085,0.051,2152,3769,3989
$GC,4689,-1.02,-121.7,615.5,-15.5,557,4693,0.22,1.70,0.00,0.000,6,0.171,0.028,2211,2589,3987
$GC,5017,-1.11,-121.7,656.3,-12.6,573,5021,0.00,1.83,0.00,0.000,4,0.000,0.052,2207,3757,3986
$GC,5124,-1.18,-121.7,669.5,-11.3,577,5130,0.12,1.65,0.00,0.000,6,0.086,0.029,2159,2615,3985
$GC,5442,-1.09,-121.7,709.6,-11.7,593,5443,0.12,0.00,0.00,0.000,6,0.182,0.000,2188,2615,3982
$GC,5749,-1.09,-121.7,741.8,-10.4,608,5752,0.00,1.80,0.00,0.000,4,0.000,0.054,2182,3760,3980
$GC,5827,-1.09,-121.7,750.9,-11.7,611,5830,0.00,1.70,0.00,0.000,6,0.000,0.031,2182,2599,3980
$GC,6149,-1.09,-121.7,788.2,-11.7,627,6153,0.00,2.25,0.00,0.000,4,0.000,0.031,2182,1066,3977
$GC,6176,-1.09,-121.7,791.6,-12.5,628,6180,0.00,2.35,0.00,0.000,6,0.000,0.039,2179,2600,3977
$GC,6498,-1.09,-121.7,829.6,-11.9,644,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2601,3975
$GC,6807,-1.09,-121.7,867.3,-12.5,659,6810,0.00,1.83,0.00,0.000,4,0.000,0.058,2178,3767,3972
$GC,6840,-1.09,-121.7,871.7,-12.8,660,6843,0.00,1.67,0.00,0.000,6,0.000,0.031,2178,2626,3972
$GC,7161,-1.09,-121.7,913.6,-13.4,676,7165,0.00,2.30,0.00,0.000,4,0.000,0.031,2178,1067,3970
$GC,7182,-1.09,-121.7,916.5,-13.2,677,7186,0.00,2.40,0.00,0.000,6,0.000,0.041,2178,2621,3970
$GC,7509,-1.09,-121.7,961.8,-13.8,693,7512,0.00,1.80,0.00,0.000,4,0.000,0.059,2178,3767,3969
$GC,7547,-1.09,-121.7,967.2,-13.8,694,7554,0.00,1.70,0.00,0.000,6,0.000,0.031,2178,2640,3968
$STATE,7716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7716,begin apogee
$GC,7723,-0.22,0.0,990.1,13.2,703,7822,0.98,0.00,88.70,1.414,6,0.160,0.000,2468,2549,3531
$STATE,7822,end apogee,CONTROL_FINISHED_OK
$STATE,7822,begin climb
$GC,7825,1.18,121.7,995.0,0.0,708,7933,1.25,2.12,100.62,1.373,4,0.055,0.052,2925,3760,3034
$GC,8109,0.41,121.7,975.9,14.5,720,8116,1.00,1.92,0.00,0.000,6,0.219,0.028,2682,2489,3031
$GC,8425,0.62,190.3,952.2,7.5,736,8488,0.17,2.17,54.55,1.351,4,0.081,0.035,2747,1118,2755
$GC,8528,0.67,190.3,940.9,12.4,740,8534,0.00,2.20,0.00,0.000,6,0.000,0.038,2747,2496,2753
$GC,8843,0.67,190.3,902.0,12.1,756,8847,0.00,2.12,0.00,0.000,4,0.000,0.035,2750,1107,2750
$GC,8905,0.67,193.7,894.5,11.8,758,8911,0.00,2.12,0.00,0.000,6,0.000,0.038,2750,2475,2750
$GC,9220,0.69,207.4,858.2,11.1,774,9242,0.00,2.12,14.35,1.250,4,0.000,0.036,2750,1106,2686
$GC,9326,0.77,219.7,846.3,11.2,778,9343,0.12,2.15,11.65,1.205,6,0.091,0.040,2795,2480,2636
$GC,9661,0.67,219.7,803.7,12.9,795,9665,0.12,2.10,0.00,0.000,4,0.196,0.033,2773,1105,2632
$GC,9749,0.67,219.7,792.4,12.7,799,9753,0.00,2.10,0.00,0.000,6,0.000,0.038,2773,2463,2632
$GC,10076,0.67,219.7,750.9,13.1,815,10080,0.00,2.05,0.00,0.000,4,0.000,0.035,2776,1110,2630
$GC,10234,0.67,219.7,731.1,13.0,822,10237,0.00,2.08,0.00,0.000,6,0.000,0.040,2776,2452,2630
$GC,10566,0.67,219.7,689.0,12.4,838,10570,0.00,2.03,0.00,0.000,4,0.000,0.036,2775,1114,2629
$GC,10599,0.67,219.7,684.7,12.2,839,10603,0.00,2.03,0.00,0.000,6,0.000,0.039,2775,2434,2629
$GC,10920,0.68,224.2,647.1,11.7,855,10930,0.00,2.03,4.05,0.816,4,0.000,0.036,2775,1119,2617
$GC,11011,0.68,227.0,636.8,11.8,859,11020,0.00,2.00,4.18,0.822,6,0.000,0.038,2775,2423,2606
