version: 66.04
glider: 167
mission: 2
dive: 220
start: 6 26 109 13 46 42
data:
$ID,167
$MISSION,2
$DIVE,220
$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,-9399.6963
$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,68
$R_STBD_OVSHOOT,41
$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
$GPS1,134001,2447.583,12337.454,39,1.2,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-65.8
$GPS2,134620,2447.624,12337.522,14,1.1,14,-3.6
$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,144.0,17574,-23.2,-12.000
$D_GRID,1867
$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,14,-1.18,-121.7,0.0,0.0,0,45,0.00,0.00,-28.92,0.000,2,0.000,0.000,140,2449,2442
$GC,48,-1.18,-121.7,3.4,-2.8,5,114,8.40,2.08,-47.85,0.000,4,0.245,0.058,2153,3754,3989
$GC,172,-0.28,-121.7,29.5,-38.3,26,179,1.08,1.95,0.00,0.000,6,0.196,0.023,2448,2392,3990
$GC,517,-1.05,-121.7,65.9,-8.4,87,526,0.62,2.12,0.00,0.000,4,0.050,0.046,2192,3758,3992
$GC,779,-0.53,-121.7,122.8,-24.1,133,786,0.62,1.80,0.00,0.000,6,0.172,0.025,2372,2488,3992
$GC,1124,-0.96,-121.7,157.1,-10.7,194,1131,0.35,2.08,0.00,0.000,4,0.052,0.025,2220,1040,3994
$GC,1279,-0.90,-121.7,183.6,-15.8,221,1286,0.15,2.20,0.00,0.000,6,0.163,0.031,2251,2528,3995
$GC,1625,-0.90,-121.7,228.5,-10.9,282,1630,0.00,1.85,0.00,0.000,4,0.000,0.046,2246,3754,3996
$GC,1881,-0.96,-121.7,257.6,-10.5,327,1888,0.00,1.67,0.00,0.000,6,0.000,0.025,2246,2564,3996
$GC,2227,-1.09,-121.7,297.9,-13.0,388,2233,0.15,1.85,0.00,0.000,4,0.074,0.046,2178,3765,3997
$GC,2275,-0.92,-121.7,305.2,-17.3,394,2279,0.25,1.67,0.00,0.000,6,0.163,0.025,2248,2572,3997
$GC,2605,-1.08,-121.7,342.9,-10.3,425,2609,0.15,1.83,0.00,0.000,4,0.072,0.047,2179,3757,3997
$GC,2695,-0.95,-121.7,356.2,-15.3,433,2699,0.22,1.65,0.00,0.000,6,0.166,0.027,2240,2592,3997
$GC,3025,-1.10,-121.7,396.8,-12.1,464,3030,0.15,2.22,0.00,0.000,4,0.071,0.027,2178,1054,3997
$GC,3054,-1.10,-121.7,400.8,-14.5,466,3058,0.00,2.30,0.00,0.000,6,0.000,0.035,2177,2583,3997
$GC,3379,-1.02,-121.7,446.3,-13.3,496,3383,0.15,1.80,0.00,0.000,4,0.175,0.047,2208,3765,3996
$GC,3440,-1.02,-121.7,454.7,-13.3,501,3446,0.00,1.67,0.00,0.000,6,0.000,0.026,2208,2616,3996
$GC,3768,-1.08,-121.7,496.5,-13.5,532,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2616,3994
$GC,4085,-1.14,-121.7,539.7,-13.7,549,4089,0.00,1.77,0.00,0.000,4,0.000,0.051,2205,3755,3993
$GC,4326,-1.14,-121.7,569.5,-11.6,559,4333,0.00,1.65,0.00,0.000,6,0.000,0.029,2205,2630,3991
$GC,4643,-1.21,-121.7,604.4,-10.9,575,4647,0.15,2.30,0.00,0.000,4,0.077,0.028,2148,1057,3988
$GC,4682,-1.09,-121.7,609.4,-13.0,577,4687,0.17,2.38,0.00,0.000,6,0.177,0.037,2189,2618,3988
$GC,5009,-1.09,-121.7,646.7,-11.6,593,5013,0.00,2.30,0.00,0.000,4,0.000,0.028,2189,1060,3986
$GC,5058,-1.16,-121.7,653.2,-12.8,595,5062,0.00,2.35,0.00,0.000,6,0.000,0.038,2189,2601,3985
