version: 66.04
glider: 167
mission: 2
dive: 158
start: 6 13 109 20 45 44
data:
$ID,167
$MISSION,2
$DIVE,158
$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,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,-8051.6382
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,203854,2446.544,12238.967,25,1.3,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-69.2
$GPS2,204522,2446.625,12238.815,12,99.0,31,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,255.6,54340,-18.3,-12.000
$D_GRID,974
$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,-1.05,-194.7,0.0,0.0,0,56,0.00,0.00,-39.67,0.000,2,0.000,0.000,141,2426,2584
$GC,59,-1.05,-194.7,3.4,-3.0,6,118,8.43,2.12,-41.10,0.000,4,0.246,0.058,2192,3773,3990
$GC,288,-0.17,-194.7,71.6,-32.8,46,295,1.02,1.98,0.00,0.000,6,0.187,0.026,2481,2400,3991
$GC,633,-1.07,-194.7,101.7,-9.9,107,640,0.77,2.12,0.00,0.000,4,0.087,0.048,2198,3773,3992
$GC,709,-0.59,-194.7,114.9,-21.3,120,715,0.50,1.90,0.00,0.000,6,0.158,0.025,2348,2434,3992
$GC,1053,-0.72,-194.7,144.4,-8.7,181,1061,0.12,2.05,0.00,0.000,4,0.077,0.048,2289,3762,3995
$GC,1096,-0.63,-194.7,149.3,-12.8,188,1103,0.17,1.88,0.00,0.000,6,0.140,0.026,2340,2443,3995
$GC,1442,-0.80,-194.7,183.4,-9.9,249,1449,0.15,0.00,0.00,0.000,6,0.070,0.000,2275,2443,3997
$GC,1787,-0.74,-194.7,228.8,-13.2,310,1794,0.12,2.05,0.00,0.000,4,0.154,0.048,2303,3774,3997
$GC,1868,-0.80,-194.7,237.7,-9.5,324,1874,0.00,1.90,0.00,0.000,6,0.000,0.028,2303,2444,3997
$GC,2212,-0.89,-194.7,265.1,-9.8,385,2220,0.12,2.05,0.00,0.000,4,0.080,0.049,2247,3770,3997
$GC,2327,-0.75,-194.7,281.0,-14.4,405,2335,0.20,1.88,0.00,0.000,6,0.149,0.028,2305,2458,3997
$GC,2670,-0.88,-194.7,312.9,-8.3,453,2674,0.12,2.03,0.00,0.000,4,0.077,0.051,2248,3766,3997
$GC,2772,-0.74,-194.7,324.0,-11.9,462,2776,0.20,1.83,0.00,0.000,6,0.152,0.029,2307,2494,3997
$GC,3103,-0.88,-194.7,351.1,-7.6,493,3105,0.15,0.00,0.00,0.000,6,0.072,0.000,2245,2494,3997
$GC,3425,-0.80,-194.7,385.6,-11.2,523,3429,0.15,1.98,0.00,0.000,4,0.163,0.051,2277,3766,3995
$GC,3481,-0.85,-194.7,392.2,-10.7,528,3485,0.00,1.85,0.00,0.000,6,0.000,0.030,2277,2482,3995
$GC,3814,-0.90,-194.7,424.6,-10.5,559,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2481,3994
$GC,4132,-0.99,-194.7,459.0,-11.0,589,4136,0.15,2.00,0.00,0.000,4,0.079,0.053,2212,3761,3993
$GC,4155,-0.93,-194.7,462.0,-12.3,591,4159,0.12,1.85,0.00,0.000,6,0.166,0.031,2242,2490,3992
$GC,4486,-0.93,-194.7,497.6,-10.0,622,4489,0.00,2.10,0.00,0.000,4,0.000,0.032,2243,1046,3991
$GC,4524,-0.93,-194.7,501.7,-9.7,624,4530,0.00,2.17,0.00,0.000,6,0.000,0.038,2243,2483,3991
$GC,4840,-0.93,-194.7,532.1,-9.8,640,4843,0.00,1.98,0.00,0.000,4,0.000,0.054,2236,3765,3989
$GC,4902,-0.86,-194.7,538.9,-11.8,642,4908,0.12,1.85,0.00,0.000,6,0.155,0.031,2269,2495,3988
