version: 66.04
glider: 167
mission: 2
dive: 190
start: 6 20 109 19 4 35
data:
$ID,167
$MISSION,2
$DIVE,190
$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,-8791.3975
$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,57
$R_STBD_OVSHOOT,36
$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
$GPS1,185731,2458.676,12308.108,41,1.5,42,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-66.2
$GPS2,190414,2458.885,12308.393,11,1.2,11,-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,182.3,47955,-23.2,-12.000
$D_GRID,1813
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.38,0.000,2,0.000,0.000,142,2428,2325
$GC,43,-1.18,-121.7,3.2,-3.1,4,112,8.45,2.12,-51.70,0.000,4,0.249,0.040,2158,1009,3989
$GC,158,-0.58,-121.7,24.4,-32.7,23,165,0.73,2.17,0.00,0.000,6,0.186,0.033,2350,2440,3990
$GC,503,-0.73,-121.7,78.6,-13.1,84,510,0.12,2.03,0.00,0.000,4,0.077,0.046,2289,3760,3992
$GC,624,-0.80,-121.7,99.2,-15.3,105,630,0.00,1.95,0.00,0.000,6,0.000,0.025,2289,2389,3992
$GC,968,-0.92,-121.7,144.1,-11.6,166,974,0.12,2.12,0.00,0.000,4,0.075,0.045,2227,3763,3994
$GC,1222,-0.78,-121.7,182.7,-17.1,211,1229,0.22,1.83,0.00,0.000,6,0.153,0.025,2292,2477,3996
$GC,1567,-1.00,-121.7,223.9,-10.3,272,1574,0.17,1.98,0.00,0.000,4,0.065,0.046,2206,3759,3996
$GC,1735,-0.90,-121.7,247.4,-13.6,301,1741,0.17,1.80,0.00,0.000,6,0.162,0.025,2254,2493,3996
$GC,2081,-1.04,-121.7,284.8,-11.1,362,2087,0.12,0.00,0.00,0.000,6,0.074,0.000,2200,2493,3997
$GC,2417,-0.99,-121.7,331.6,-15.3,403,2421,0.00,1.95,0.00,0.000,4,0.000,0.048,2192,3755,3997
$GC,2519,-0.91,-121.7,348.7,-16.3,412,2523,0.15,1.80,0.00,0.000,6,0.160,0.027,2249,2517,3997
$GC,2849,-1.08,-121.7,387.8,-11.2,443,2854,0.15,1.92,0.00,0.000,4,0.074,0.050,2188,3757,3997
$GC,2918,-1.00,-121.7,397.7,-14.9,449,2923,0.12,1.77,0.00,0.000,6,0.171,0.028,2219,2519,3996
$GC,3250,-1.08,-121.7,438.5,-11.6,480,3253,0.00,1.92,0.00,0.000,4,0.000,0.051,2218,3758,3996
$GC,3300,-1.13,-121.7,444.7,-11.9,484,3308,0.12,1.77,0.00,0.000,6,0.081,0.028,2166,2526,3995
$GC,3625,-1.02,-121.7,491.7,-14.2,515,3629,0.17,1.92,0.00,0.000,4,0.173,0.050,2205,3761,3993
$GC,3731,-1.02,-121.7,506.0,-12.6,522,3737,0.00,1.77,0.00,0.000,6,0.000,0.029,2205,2554,3993
$GC,4048,-1.07,-121.7,543.8,-11.7,538,4051,0.00,2.20,0.00,0.000,4,0.000,0.030,2204,1049,3991
$GC,4087,-1.15,-121.7,548.9,-12.3,539,4093,0.00,2.25,0.00,0.000,6,0.000,0.038,2205,2523,3991
$GC,4403,-1.20,-121.7,585.9,-11.5,555,4407,0.12,1.90,0.00,0.000,4,0.085,0.052,2152,3754,3989
$GC,4486,-1.02,-121.7,598.7,-15.8,558,4493,0.22,1.75,0.00,0.000,6,0.174,0.029,2211,2550,3987
$GC,4802,-1.12,-121.7,634.5,-11.4,574,4806,0.00,2.17,0.00,0.000,4,0.000,0.030,2212,1058,3985
$GC,4826,-1.23,-121.7,637.3,-11.9,575,4830,0.17,2.25,0.00,0.000,6,0.081,0.038,2144,2534,3985