$GC,5379,-1.16,-121.7,695.6,-14.1,611,5383,0.00,1.80,0.00,0.000,4,0.000,0.054,2189,3746,3983
$GC,5474,-1.16,-121.7,709.7,-14.0,615,5478,0.00,1.65,0.00,0.000,6,0.000,0.029,2189,2634,3982
$GC,5804,-1.21,-121.7,751.4,-12.2,631,5806,0.12,0.00,0.00,0.000,6,0.087,0.000,2143,2633,3980
$GC,6110,-1.09,-121.7,797.5,-14.9,646,6115,0.20,1.80,0.00,0.000,4,0.183,0.053,2192,3770,3977
$GC,6188,-1.09,-121.7,808.0,-13.6,649,6191,0.00,1.65,0.00,0.000,6,0.000,0.031,2192,2644,3977
$GC,6509,-1.16,-121.7,848.6,-12.8,665,6513,0.00,1.75,0.00,0.000,4,0.000,0.057,2191,3750,3974
$GC,6554,-1.21,-121.7,854.4,-12.3,667,6559,0.12,1.62,0.00,0.000,6,0.087,0.032,2144,2648,3974
$GC,6889,-1.11,-121.7,903.3,-14.6,683,6894,0.17,2.35,0.00,0.000,4,0.180,0.031,2193,1062,3972
$GC,6967,-1.24,-121.7,914.0,-12.1,686,6973,0.15,2.38,0.00,0.000,6,0.083,0.041,2139,2602,3971
$GC,7283,-1.13,-121.7,960.5,-14.5,702,7287,0.17,1.80,0.00,0.000,4,0.193,0.054,2179,3751,3969
$GC,7360,-1.13,-121.7,971.0,-12.9,705,7364,0.00,1.65,0.00,0.000,6,0.000,0.031,2179,2650,3969
$STATE,7535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7535,begin apogee
$GC,7541,-0.22,0.0,992.1,12.0,714,7637,0.98,0.00,88.95,1.411,6,0.163,0.000,2468,2544,3532
$STATE,7638,end apogee,CONTROL_FINISHED_OK
$STATE,7638,begin climb
$GC,7641,1.18,121.7,996.6,0.0,719,7751,1.27,2.12,101.30,1.368,4,0.058,0.052,2927,3755,3034
$GC,7880,0.40,121.7,984.6,14.2,729,7887,1.02,1.92,0.00,0.000,6,0.216,0.028,2678,2487,3031
$GC,8196,0.66,224.3,966.3,5.2,745,8286,0.20,2.17,83.32,1.355,4,0.080,0.034,2762,1119,2616
$GC,8326,0.66,228.8,953.7,11.7,751,8336,0.00,2.20,4.57,0.892,6,0.000,0.038,2762,2491,2599
$GC,8652,0.67,235.3,916.4,11.6,767,8663,0.00,2.17,6.47,1.071,4,0.000,0.034,2762,1115,2571
$GC,8708,0.73,243.8,910.0,11.4,769,8723,0.00,2.15,8.25,1.137,6,0.000,0.038,2762,2495,2538
$GC,9046,0.73,243.8,869.8,12.1,786,9049,0.00,2.10,0.00,0.000,4,0.000,0.034,2762,1115,2534
$GC,9238,0.81,243.8,845.8,13.5,794,9242,0.12,2.08,0.00,0.000,6,0.090,0.038,2810,2459,2533
$GC,9554,0.69,243.8,795.3,16.8,809,9558,0.17,2.05,0.00,0.000,4,0.187,0.033,2763,1106,2532
$GC,9574,0.69,243.8,791.8,15.4,810,9578,0.00,2.10,0.00,0.000,6,0.000,0.038,2763,2468,2532
$GC,9902,0.73,243.8,748.2,12.6,826,9906,0.00,2.05,0.00,0.000,4,0.000,0.033,2768,1104,2531
$GC,9958,0.80,243.8,741.3,12.5,828,9962,0.10,2.08,0.00,0.000,6,0.098,0.039,2806,2453,2530
$GC,10279,0.71,243.8,698.2,13.4,844,10283,0.12,2.03,0.00,0.000,4,0.202,0.033,2783,1112,2529
$GC,10402,0.71,243.8,682.5,12.5,849,10405,0.00,2.03,0.00,0.000,6,0.000,0.039,2784,2429,2528
$GC,10723,0.71,243.8,640.9,12.8,865,10726,0.00,2.00,0.00,0.000,4,0.000,0.035,2786,1106,2528
$GC,10881,0.71,246.2,621.9,11.8,872,10885,0.00,2.00,0.00,0.000,6,0.000,0.039,2785,2411,2527
$GC,11214,0.72,254.4,584.5,11.5,888,11228,0.00,2.00,8.18,1.035,4,0.000,0.035,2790,1115,2495
$GC,11274,0.72,254.4,577.0,12.6,890,11280,0.00,2.00,0.00,0.000,6,0.000,0.039,2790,2418,2494
