version: 66.04
glider: 167
mission: 2
dive: 191
start: 6 20 109 23 38 47
data:
$ID,167
$MISSION,2
$DIVE,191
$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,-8806.2334
$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,77
$R_STBD_OVSHOOT,35
$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
$GPS1,233155,2458.999,12310.850,38,1.7,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-66.6
$GPS2,233826,2459.201,12311.090,14,1.4,14,-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,186.8,45218,-23.2,-12.000
$D_GRID,1830
$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,-23.08,0.000,2,0.000,0.000,142,2478,2383
$GC,43,-1.18,-121.7,3.2,-2.5,4,103,8.43,0.00,-47.35,0.000,6,0.249,0.000,2154,2479,3989
$GC,441,-0.72,-121.7,111.0,-21.7,74,447,0.50,2.12,0.00,0.000,4,0.179,0.026,2302,1030,3992
$GC,505,-0.88,-121.7,120.9,-12.7,85,511,0.00,2.10,0.00,0.000,6,0.000,0.033,2294,2431,3992
$GC,849,-1.00,-121.7,165.4,-12.1,146,856,0.17,2.03,0.00,0.000,4,0.065,0.046,2206,3755,3995
$GC,1036,-0.80,-121.7,196.0,-16.3,179,1043,0.28,1.85,0.00,0.000,6,0.159,0.025,2285,2453,3995
$GC,1383,-0.99,-121.7,237.1,-11.4,240,1391,0.17,2.03,0.00,0.000,4,0.069,0.048,2204,3761,3997
$GC,1588,-0.88,-121.7,270.0,-15.4,276,1596,0.20,1.77,0.00,0.000,6,0.158,0.027,2260,2513,3997
$GC,1929,-1.03,-121.7,309.5,-10.6,329,1933,0.15,1.92,0.00,0.000,4,0.074,0.048,2192,3757,3997
$GC,2020,-0.92,-121.7,322.7,-15.3,337,2024,0.20,1.77,0.00,0.000,6,0.163,0.027,2246,2514,3997
$GC,2350,-1.04,-121.7,359.5,-11.8,368,2355,0.12,1.92,0.00,0.000,4,0.078,0.048,2192,3754,3997
$GC,2389,-0.95,-121.7,364.5,-13.4,371,2396,0.17,1.77,0.00,0.000,6,0.165,0.027,2238,2511,3997
$GC,2715,-1.08,-121.7,400.8,-11.9,402,2719,0.12,1.95,0.00,0.000,4,0.077,0.049,2181,3767,3997
$GC,2821,-0.98,-121.7,417.5,-15.5,411,2828,0.17,1.73,0.00,0.000,6,0.169,0.026,2227,2559,3997
$GC,3147,-1.09,-121.7,456.0,-11.1,442,3150,0.00,2.20,0.00,0.000,4,0.000,0.029,2226,1050,3996
$GC,3182,-1.22,-121.7,460.1,-11.5,445,3187,0.20,2.25,0.00,0.000,6,0.071,0.035,2146,2544,3996
$GC,3516,-1.03,-121.7,511.8,-16.3,473,3520,0.22,1.88,0.00,0.000,4,0.192,0.051,2204,3761,3994
$GC,3554,-1.03,-121.7,517.8,-14.1,474,3560,0.00,1.77,0.00,0.000,6,0.000,0.028,2204,2556,3994
$GC,3870,-1.03,-121.7,557.1,-12.4,490,3873,0.00,1.88,0.00,0.000,4,0.000,0.053,2204,3755,3993
$GC,3897,-1.03,-121.7,560.9,-12.9,491,3901,0.00,1.75,0.00,0.000,6,0.000,0.029,2204,2566,3993
$GC,4225,-1.08,-121.7,601.3,-12.5,507,4229,0.00,2.22,0.00,0.000,4,0.000,0.031,2204,1049,3991
$GC,4248,-1.15,-121.7,604.5,-12.8,508,4252,0.00,2.28,0.00,0.000,6,0.000,0.038,2204,2531,3990
$GC,4575,-1.22,-121.7,642.7,-11.4,524,4580,0.15,1.90,0.00,0.000,4,0.081,0.052,2140,3758,3987
$GC,4648,-1.00,-121.7,653.8,-15.8,527,4653,0.30,1.77,0.00,0.000,6,0.179,0.029,2220,2536,3987
$GC,4977,-1.13,-121.7,687.6,-9.8,543,4979,0.12,0.00,0.00,0.000,6,0.084,0.000,2175,2536,3985
