version: 66.04
glider: 167
mission: 2
dive: 188
start: 6 20 109 10 0 7
data:
$ID,167
$MISSION,2
$DIVE,188
$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,-8762.3135
$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,66
$R_STBD_OVSHOOT,32
$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
$GPS1,094937,2457.958,12301.456,34,1.5,35,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-70.5
$GPS2,095946,2458.240,12301.912,13,99.0,32,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12329.000
$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,173.6,55653,-23.2,-12.000
$D_GRID,1671
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-24.05,0.000,2,0.000,0.000,143,2417,2422
$GC,44,-1.18,-121.7,3.4,-3.9,4,104,8.40,2.15,-43.03,0.000,4,0.249,0.059,2150,3774,3990
$GC,207,-0.45,-121.7,51.4,-34.6,32,214,0.90,1.98,0.00,0.000,6,0.192,0.025,2396,2405,3992
$GC,552,-0.90,-121.7,90.6,-7.8,93,559,0.35,2.12,0.00,0.000,4,0.054,0.047,2246,3766,3992
$GC,719,-0.78,-121.7,117.5,-16.0,122,726,0.17,1.90,0.00,0.000,6,0.160,0.025,2294,2435,3993
$GC,1065,-0.93,-121.7,160.2,-11.6,183,1072,0.15,2.05,0.00,0.000,4,0.070,0.046,2221,3761,3995
$GC,1264,-0.82,-121.7,191.4,-14.2,218,1271,0.20,1.85,0.00,0.000,6,0.157,0.026,2276,2459,3996
$GC,1610,-0.97,-121.7,233.6,-12.4,279,1615,0.12,0.00,0.00,0.000,6,0.077,0.000,2223,2459,3996
$GC,1953,-0.97,-121.7,285.6,-14.5,340,1958,0.00,2.03,0.00,0.000,4,0.000,0.048,2221,3768,3996
$GC,2100,-0.97,-121.7,307.1,-13.0,362,2103,0.00,1.88,0.00,0.000,6,0.000,0.026,2221,2446,3996
$GC,2430,-0.97,-121.7,344.8,-11.0,393,2434,0.00,2.05,0.00,0.000,4,0.000,0.049,2218,3771,3996
$GC,2559,-0.97,-121.7,359.8,-11.5,404,2565,0.00,1.85,0.00,0.000,6,0.000,0.026,2219,2470,3996
$GC,2885,-0.97,-121.7,400.3,-13.6,435,2889,0.00,2.00,0.00,0.000,4,0.000,0.050,2218,3760,3996
$GC,2953,-1.01,-121.7,409.6,-13.1,441,2957,0.00,1.83,0.00,0.000,6,0.000,0.028,2218,2483,3996
$GC,3288,-1.07,-121.7,451.2,-12.3,472,3291,0.00,2.00,0.00,0.000,4,0.000,0.051,2217,3767,3995
$GC,3425,-1.14,-121.7,468.3,-12.4,484,3429,0.12,1.77,0.00,0.000,6,0.081,0.028,2166,2537,3994
$GC,3763,-1.01,-121.7,514.3,-14.1,511,3765,0.20,0.00,0.00,0.000,6,0.170,0.000,2219,2536,3992
$GC,4072,-1.12,-121.7,548.7,-11.0,526,4076,0.00,1.92,0.00,0.000,4,0.000,0.054,2218,3764,3991
$GC,4122,-1.19,-121.7,554.6,-11.3,528,4126,0.17,1.77,0.00,0.000,6,0.074,0.029,2150,2540,3990
$GC,4451,-1.04,-121.7,604.8,-16.3,544,4455,0.20,1.92,0.00,0.000,4,0.176,0.052,2204,3763,3988
$GC,4519,-1.04,-121.7,614.9,-13.5,547,4522,0.00,1.75,0.00,0.000,6,0.000,0.029,2204,2553,3987
$GC,4852,-1.11,-121.7,659.8,-14.0,563,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2553,3985
$GC,5161,-1.19,-121.7,701.9,-13.5,578,5163,0.12,0.00,0.00,0.000,6,0.084,0.000,2157,2554,3982
