version: 66.04
glider: 167
mission: 2
dive: 18
start: 5 23 109 19 37 30
data:
$ID,167
$MISSION,2
$DIVE,18
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4211.1357
$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,24
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$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
$GPS1,193107,2538.296,12251.236,36,1.3,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.0
$GPS2,193707,2538.408,12251.232,9,1.3,15,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,114.3,62391,-15.7,-10.000
$D_GRID,737
$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,-0.89,-194.7,0.0,0.0,0,59,0.00,0.00,-42.50,0.000,2,0.000,0.000,146,2286,2909
$GC,62,-0.89,-194.7,3.3,-3.8,5,107,8.90,2.00,-27.83,0.000,4,0.262,0.045,2253,922,3989
$GC,202,-0.09,-194.7,38.7,-33.9,26,210,0.85,2.12,0.00,0.000,6,0.183,0.035,2508,2310,3990
$GC,559,-0.90,-194.7,65.0,-9.0,87,568,0.68,2.15,0.00,0.000,4,0.087,0.047,2259,3714,3991
$GC,731,-0.17,-194.7,103.0,-23.2,116,740,0.70,2.03,0.00,0.000,6,0.169,0.026,2487,2308,3991
$GC,1088,-0.97,-194.7,131.4,-8.9,177,1097,0.68,2.17,0.00,0.000,4,0.086,0.046,2235,3718,3993
$GC,1153,-0.44,-194.7,139.8,-16.8,187,1162,0.52,2.00,0.00,0.000,6,0.172,0.026,2396,2322,3992
$GC,1512,-0.64,-194.7,170.1,-7.7,248,1521,0.17,2.15,0.00,0.000,4,0.067,0.047,2315,3714,3993
$GC,1708,-0.47,-194.7,196.2,-14.9,281,1717,0.22,1.95,0.00,0.000,6,0.143,0.027,2389,2353,3993
$GC,2064,-0.74,-194.7,219.0,-3.5,342,2074,0.20,2.10,0.00,0.000,4,0.064,0.047,2296,3714,3994
$GC,2149,-0.60,-194.7,225.4,-9.2,355,2156,0.17,1.92,0.00,0.000,6,0.151,0.027,2346,2349,3994
$GC,2503,-0.65,-194.7,241.8,-6.1,416,2510,0.00,2.10,0.00,0.000,4,0.000,0.048,2344,3708,3994
$GC,2575,-0.77,-194.7,246.6,-7.0,428,2583,0.10,1.92,0.00,0.000,6,0.064,0.028,2289,2368,3994
$GC,2932,-0.64,-194.7,287.2,-12.0,489,2938,0.17,2.08,0.00,0.000,4,0.155,0.031,2345,921,3994
$GC,3052,-0.78,-194.7,297.7,-8.0,509,3059,0.15,2.15,0.00,0.000,6,0.074,0.035,2281,2381,3996
$GC,3385,-0.69,-194.7,322.4,-4.8,542,3389,0.15,2.03,0.00,0.000,4,0.161,0.049,2316,3720,3994
$GC,3447,-0.76,-194.7,324.8,-3.7,547,3452,0.00,1.92,0.00,0.000,6,0.000,0.028,2316,2362,3994
$GC,3778,-0.85,-194.7,345.8,-8.2,578,3782,0.12,2.08,0.00,0.000,4,0.080,0.048,2262,3723,3994
$GC,3898,-0.67,-194.7,359.7,-12.7,588,3905,0.17,1.92,0.00,0.000,6,0.153,0.029,2319,2393,3994
$GC,4226,-0.78,-194.7,389.4,-7.2,619,4230,0.00,2.03,0.00,0.000,4,0.000,0.052,2319,3712,3993
$GC,4265,-0.90,-194.7,392.3,-6.3,622,4275,0.12,1.90,0.00,0.000,6,0.067,0.030,2255,2405,3993
$GC,4593,-0.77,-194.7,417.8,-7.6,653,4599,0.15,0.00,0.00,0.000,6,0.164,0.000,2295,2410,3992
$GC,4918,-0.82,-194.7,434.5,-6.3,684,4922,0.00,2.03,0.00,0.000,4,0.000,0.054,2293,3717,3991
$GC,5001,-0.88,-194.7,440.0,-6.9,691,5005,0.10,1.90,0.00,0.000,6,0.095,0.031,2250,2388,3990