$GC,5285,-1.13,-121.7,725.2,-12.2,558,5289,0.00,1.92,0.00,0.000,4,0.000,0.055,2166,3758,3982
$GC,5346,-1.04,-121.7,733.7,-13.6,560,5354,0.17,1.77,0.00,0.000,6,0.179,0.030,2209,2545,3982
$GC,5662,-1.15,-121.7,766.3,-10.1,576,5666,0.00,2.20,0.00,0.000,4,0.000,0.031,2209,1053,3980
$GC,5696,-1.28,-121.7,769.9,-10.4,577,5701,0.22,2.25,0.00,0.000,6,0.077,0.039,2128,2519,3980
$GC,6012,-1.09,-121.7,816.7,-15.3,592,6017,0.20,2.20,0.00,0.000,4,0.196,0.031,2182,1047,3977
$GC,6055,-1.09,-121.7,822.8,-13.4,594,6059,0.00,2.28,0.00,0.000,6,0.000,0.041,2178,2527,3977
$GC,6383,-1.09,-121.7,862.9,-12.4,610,6386,0.00,1.92,0.00,0.000,4,0.000,0.058,2178,3755,3975
$GC,6432,-1.09,-121.7,869.2,-12.3,612,6436,0.00,1.83,0.00,0.000,6,0.000,0.031,2178,2538,3974
$GC,6759,-1.09,-121.7,910.4,-12.7,628,6763,0.00,2.20,0.00,0.000,4,0.000,0.032,2177,1051,3973
$GC,6798,-1.09,-121.7,915.6,-12.7,629,6804,0.00,2.25,0.00,0.000,6,0.000,0.042,2178,2505,3972
$GC,7114,-1.09,-121.7,955.3,-12.6,645,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2505,3971
$STATE,7399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7399,begin apogee
$GC,7405,-0.22,0.0,991.1,12.3,659,7502,0.98,0.00,89.12,1.412,6,0.165,0.000,2467,2506,3531
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7505,1.18,121.7,995.4,0.0,664,7615,1.27,2.30,101.10,1.371,4,0.062,0.034,2933,1126,3034
$GC,7651,0.63,160.4,996.8,9.4,670,7691,0.75,2.25,32.53,1.321,6,0.218,0.039,2749,2511,2879
$GC,8015,0.61,182.6,959.0,10.5,688,8039,0.00,2.10,18.77,1.291,4,0.000,0.056,2749,3765,2787
$GC,8078,0.47,182.6,951.0,13.8,690,8085,0.22,1.88,0.00,0.000,6,0.190,0.029,2701,2523,2785
$GC,8394,0.67,223.3,921.7,9.3,706,8437,0.17,2.22,34.15,1.327,4,0.084,0.035,2775,1122,2620
$GC,8487,0.67,223.3,909.6,14.2,710,8491,0.00,2.22,0.00,0.000,6,0.000,0.039,2775,2501,2617
$GC,8813,0.67,223.3,862.7,14.2,726,8817,0.00,2.00,0.00,0.000,4,0.000,0.056,2775,3767,2615
$GC,8841,0.55,223.3,858.3,16.1,727,8845,0.22,1.88,0.00,0.000,6,0.189,0.030,2726,2509,2614
$GC,9168,0.68,227.4,819.1,11.7,743,9177,0.12,2.05,3.85,0.819,4,0.089,0.057,2772,3759,2604
$GC,9200,0.56,227.4,814.4,14.5,744,9204,0.20,1.83,0.00,0.000,6,0.189,0.031,2730,2529,2604
$GC,9521,0.70,240.8,776.6,11.1,760,9543,0.12,2.20,12.02,1.198,4,0.089,0.036,2775,1117,2548
$GC,9635,0.70,240.8,761.5,13.7,765,9638,0.00,2.17,0.00,0.000,6,0.000,0.039,2776,2512,2547
$GC,9967,0.70,240.8,715.0,14.2,781,9971,0.00,1.98,0.00,0.000,4,0.000,0.056,2775,3765,2546
$GC,10062,0.59,240.8,699.5,16.7,785,10067,0.20,1.85,0.00,0.000,6,0.188,0.031,2733,2516,2545
$GC,10390,0.74,251.9,661.4,11.3,801,10404,0.15,0.00,9.55,1.108,6,0.084,0.000,2789,2515,2504
$GC,10721,0.74,251.9,615.6,13.5,817,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2515,2503
$GC,11030,0.74,253.6,577.0,11.9,832,11033,0.00,2.10,0.00,0.000,4,0.000,0.038,2795,1114,2502