$GC,11342,0.68,227.0,597.2,12.0,875,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2423,2605
$GC,11652,0.71,247.6,563.1,10.6,890,11672,0.00,0.00,17.17,1.110,6,0.000,0.000,2775,2423,2522
$GC,11981,0.79,272.0,527.2,10.4,906,12006,0.00,2.03,20.60,1.084,4,0.000,0.035,2775,1113,2422
$GC,12046,0.94,298.6,520.3,10.2,909,12076,0.20,2.05,23.02,1.064,6,0.076,0.038,2848,2426,2314
$GC,12399,0.84,298.6,468.5,14.6,936,12404,0.12,2.00,0.00,0.000,4,0.185,0.032,2826,1113,2307
$GC,12490,0.84,298.6,456.3,13.4,944,12494,0.00,2.03,0.00,0.000,6,0.000,0.038,2826,2424,2307
$GC,12822,0.84,298.6,409.4,14.5,975,12826,0.00,1.98,0.00,0.000,4,0.000,0.034,2831,1116,2307
$GC,12961,0.84,298.6,389.2,14.4,987,12968,0.00,1.98,0.00,0.000,6,0.000,0.038,2831,2409,2306
$GC,13288,0.84,298.6,344.6,12.9,1018,13292,0.00,1.95,0.00,0.000,4,0.000,0.033,2835,1109,2306
$GC,13338,0.84,298.6,338.1,12.8,1022,13344,0.00,1.98,0.00,0.000,6,0.000,0.038,2835,2404,2306
$GC,13665,0.87,321.8,301.9,10.5,1053,13688,0.00,2.03,18.00,0.889,4,0.000,0.034,2841,1106,2220
$GC,13774,0.87,323.7,289.9,11.9,1070,13780,0.00,1.95,0.00,0.000,6,0.000,0.037,2841,2379,2218
$GC,14117,0.87,323.7,246.4,14.7,1131,14124,0.00,1.90,0.00,0.000,4,0.000,0.033,2844,1109,2217
$GC,14176,0.87,323.7,238.1,14.0,1141,14182,0.00,1.92,0.00,0.000,6,0.000,0.035,2844,2377,2217
$GC,14520,0.95,338.6,192.4,11.0,1202,14540,0.00,2.22,14.70,0.781,4,0.000,0.051,2845,3764,2150
$GC,14709,0.95,338.6,170.9,12.1,1235,14716,0.00,2.20,0.00,0.000,6,0.000,0.027,2855,2264,2148
$GC,15054,1.09,367.6,133.5,10.1,1296,15085,0.12,2.40,23.38,0.736,4,0.084,0.048,2905,3772,2032
$GC,15168,0.99,367.6,118.8,14.3,1315,15176,0.20,2.22,0.00,0.000,6,0.179,0.025,2863,2265,2030
$GC,15515,1.27,422.5,86.7,8.4,1376,15564,0.22,1.77,42.42,0.688,4,0.071,0.031,2965,1107,1808
$GC,15620,1.27,422.5,71.9,14.1,1394,15626,0.00,1.83,0.00,0.000,6,0.000,0.034,2965,2299,1804
$GC,15963,1.27,422.5,25.5,12.8,1455,15970,0.00,2.28,0.00,0.000,4,0.000,0.046,2965,3772,1802
$GC,16049,1.15,422.5,13.3,15.6,1470,16056,0.22,2.12,0.00,0.000,6,0.178,0.023,2916,2310,1801
$STATE,16133,end climb,SURFACE_DEPTH_REACHED
$STATE,16133,begin surface coast
$FINISH,1.7,1.008203
$STATE,16164,end surface coast,CONTROL_FINISHED_OK
$STATE,16164,begin surface
$SM_CCo,16181,-0.03,0.000,0,0,1799,425.10
$SM_GC,2.75,0.00,0.00,-0.03,0.000,0.000,0.000,142,2473,1799,-7.51,1.30,425.10
$IRIDIUM_FIX,2448.93,12329.54,190998,000052
$TT8_MAMPS,0.028379
$HUMID,1590
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.8,37.957
$10V_AH,10.8,21.626
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.325,135.475,437.400,0.000,0.000,30.131,31.527,178.506,8.250,0.000,0.000,14.641,2651.770,10117.950,567.435,2673.071,541.066,0.000,1917.910,0.000,2604.672,0.000,54.430,0.000
$DEVICE_MAMPS,246.974,70.564,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.919,1029.480,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78888,1490
$CAP_FILE_SIZE,163033,0
$CFSIZE,260165632,208605184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 74.5,1
$GPS,250609,095631,2456.301,12332.560,40,2.0,41,-3.6