$GC,5331,-0.78,-194.7,474.6,-10.0,722,5339,0.15,2.12,0.00,0.000,4,0.168,0.033,2290,924,3988
$GC,5371,-0.85,-194.7,477.7,-7.8,725,5375,0.00,2.22,0.00,0.000,6,0.000,0.038,2290,2411,3988
$GC,5699,-0.90,-194.7,497.2,-4.7,755,5704,0.12,2.00,0.00,0.000,4,0.088,0.055,2241,3718,3986
$GC,5734,-0.77,-194.7,499.8,-8.0,758,5739,0.20,1.90,0.00,0.000,6,0.166,0.032,2297,2407,3985
$GC,6057,-0.84,-194.7,513.0,-3.9,774,6060,0.00,2.15,0.00,0.000,4,0.000,0.035,2297,931,3983
$GC,6097,-0.94,-194.7,515.0,-4.8,775,6103,0.17,2.20,0.00,0.000,6,0.081,0.038,2228,2408,3982
$GC,6417,-0.76,-194.7,543.2,-9.5,791,6421,0.22,2.00,0.00,0.000,4,0.178,0.055,2289,3711,3980
$GC,6472,-0.82,-194.7,547.8,-6.3,793,6478,0.00,1.90,0.00,0.000,6,0.000,0.033,2289,2402,3979
$GC,6792,-0.88,-194.7,567.2,-6.9,809,6796,0.00,2.05,0.00,0.000,4,0.000,0.058,2289,3713,3977
$GC,6841,-0.96,-194.7,571.3,-8.4,811,6845,0.15,1.90,0.00,0.000,6,0.085,0.032,2229,2405,3977
$GC,7178,-0.78,-194.7,609.1,-12.5,827,7183,0.20,2.05,0.00,0.000,4,0.173,0.057,2288,3716,3975
$GC,7211,-0.78,-194.7,613.2,-9.9,828,7217,0.00,1.90,0.00,0.000,6,0.000,0.034,2288,2430,3975
$GC,7526,-0.85,-194.7,642.5,-8.9,844,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2430,3973
$GC,7839,-0.93,-194.7,663.9,-6.3,859,7843,0.12,2.00,0.00,0.000,4,0.092,0.058,2237,3710,3971
$GC,7887,-0.80,-194.7,668.3,-9.7,861,7891,0.17,1.88,0.00,0.000,6,0.174,0.035,2284,2428,3971
$GC,8223,-0.86,-194.7,691.0,-6.3,877,8227,0.00,2.03,0.00,0.000,4,0.000,0.060,2284,3719,3969
$GC,8285,-0.95,-194.7,695.0,-5.9,879,8292,0.12,1.88,0.00,0.000,6,0.094,0.035,2237,2438,3969
$GC,8606,-0.82,-194.7,721.6,-8.7,895,8610,0.15,2.22,0.00,0.000,4,0.179,0.038,2276,931,3967
$GC,8633,-0.82,-194.7,724.3,-7.9,896,8637,0.00,2.28,0.00,0.000,6,0.000,0.042,2276,2431,3967
$STATE,8842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8842,begin apogee
$GC,8848,-0.21,0.0,737.1,5.9,906,8938,0.62,0.00,86.68,1.391,6,0.151,0.000,2473,2433,3532
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8941,0.89,194.7,738.0,0.0,910,9109,1.00,2.35,159.68,1.410,4,0.068,0.039,2837,1021,2737
$GC,9239,0.38,194.7,707.4,18.3,923,9246,0.62,2.17,0.00,0.000,6,0.196,0.042,2671,2399,2733
$GC,9560,0.32,197.6,673.6,9.9,939,9564,0.00,2.15,0.00,0.000,4,0.000,0.061,2671,3757,2731
$GC,9608,0.15,197.6,668.2,10.8,941,9613,0.28,2.03,0.00,0.000,6,0.170,0.033,2600,2408,2730
$GC,9939,0.48,294.3,646.0,6.7,957,10027,0.28,2.33,80.75,1.352,4,0.074,0.058,2703,3754,2331
$GC,10055,0.36,294.3,632.5,13.5,962,10059,0.17,2.12,0.00,0.000,6,0.180,0.033,2663,2394,2328
$GC,10375,0.53,343.3,605.1,8.3,977,10422,0.15,2.35,40.10,1.319,4,0.087,0.061,2718,3758,2132
$GC,10485,0.44,343.3,590.7,14.1,981,10491,0.12,2.10,0.00,0.000,6,0.182,0.035,2690,2404,2127
$GC,10805,0.52,343.3,559.0,10.1,997,10808,0.00,2.17,0.00,0.000,4,0.000,0.058,2690,3756,2124
$GC,10832,0.52,343.3,555.3,11.9,998,10836,0.00,2.05,0.00,0.000,6,0.000,0.034,2693,2422,2123