$GC,11107,0.74,253.6,567.1,13.0,835,11111,0.00,2.22,0.00,0.000,6,0.000,0.041,2795,2547,2502
$GC,11429,0.74,253.6,525.9,12.6,851,11433,0.00,1.90,0.00,0.000,4,0.000,0.056,2794,3763,2502
$GC,11479,0.61,253.6,518.6,15.0,853,11483,0.22,1.80,0.00,0.000,6,0.191,0.032,2743,2548,2501
$GC,11801,0.79,277.2,483.2,10.4,875,11829,0.17,0.00,21.25,1.070,6,0.078,0.000,2809,2545,2400
$GC,12147,0.79,277.2,433.2,14.0,908,12150,0.00,2.15,0.00,0.000,4,0.000,0.036,2816,1115,2397
$GC,12259,0.79,277.2,417.0,13.5,918,12263,0.00,2.22,0.00,0.000,6,0.000,0.039,2815,2555,2396
$GC,12590,0.79,277.4,371.8,12.0,949,12594,0.00,1.88,0.00,0.000,4,0.000,0.054,2816,3757,2396
$GC,12751,0.67,277.4,349.5,14.8,963,12756,0.22,1.83,0.00,0.000,6,0.189,0.030,2765,2523,2396
$GC,13082,0.86,277.4,310.5,12.2,994,13087,0.17,2.10,0.00,0.000,4,0.078,0.035,2843,1109,2395
$GC,13250,0.86,277.4,285.7,14.6,1017,13256,0.00,2.20,0.00,0.000,6,0.000,0.040,2843,2541,2395
$GC,13594,0.81,277.4,241.0,12.5,1078,13601,0.15,2.15,0.00,0.000,4,0.181,0.031,2813,1103,2395
$GC,13632,0.91,291.6,236.9,11.1,1084,13651,0.00,2.20,12.23,0.826,6,0.000,0.038,2813,2545,2343
$GC,13988,1.00,291.6,194.7,12.5,1147,13995,0.15,1.90,0.00,0.000,4,0.079,0.054,2874,3763,2341
$GC,14013,0.93,291.6,191.1,14.7,1151,14019,0.15,1.85,0.00,0.000,6,0.191,0.028,2847,2502,2341
$GC,14357,0.95,311.9,151.3,10.7,1212,14376,0.00,0.00,17.02,0.756,6,0.000,0.000,2847,2502,2260
$GC,14714,1.10,347.0,114.5,9.7,1275,14751,0.15,2.03,27.65,0.725,4,0.080,0.051,2905,3767,2116
$GC,14786,0.96,347.0,104.0,16.5,1287,14792,0.22,1.90,0.00,0.000,6,0.186,0.026,2856,2477,2114
$GC,15133,1.19,390.2,68.0,9.1,1348,15176,0.17,2.08,33.45,0.672,4,0.075,0.031,2937,1117,1939
$GC,15362,1.27,394.2,39.6,11.7,1388,15371,0.00,2.08,4.32,0.464,6,0.000,0.035,2936,2474,1923
$STATE,15684,end climb,SURFACE_DEPTH_REACHED
$STATE,15684,begin surface coast
$FINISH,1.7,1.008248
$STATE,15720,end surface coast,CONTROL_FINISHED_OK
$STATE,15720,begin surface
$SM_CCo,15737,21.12,0.600,0,0,1799,425.10
$SM_GC,3.19,0.00,0.00,21.12,0.000,0.000,0.600,141,2480,1799,-7.51,1.50,425.10
$IRIDIUM_FIX,2451.31,12309.10,140998,191926
$TT8_MAMPS,0.028379
$HUMID,1569
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.8,34.339
$10V_AH,10.8,19.618
$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,26.050,129.200,417.025,21.125,0.000,30.549,40.620,186.145,8.000,0.000,0.000,14.207,2580.727,9932.450,551.656,2523.133,555.109,0.000,1836.375,0.000,2462.132,0.000,56.332,0.000
$DEVICE_MAMPS,248.508,57.525,1412.047,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,981.529,994.292,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78915,1451
$CAP_FILE_SIZE,162044,0
$CFSIZE,260165632,210493440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.382, 62.7,1
$GPS,210609,040236,2458.820,12313.851,33,1.6,34,-3.6