$GC,11590,0.75,276.5,540.8,10.5,906,11615,0.00,2.03,19.45,1.097,4,0.000,0.034,2795,1117,2404
$GC,11694,0.80,276.5,527.6,13.0,910,11700,0.00,1.95,0.00,0.000,6,0.000,0.037,2795,2379,2401
$GC,12015,0.80,276.5,482.9,14.9,931,12018,0.00,2.20,0.00,0.000,4,0.000,0.055,2796,3770,2400
$GC,12060,0.71,276.5,475.6,15.5,935,12065,0.12,2.08,0.00,0.000,6,0.198,0.028,2776,2383,2399
$GC,12386,0.86,310.2,438.3,9.8,965,12420,0.15,1.98,27.38,1.023,4,0.083,0.034,2839,1112,2266
$GC,12500,0.86,310.2,423.8,12.8,975,12503,0.00,1.98,0.00,0.000,6,0.000,0.038,2839,2379,2264
$GC,12832,0.86,310.2,376.7,14.8,1006,12835,0.00,1.92,0.00,0.000,4,0.000,0.034,2843,1107,2262
$GC,12971,0.86,310.2,356.6,13.5,1018,12977,0.00,1.95,0.00,0.000,6,0.000,0.038,2842,2377,2262
$GC,13300,0.86,310.2,314.2,13.0,1049,13303,0.00,1.90,0.00,0.000,4,0.000,0.033,2847,1108,2261
$GC,13367,0.86,310.2,305.0,13.2,1055,13371,0.00,1.95,0.00,0.000,6,0.000,0.038,2847,2381,2260
$GC,13709,0.89,336.5,266.8,10.3,1112,13738,0.00,2.22,21.10,0.861,4,0.000,0.053,2847,3762,2158
$GC,13806,0.83,336.5,255.8,12.3,1129,13813,0.17,2.10,0.00,0.000,6,0.182,0.027,2813,2364,2157
$GC,14151,1.09,376.5,222.0,9.4,1190,14189,0.20,1.92,31.85,0.813,4,0.074,0.032,2904,1115,1996
$GC,14441,1.09,376.5,184.7,12.4,1241,14447,0.00,1.88,0.00,0.000,6,0.000,0.033,2904,2353,1992
$GC,14785,1.09,380.0,144.1,11.8,1302,14798,0.00,1.88,3.85,0.492,4,0.000,0.030,2911,1113,1982
$GC,14872,1.14,382.0,133.1,11.9,1317,14878,0.00,1.85,0.00,0.000,6,0.000,0.032,2912,2341,1982
$GC,15216,1.23,402.6,94.7,10.6,1378,15241,0.00,1.90,19.62,0.672,4,0.000,0.030,2916,1101,1888
$GC,15351,1.41,432.1,80.3,10.0,1401,15381,0.22,1.85,23.55,0.655,6,0.068,0.031,3001,2336,1769
$GC,15720,1.32,432.1,27.5,13.4,1466,15727,0.12,1.83,0.00,0.000,4,0.188,0.028,2978,1095,1765
$GC,15757,1.36,459.6,23.4,10.2,1472,15786,0.00,1.85,22.30,0.602,6,0.000,0.031,2978,2336,1657
$STATE,15896,end climb,SURFACE_DEPTH_REACHED
$STATE,15898,begin surface coast
$FINISH,1.7,1.021377
$STATE,15915,end surface coast,CONTROL_FINISHED_OK
$STATE,15915,begin surface
$SM_CCo,15993,0.00,0.000,0,0,1651,461.41
$SM_GC,2.70,7.68,0.00,0.00,0.058,0.000,0.000,139,2464,1651,-7.51,1.05,461.41
$IRIDIUM_FIX,2441.81,12335.48,200998,090903
$TT8_MAMPS,0.028379
$HUMID,1546
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,39.138
$10V_AH,10.8,22.259
$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,26.250,138.650,470.150,0.000,0.000,25.055,36.057,183.525,8.000,0.000,0.000,14.443,2671.410,9835.980,580.152,2717.890,557.323,0.000,1961.749,0.000,2657.271,0.000,54.429,0.000
$DEVICE_MAMPS,245.440,63.661,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.051,1033.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78955,1500
$CAP_FILE_SIZE,167675,0
$CFSIZE,260165632,207998976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028, 35.4,1
$GPS,260609,181431,2446.094,12338.437,41,1.1,42,-3.6