$GC,5154,-1.08,-121.7,687.0,-15.2,591,5158,0.17,1.90,0.00,0.000,4,0.195,0.054,2190,3758,3982
$GC,5236,-1.08,-121.7,698.7,-12.6,594,5243,0.00,1.77,0.00,0.000,6,0.000,0.031,2191,2566,3982
$GC,5552,-1.08,-121.7,737.4,-12.2,610,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2565,3980
$GC,5863,-1.08,-121.7,776.2,-12.5,625,5866,0.00,2.22,0.00,0.000,4,0.000,0.033,2190,1061,3977
$GC,5896,-1.14,-121.7,780.6,-13.2,626,5900,0.00,2.28,0.00,0.000,6,0.000,0.041,2191,2537,3976
$GC,6212,-1.14,-121.7,820.1,-12.9,641,6215,0.00,1.90,0.00,0.000,4,0.000,0.058,2191,3752,3975
$GC,6251,-1.14,-121.7,825.2,-12.6,642,6257,0.00,1.75,0.00,0.000,6,0.000,0.032,2190,2565,3974
$GC,6567,-1.20,-121.7,863.4,-11.9,658,6571,0.00,2.22,0.00,0.000,4,0.000,0.032,2190,1060,3972
$GC,6640,-1.28,-121.7,872.1,-11.6,661,6645,0.17,2.25,0.00,0.000,6,0.081,0.041,2128,2516,3972
$GC,6961,-1.11,-121.7,920.0,-15.3,677,6963,0.22,0.00,0.00,0.000,6,0.197,0.000,2184,2517,3970
$GC,7270,-1.11,-121.7,957.5,-12.1,692,7274,0.00,1.95,0.00,0.000,4,0.000,0.058,2178,3759,3969
$GC,7297,-1.11,-121.7,961.1,-13.0,693,7301,0.00,1.83,0.00,0.000,6,0.000,0.031,2178,2544,3968
$STATE,7540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7540,begin apogee
$GC,7545,-0.22,0.0,992.1,13.1,705,7644,0.98,0.00,88.47,1.419,6,0.163,0.000,2469,2543,3531
$STATE,7645,end apogee,CONTROL_FINISHED_OK
$STATE,7645,begin climb
$GC,7648,1.18,121.7,997.0,0.0,710,7757,1.25,2.12,101.00,1.380,4,0.056,0.053,2924,3752,3034
$GC,7796,0.40,131.8,998.1,11.3,716,7812,1.02,1.90,9.75,1.183,6,0.220,0.029,2681,2531,2994
$GC,8130,0.64,213.6,975.8,6.6,733,8203,0.17,2.28,66.75,1.364,4,0.083,0.035,2759,1120,2660
$GC,8273,0.69,222.4,960.4,11.4,739,8287,0.00,2.17,8.65,1.151,6,0.000,0.038,2759,2485,2624
$GC,8615,0.69,222.4,916.2,12.8,756,8618,0.00,2.03,0.00,0.000,4,0.000,0.056,2759,3758,2620
$GC,8661,0.58,222.4,909.6,15.3,758,8664,0.00,1.90,0.00,0.000,6,0.000,0.029,2759,2501,2619
$GC,8993,0.58,222.4,867.4,12.3,774,8997,0.00,2.10,0.00,0.000,4,0.000,0.036,2759,1100,2618
$GC,9077,0.63,222.4,857.5,12.0,777,9085,0.00,2.15,0.00,0.000,6,0.000,0.038,2759,2493,2617
$GC,9393,0.65,238.0,821.3,11.0,793,9407,0.00,0.00,12.57,1.231,6,0.000,0.000,2759,2493,2561
$GC,9702,0.65,238.5,784.1,12.0,808,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2493,2559
$GC,10011,0.66,241.8,747.4,11.8,823,10020,0.00,2.15,4.25,0.872,4,0.000,0.037,2759,1107,2546
$GC,10072,0.77,252.0,740.3,11.3,825,10089,0.10,2.12,9.88,1.148,6,0.103,0.040,2795,2485,2503
$GC,10413,0.72,252.0,693.0,14.0,842,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2485,2501
$GC,10720,0.68,252.0,647.2,15.0,857,10722,0.12,0.00,0.00,0.000,6,0.198,0.000,2766,2486,2500
$GC,11029,0.73,252.0,606.9,12.9,872,11033,0.00,2.00,0.00,0.000,4,0.000,0.054,2766,3764,2499
$GC,11085,0.67,252.0,599.1,14.1,874,11089,0.00,1.95,0.00,0.000,6,0.000,0.031,2773,2456,2499