$GC,5470,-1.09,-121.7,749.7,-15.0,593,5471,0.12,0.00,0.00,0.000,6,0.188,0.000,2186,2553,3980
$GC,5779,-1.09,-121.7,790.7,-12.8,608,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2553,3978
$GC,6088,-1.09,-121.7,830.3,-12.8,623,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2553,3975
$GC,6397,-1.09,-121.7,868.1,-12.3,638,6401,0.00,2.20,0.00,0.000,4,0.000,0.032,2185,1063,3973
$GC,6465,-1.16,-121.7,876.4,-12.7,641,6470,0.00,2.30,0.00,0.000,6,0.000,0.040,2179,2552,3973
$GC,6792,-1.16,-121.7,919.2,-13.3,657,6796,0.00,2.25,0.00,0.000,4,0.000,0.031,2178,1051,3970
$GC,6847,-1.16,-121.7,926.8,-13.3,659,6852,0.00,2.33,0.00,0.000,6,0.000,0.041,2178,2547,3971
$GC,7163,-1.16,-121.7,969.5,-13.9,674,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2547,3969
$STATE,7325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7325,begin apogee
$GC,7331,-0.22,0.0,992.4,14.0,682,7423,0.98,0.00,88.62,1.413,6,0.163,0.000,2469,2548,3532
$STATE,7424,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7426,1.18,121.7,996.6,0.0,686,7537,1.25,2.10,101.43,1.373,4,0.058,0.052,2922,3764,3034
$GC,7629,0.41,121.7,991.9,14.2,696,7634,1.00,1.90,0.00,0.000,6,0.220,0.028,2681,2524,3031
$GC,7957,0.63,197.7,969.4,7.0,712,8023,0.17,2.08,60.85,1.358,4,0.082,0.055,2752,3756,2726
$GC,8057,0.50,197.7,958.0,14.3,716,8063,0.20,1.92,0.00,0.000,6,0.186,0.029,2711,2507,2723
$GC,8373,0.66,213.6,922.7,11.0,732,8395,0.15,2.08,13.95,1.256,4,0.083,0.055,2767,3751,2660
$GC,8412,0.56,213.6,917.1,15.0,733,8418,0.20,1.88,0.00,0.000,6,0.189,0.029,2726,2510,2660
$GC,8728,0.67,213.6,878.7,12.1,749,8730,0.10,0.00,0.00,0.000,6,0.097,0.000,2762,2509,2657
$GC,9037,0.67,213.6,836.8,13.5,764,9040,0.00,2.10,0.00,0.000,4,0.000,0.035,2770,1103,2656
$GC,9109,0.67,213.6,826.9,13.4,767,9112,0.00,2.20,0.00,0.000,6,0.000,0.040,2770,2523,2655
$GC,9436,0.67,213.6,782.8,13.0,783,9439,0.00,1.95,0.00,0.000,4,0.000,0.058,2770,3764,2654
$GC,9475,0.52,213.6,777.1,14.4,784,9481,0.22,1.83,0.00,0.000,6,0.190,0.031,2719,2528,2654
$GC,9791,0.73,258.4,746.5,9.0,800,9833,0.17,2.17,35.10,1.261,4,0.081,0.035,2800,1107,2479
$GC,9867,0.73,258.4,736.7,13.5,803,9871,0.00,2.28,0.00,0.000,6,0.000,0.040,2799,2538,2476
$GC,10183,0.68,258.4,693.3,13.9,818,10187,0.15,2.17,0.00,0.000,4,0.189,0.033,2771,1113,2473
$GC,10216,0.75,258.4,689.0,12.9,819,10223,0.00,2.22,0.00,0.000,6,0.000,0.040,2771,2538,2473
$GC,10531,0.80,258.4,650.9,12.2,835,10535,0.00,2.17,0.00,0.000,4,0.000,0.035,2775,1107,2472
$GC,10570,0.88,262.5,646.2,11.7,836,10580,0.15,2.20,4.22,0.829,6,0.085,0.040,2829,2528,2460
$GC,10909,0.74,262.5,594.6,16.5,853,10911,0.17,0.00,0.00,0.000,6,0.182,0.000,2786,2529,2459
$GC,11216,0.74,262.5,549.6,14.3,868,11220,0.00,2.15,0.00,0.000,4,0.000,0.035,2792,1104,2458