$GC,5219,-0.95,-194.7,568.0,-9.7,658,5223,0.00,2.12,0.00,0.000,4,0.000,0.032,2269,1041,3986
$GC,5247,-1.06,-194.7,570.8,-9.8,659,5251,0.20,2.20,0.00,0.000,6,0.074,0.038,2193,2492,3986
$GC,5569,-0.84,-194.7,616.6,-14.4,675,5574,0.25,1.98,0.00,0.000,4,0.171,0.055,2261,3760,3983
$GC,5660,-0.91,-194.7,626.1,-9.9,679,5663,0.00,1.88,0.00,0.000,6,0.000,0.032,2261,2508,3983
$GC,5993,-0.98,-194.7,655.8,-8.4,695,5996,0.00,1.98,0.00,0.000,4,0.000,0.059,2261,3754,3980
$GC,6043,-1.05,-194.7,660.1,-9.0,697,6047,0.15,1.83,0.00,0.000,6,0.081,0.033,2202,2511,3980
$GC,6370,-0.87,-194.7,698.6,-12.9,713,6371,0.20,0.00,0.00,0.000,6,0.162,0.000,2257,2511,3977
$GC,6679,-0.93,-194.7,731.5,-10.9,728,6683,0.00,2.00,0.00,0.000,4,0.000,0.061,2257,3767,3975
$GC,6793,-1.00,-194.7,743.9,-10.9,733,6797,0.12,1.85,0.00,0.000,6,0.084,0.033,2207,2520,3975
$GC,7126,-0.87,-194.7,785.2,-12.1,749,7131,0.17,2.17,0.00,0.000,4,0.163,0.033,2260,1047,3973
$GC,7148,-0.87,-194.7,787.7,-10.5,750,7152,0.00,2.25,0.00,0.000,6,0.000,0.041,2260,2513,3973
$GC,7476,-0.95,-194.7,816.3,-9.4,766,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2513,3971
$GC,7784,-1.03,-194.7,848.3,-10.1,781,7786,0.15,0.00,0.00,0.000,6,0.084,0.000,2202,2514,3969
$GC,8093,-0.89,-194.7,890.0,-13.6,796,8095,0.20,0.00,0.00,0.000,6,0.172,0.000,2257,2514,3968
$GC,8403,-0.96,-194.7,918.9,-9.1,811,8406,0.00,1.98,0.00,0.000,4,0.000,0.063,2256,3763,3967
$GC,8459,-1.06,-194.7,924.0,-7.8,813,8463,0.17,1.83,0.00,0.000,6,0.080,0.036,2190,2538,3966
$GC,8782,-0.87,-194.7,960.1,-11.7,829,8786,0.22,2.22,0.00,0.000,4,0.167,0.035,2257,1043,3965
$GC,8809,-0.87,-194.7,962.9,-8.4,830,8812,0.00,2.28,0.00,0.000,6,0.000,0.043,2257,2514,3965
$STATE,8989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8989,begin apogee
$GC,8995,-0.22,0.0,975.1,6.9,839,9085,0.68,0.00,87.15,1.412,6,0.143,0.000,2468,2514,3532
$STATE,9086,end apogee,CONTROL_FINISHED_OK
$STATE,9086,begin climb
$GC,9089,1.05,194.7,976.3,0.0,843,9260,1.15,2.20,159.30,1.367,4,0.061,0.059,2883,3764,2737
$GC,9430,0.30,194.7,930.9,22.4,858,9435,0.93,1.92,0.00,0.000,6,0.207,0.031,2651,2524,2732
$GC,9746,0.53,284.9,900.4,8.3,873,9826,0.17,0.00,73.82,1.323,6,0.083,0.000,2714,2524,2370
$GC,10135,0.53,284.9,853.5,12.8,892,10138,0.00,2.15,0.00,0.000,4,0.000,0.037,2719,1113,2361
$GC,10173,0.58,284.9,848.5,13.1,893,10181,0.00,2.17,0.00,0.000,6,0.000,0.040,2719,2505,2361
$GC,10489,0.61,308.0,810.0,11.0,909,10513,0.00,2.22,18.45,1.245,4,0.000,0.038,2719,1112,2276
$GC,10537,0.77,383.5,805.5,8.9,911,10605,0.22,2.20,62.95,1.272,6,0.074,0.040,2801,2506,1968
$GC,10928,0.64,383.5,742.3,17.9,930,10933,0.20,2.15,0.00,0.000,4,0.175,0.038,2746,1116,1957
$GC,10983,0.74,383.5,734.5,12.6,932,10990,0.10,2.15,0.00,0.000,6,0.097,0.040,2782,2494,1956
$GC,11299,0.66,383.5,679.4,19.0,948,11300,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2495,1955