$GC,11161,0.59,343.3,522.7,10.0,1014,11165,0.12,2.12,0.00,0.000,4,0.095,0.058,2738,3757,2123
$GC,11182,0.54,343.3,519.4,13.0,1015,11186,0.00,2.00,0.00,0.000,6,0.000,0.033,2745,2424,2123
$GC,11507,0.43,343.3,469.4,15.7,1039,11512,0.20,2.10,0.00,0.000,4,0.175,0.058,2687,3751,2122
$GC,11546,0.43,343.3,463.3,13.3,1042,11549,0.00,1.98,0.00,0.000,6,0.000,0.035,2690,2429,2121
$GC,11879,0.52,343.3,426.5,10.6,1073,11882,0.00,2.08,0.00,0.000,4,0.000,0.058,2691,3758,2121
$GC,11935,0.52,343.3,420.1,10.6,1078,11939,0.00,1.95,0.00,0.000,6,0.000,0.035,2693,2453,2121
$GC,12268,0.66,387.5,391.5,8.5,1109,12308,0.17,0.00,34.40,1.075,6,0.084,0.000,2761,2451,1951
$GC,12627,0.57,387.5,341.5,15.4,1143,12631,0.12,2.08,0.00,0.000,4,0.179,0.057,2731,3759,1944
$GC,12721,0.57,387.5,325.8,15.0,1151,12727,0.00,1.98,0.00,0.000,6,0.000,0.037,2732,2482,1943
$GC,13055,0.57,387.5,282.2,12.6,1194,13064,0.00,2.28,0.00,0.000,4,0.000,0.041,2732,989,1951
$GC,13127,0.71,387.5,272.9,12.8,1206,13136,0.08,2.30,0.00,0.000,6,0.076,0.041,2772,2471,1943
$GC,13482,0.64,387.5,221.1,14.4,1267,13488,0.00,2.00,0.00,0.000,4,0.000,0.060,2772,3759,1942
$GC,13543,0.50,387.5,211.5,15.9,1277,13549,0.25,1.92,0.00,0.000,6,0.170,0.035,2705,2467,1941
$GC,13897,0.73,398.1,177.8,9.6,1338,13917,0.17,2.22,8.07,0.791,4,0.078,0.037,2788,991,1911
$GC,13954,0.73,398.1,169.8,15.5,1346,13963,0.00,2.25,0.00,0.000,6,0.000,0.038,2789,2450,1910
$GC,14309,0.73,398.1,119.5,12.2,1407,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2450,1910
$GC,14663,0.73,398.1,79.5,11.4,1468,14669,0.00,2.03,0.00,0.000,4,0.000,0.057,2788,3750,1909
$GC,14809,0.73,398.1,59.4,13.3,1493,14818,0.00,1.95,0.00,0.000,6,0.000,0.031,2789,2440,1910
$GC,15167,0.91,417.7,21.5,9.3,1554,15193,0.15,0.00,17.02,0.676,6,0.078,0.000,2852,2439,1828
$STATE,15343,end climb,SURFACE_DEPTH_REACHED
$STATE,15343,begin surface coast
$FINISH,1.1,1.009555
$STATE,15381,end surface coast,CONTROL_FINISHED_OK
$STATE,15381,begin surface
$SM_CCo,15398,4.15,0.476,0,0,1798,425.10
$SM_GC,2.45,0.00,0.00,4.15,0.000,0.000,0.476,146,2281,1798,-7.50,-0.74,425.10
$IRIDIUM_FIX,2531.83,12249.00,170898,161627
$TT8_MAMPS,0.03068
$HUMID,1576
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,27.20
$XPDR_PINGS,2
$24V_AH,23.9,7.021
$10V_AH,10.7,4.961
$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,27.850,136.550,426.700,4.150,0.000,30.531,31.889,178.534,6.000,0.000,0.000,15.165,2798.451,6482.537,522.306,5364.623,592.990,0.000,1949.758,0.000,5371.428,0.000,39.284,0.000
$DEVICE_MAMPS,261.547,60.593,1409.746,475.540,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.309,1105.738,4070.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85194,1589
$CAP_FILE_SIZE,208995,0
$CFSIZE,260165632,223707136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,318.0,1
$GPS,230509,235531,2538.778,12251.925,42,1.0,42,-3.8