$GC,11261,0.74,262.5,542.9,15.3,870,11265,0.00,2.20,0.00,0.000,6,0.000,0.039,2792,2529,2458
$GC,11584,0.74,262.5,496.2,13.8,886,11587,0.00,1.92,0.00,0.000,4,0.000,0.054,2792,3764,2458
$GC,11667,0.64,262.5,482.9,15.4,893,11674,0.17,1.83,0.00,0.000,6,0.192,0.031,2757,2521,2458
$GC,11993,0.83,295.3,447.2,9.8,924,12026,0.15,2.20,26.92,1.046,4,0.083,0.035,2819,1107,2328
$GC,12106,0.83,295.3,433.3,12.5,934,12109,0.00,2.20,0.00,0.000,6,0.000,0.040,2819,2512,2324
$GC,12438,0.83,295.3,392.3,13.7,965,12441,0.00,2.10,0.00,0.000,4,0.000,0.034,2828,1118,2323
$GC,12517,0.83,295.3,381.5,13.6,972,12521,0.00,2.15,0.00,0.000,6,0.000,0.038,2828,2506,2322
$GC,12847,0.83,295.3,333.6,15.0,1003,12851,0.00,2.00,0.00,0.000,4,0.000,0.054,2828,3780,2322
$GC,12941,0.69,295.3,317.6,16.2,1011,12949,0.25,1.88,0.00,0.000,6,0.186,0.030,2771,2509,2322
$GC,13277,0.92,316.5,278.3,10.6,1059,13301,0.17,2.08,17.12,0.880,4,0.080,0.034,2850,1112,2240
$GC,13336,0.92,316.5,270.0,15.0,1069,13342,0.00,2.22,0.00,0.000,6,0.000,0.040,2850,2539,2238
$GC,13679,0.92,316.5,217.5,15.3,1130,13685,0.00,1.92,0.00,0.000,4,0.000,0.056,2850,3766,2237
$GC,13865,0.82,316.5,187.9,14.3,1163,13873,0.17,1.75,0.00,0.000,6,0.190,0.028,2815,2562,2237
$GC,14213,0.99,331.7,150.6,11.0,1224,14231,0.15,2.22,13.07,0.745,4,0.082,0.032,2883,1103,2178
$GC,14306,0.99,331.7,138.0,13.3,1240,14312,0.00,2.25,0.00,0.000,6,0.000,0.037,2883,2570,2178
$GC,14649,1.02,355.9,98.8,10.4,1301,14673,0.00,0.00,19.75,0.709,6,0.000,0.000,2883,2570,2080
$GC,15011,1.20,397.0,61.7,9.3,1365,15053,0.15,1.90,32.15,0.675,4,0.081,0.051,2940,3755,1911
$GC,15160,1.12,397.0,39.3,16.3,1391,15168,0.17,1.77,0.00,0.000,6,0.180,0.026,2905,2535,1908
$GC,15506,1.43,445.5,4.1,8.8,1452,15519,0.25,0.00,10.23,0.568,2,0.070,0.000,3004,2535,1859
$STATE,15520,end climb,SURFACE_DEPTH_REACHED
$STATE,15520,begin surface coast
$FINISH,1.8,1.011030
$STATE,15559,end surface coast,CONTROL_FINISHED_OK
$STATE,15559,begin surface
$SM_CCo,15577,9.38,0.559,0,0,1799,425.10
$SM_GC,3.97,0.00,0.00,9.38,0.000,0.000,0.559,143,2440,1799,-7.51,0.37,425.10
$IRIDIUM_FIX,2451.31,12303.82,140998,101027
$TT8_MAMPS,0.029146
$HUMID,1604
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,33.858
$10V_AH,10.8,19.351
$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,25.525,113.975,423.425,9.375,0.000,53.120,69.357,266.431,8.000,0.000,0.000,33.384,2568.126,9894.147,537.126,2499.776,688.681,0.000,1791.860,0.000,2424.615,0.000,54.415,0.000
$DEVICE_MAMPS,248.508,68.263,1412.814,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.239,1024.661,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78866,1461
$CAP_FILE_SIZE,156565,0
$CFSIZE,260165632,210755584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.417, 50.4,1
$GPS,200609,142107,2458.470,12304.987,36,0.9,37,-3.6