$GC,11608,0.60,383.5,622.7,18.8,963,11613,0.17,2.10,0.00,0.000,4,0.170,0.037,2743,1114,1954
$GC,11635,0.66,383.5,617.9,16.8,964,11639,0.00,2.12,0.00,0.000,6,0.000,0.041,2744,2487,1954
$GC,11956,0.66,383.5,567.9,17.0,980,11960,0.00,2.03,0.00,0.000,4,0.000,0.060,2744,3768,1954
$GC,11984,0.66,383.5,562.5,19.1,981,11987,0.00,1.92,0.00,0.000,6,0.000,0.032,2743,2484,1953
$GC,12311,0.71,383.5,514.7,12.1,997,12315,0.00,2.08,0.00,0.000,4,0.000,0.038,2744,1098,1952
$GC,12357,0.89,414.8,509.7,10.7,999,12387,0.25,2.12,24.20,1.095,6,0.074,0.041,2840,2476,1840
$GC,12706,0.70,414.8,441.3,23.0,1029,12708,0.25,0.00,0.00,0.000,6,0.172,0.000,2772,2478,1834
$GC,13026,0.70,414.8,388.5,16.5,1059,13030,0.00,2.08,0.00,0.000,4,0.000,0.038,2774,1101,1833
$GC,13208,0.80,414.8,366.2,12.9,1075,13212,0.00,2.15,0.00,0.000,6,0.000,0.041,2773,2497,1833
$GC,13538,0.80,414.8,320.3,14.7,1106,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2497,1832
$GC,13865,0.85,414.8,276.7,13.7,1151,13872,0.12,2.12,0.00,0.000,4,0.087,0.036,2827,1087,1832
$GC,13907,0.79,414.8,269.8,17.9,1158,13913,0.00,2.15,0.00,0.000,6,0.000,0.040,2827,2493,1831
$GC,14251,0.71,414.8,204.7,17.8,1219,14257,0.17,0.00,0.00,0.000,6,0.163,0.000,2775,2495,1831
$GC,14595,0.84,414.8,162.2,12.1,1280,14601,0.12,2.10,0.00,0.000,4,0.085,0.035,2828,1091,1832
$GC,14753,0.89,414.8,138.3,15.1,1308,14759,0.00,2.12,0.00,0.000,6,0.000,0.039,2827,2485,1832
$GC,15097,0.97,414.8,91.2,13.0,1369,15104,0.00,1.98,0.00,0.000,4,0.000,0.054,2827,3758,1832
$GC,15177,0.97,414.8,80.2,12.4,1383,15184,0.00,1.88,0.00,0.000,6,0.000,0.030,2828,2481,1832
$GC,15522,1.21,458.9,49.2,10.2,1444,15564,0.25,2.08,34.08,0.680,4,0.064,0.032,2941,1109,1659
$GC,15683,1.12,458.9,26.0,13.8,1472,15690,0.15,2.10,0.00,0.000,6,0.162,0.036,2903,2490,1656
$STATE,15856,end climb,SURFACE_DEPTH_REACHED
$STATE,15856,begin surface coast
$FINISH,1.7,1.010638
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15957,0.00,0.000,0,0,1653,460.92
$SM_GC,2.81,7.40,0.00,0.00,0.057,0.000,0.000,142,2495,1653,-7.49,1.92,460.92
$IRIDIUM_FIX,2434.69,12307.20,070998,171745
$TT8_MAMPS,0.028379
$HUMID,1618
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.8,28.405
$10V_AH,10.7,16.298
$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,26.850,118.400,459.950,0.000,0.000,30.188,34.136,180.466,8.000,0.000,0.000,31.971,2670.610,9978.420,580.164,2570.336,539.914,0.000,1873.429,0.000,2499.189,0.000,54.410,0.000
$DEVICE_MAMPS,246.207,62.894,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.526,1054.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79001,1507
$CAP_FILE_SIZE,162513,0
$CFSIZE,260165632,213540864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 35.1,1
$GPS,140609,011255,2447.334,12236.930,39,1.8,40,-3.5