$GC,11407,0.67,252.0,558.3,12.9,890,11411,0.00,2.00,0.00,0.000,4,0.000,0.037,2775,1107,2499
$GC,11440,0.74,252.0,553.7,13.0,891,11444,0.00,2.12,0.00,0.000,6,0.000,0.041,2776,2486,2498
$GC,11761,0.74,252.0,511.9,12.6,907,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2486,2498
$GC,12077,0.79,252.0,472.3,12.1,932,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2486,2498
$GC,12398,0.81,273.2,436.8,10.6,962,12420,0.00,2.08,17.27,1.025,4,0.000,0.057,2776,3761,2417
$GC,12546,0.76,273.2,417.2,12.7,975,12550,0.00,1.92,0.00,0.000,6,0.000,0.031,2784,2476,2415
$GC,12877,0.76,273.2,374.9,12.4,1006,12881,0.00,2.05,0.00,0.000,4,0.000,0.055,2784,3761,2414
$GC,13001,0.76,273.2,358.2,12.7,1017,13005,0.00,1.85,0.00,0.000,6,0.000,0.032,2790,2513,2414
$GC,13332,0.84,282.5,321.4,11.4,1048,13347,0.00,2.12,8.75,0.865,4,0.000,0.036,2791,1120,2379
$GC,13568,0.97,282.5,295.6,12.1,1072,13574,0.20,2.12,0.00,0.000,6,0.074,0.037,2866,2508,2378
$GC,13913,0.84,282.5,246.7,13.3,1133,13920,0.17,0.00,0.00,0.000,6,0.189,0.000,2818,2512,2378
$GC,14258,0.93,310.3,205.2,10.2,1194,14288,0.00,1.95,22.85,0.828,4,0.000,0.052,2818,3757,2265
$GC,14402,0.94,312.1,188.1,11.9,1219,14409,0.00,1.90,0.00,0.000,6,0.000,0.028,2825,2470,2263
$GC,14747,1.07,337.9,151.3,10.3,1280,14777,0.17,2.10,22.02,0.763,4,0.076,0.054,2899,3752,2153
$GC,14876,0.89,337.9,131.6,17.6,1302,14883,0.28,1.77,0.00,0.000,6,0.185,0.028,2836,2538,2151
$GC,15223,1.16,393.8,92.7,8.3,1363,15272,0.20,2.20,43.12,0.709,4,0.071,0.031,2925,1122,1925
$GC,15380,1.24,415.3,74.8,10.6,1390,15404,0.00,2.15,17.35,0.659,6,0.000,0.035,2925,2518,1838
$GC,15745,1.35,418.9,27.8,11.8,1454,15757,0.15,2.15,3.85,0.430,4,0.075,0.031,2992,1112,1824
$GC,15826,1.30,418.9,16.1,13.5,1468,15832,0.00,2.08,0.00,0.000,6,0.000,0.036,2992,2473,1824
$STATE,15920,end climb,SURFACE_DEPTH_REACHED
$STATE,15920,begin surface coast
$FINISH,1.7,1.014500
$STATE,15944,end surface coast,CONTROL_FINISHED_OK
$STATE,15944,begin surface
$SM_CCo,15961,3.33,0.370,0,0,1799,425.10
$SM_GC,3.71,0.00,0.00,3.33,0.000,0.000,0.370,143,2478,1799,-7.51,1.47,425.10
$IRIDIUM_FIX,2451.31,12307.11,140998,141405
$TT8_MAMPS,0.029913
$HUMID,1609
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.8,34.181
$10V_AH,10.8,19.530
$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,24.550,120.900,436.550,3.325,0.000,28.602,41.618,201.977,8.000,0.000,0.000,11.497,2624.366,10050.807,553.089,2562.405,570.328,0.000,1853.696,0.000,2502.043,0.000,54.414,0.000
$DEVICE_MAMPS,248.508,57.525,1418.950,369.694,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.944,1026.707,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78935,1489
$CAP_FILE_SIZE,161408,0
$CFSIZE,260165632,210583552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.367, 50.4,1
$GPS,200609,233155,2458.999,12310.850,38,1.7,39,-3.6