version: 66.04
glider: 167
mission: 2
dive: 192
start: 6 21 109 4 10 25
data:
$ID,167
$MISSION,2
$DIVE,192
$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,-8836.9961
$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,75
$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
$GPS1,040236,2458.820,12313.851,33,1.6,34,-3.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.7
$GPS2,041005,2459.061,12314.105,15,1.9,30,-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,191.8,41798,-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,14,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-23.83,0.000,2,0.000,0.000,141,2480,2407
$GC,43,-1.18,-121.7,3.3,-4.3,4,104,8.35,2.00,-44.65,0.000,4,0.246,0.058,2153,3770,3989
$GC,161,-0.33,-121.7,31.3,-37.7,24,168,0.98,1.98,0.00,0.000,6,0.182,0.024,2429,2413,3990
$GC,506,-0.83,-121.7,65.9,-7.7,85,514,0.38,2.10,0.00,0.000,4,0.052,0.047,2263,3760,3992
$GC,531,-0.98,-121.7,69.1,-12.4,89,539,0.10,1.90,0.00,0.000,6,0.090,0.025,2221,2428,3992
$GC,877,-0.77,-121.7,135.2,-17.2,150,884,0.20,2.08,0.00,0.000,4,0.163,0.044,2275,3771,3994
$GC,948,-0.82,-121.7,145.1,-12.5,162,954,0.00,1.85,0.00,0.000,6,0.000,0.025,2275,2462,3993
$GC,1292,-0.94,-121.7,189.3,-12.2,223,1298,0.00,2.00,0.00,0.000,4,0.000,0.047,2275,3773,3995
$GC,1311,-1.05,-121.7,191.3,-10.9,226,1318,0.20,1.80,0.00,0.000,6,0.066,0.025,2190,2493,3995
$GC,1656,-0.88,-121.7,245.9,-15.9,287,1662,0.20,1.95,0.00,0.000,4,0.166,0.044,2244,3759,3995
$GC,1801,-0.94,-121.7,264.6,-13.1,312,1807,0.00,1.75,0.00,0.000,6,0.000,0.026,2244,2516,3996
$GC,2141,-1.03,-121.7,307.5,-13.2,368,2145,0.00,2.10,0.00,0.000,4,0.000,0.028,2245,1053,3996
$GC,2165,-1.13,-121.7,310.7,-13.3,370,2170,0.17,2.20,0.00,0.000,6,0.070,0.034,2174,2526,3996
$GC,2490,-0.98,-121.7,361.4,-14.6,400,2494,0.20,1.88,0.00,0.000,4,0.183,0.045,2222,3763,3996
$GC,2597,-0.98,-121.7,375.0,-11.8,409,2604,0.00,1.75,0.00,0.000,6,0.000,0.025,2222,2523,3996
$GC,2923,-0.98,-121.7,412.8,-11.1,440,2927,0.00,1.92,0.00,0.000,4,0.000,0.050,2221,3764,3996
$GC,3040,-0.98,-121.7,427.0,-11.5,450,3046,0.00,1.70,0.00,0.000,6,0.000,0.028,2220,2573,3996
$GC,3367,-1.06,-121.7,462.4,-10.3,481,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2574,3994
$GC,3687,-1.14,-121.7,497.4,-11.7,511,3691,0.12,1.85,0.00,0.000,4,0.083,0.051,2166,3760,3993
$GC,3777,-0.99,-121.7,511.5,-16.1,516,3781,0.22,1.67,0.00,0.000,6,0.176,0.029,2225,2598,3993
$GC,4112,-1.11,-121.7,551.5,-11.7,532,4117,0.12,2.25,0.00,0.000,4,0.080,0.029,2176,1057,3991
$GC,4178,-1.11,-121.7,561.2,-13.4,535,4182,0.00,2.30,0.00,0.000,6,0.000,0.038,2176,2570,3991
$GC,4500,-1.04,-121.7,605.5,-13.9,551,4502,0.12,0.00,0.00,0.000,6,0.188,0.000,2205,2571,3988
$GC,4810,-1.11,-121.7,642.7,-11.9,566,4814,0.00,2.25,0.00,0.000,4,0.000,0.030,2205,1049,3986
$GC,4832,-1.20,-121.7,645.6,-12.2,567,4836,0.15,2.30,0.00,0.000,6,0.081,0.038,2150,2563,3986
$GC,5153,-1.07,-121.7,692.8,-15.0,583,5157,0.17,1.85,0.00,0.000,4,0.192,0.052,2192,3767,3983
$GC,5185,-1.07,-121.7,697.7,-14.4,584,5188,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2588,3983
$GC,5506,-1.07,-121.7,737.9,-12.4,600,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2588,3981
$GC,5816,-1.07,-121.7,776.8,-12.3,615,5820,0.00,2.25,0.00,0.000,4,0.000,0.031,2192,1056,3978
$GC,5905,-1.14,-121.7,787.6,-11.8,619,5909,0.00,2.30,0.00,0.000,6,0.000,0.040,2192,2558,3978
$GC,6227,-1.14,-121.7,825.0,-11.7,635,6232,0.00,1.88,0.00,0.000,4,0.000,0.058,2192,3759,3975
$GC,6301,-1.20,-121.7,833.6,-11.6,638,6305,0.10,1.70,0.00,0.000,6,0.100,0.031,2156,2601,3974
$GC,6629,-1.13,-121.7,878.3,-13.8,654,6634,0.00,2.28,0.00,0.000,4,0.000,0.031,2156,1055,3972
$GC,6831,-1.09,-121.7,906.8,-14.2,663,6835,0.15,2.30,0.00,0.000,6,0.188,0.041,2188,2547,3971
$GC,7152,-1.15,-121.7,945.9,-12.3,679,7155,0.00,2.22,0.00,0.000,4,0.000,0.031,2187,1065,3969
$GC,7209,-1.24,-121.7,952.9,-11.9,681,7214,0.12,2.28,0.00,0.000,6,0.089,0.041,2144,2537,3969
$STATE,7481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7481,begin apogee
$GC,7487,-0.22,0.0,992.8,14.5,694,7583,1.12,0.00,88.47,1.415,6,0.180,0.000,2466,2537,3531
$STATE,7584,end apogee,CONTROL_FINISHED_OK
$STATE,7584,begin climb
$GC,7587,1.18,121.7,997.0,0.0,699,7696,1.25,2.28,100.88,1.372,4,0.054,0.034,2930,1138,3034
$GC,7949,0.60,121.7,968.6,12.8,715,7954,0.75,2.15,0.00,0.000,6,0.216,0.041,2739,2504,3030
$GC,8270,0.61,191.8,943.4,7.4,731,8334,0.00,2.17,55.42,1.351,4,0.000,0.035,2746,1147,2749
$GC,8449,0.68,208.3,925.4,10.9,739,8471,0.00,2.15,14.82,1.248,6,0.000,0.039,2746,2509,2683
$GC,8779,0.68,208.3,884.8,12.3,755,8783,0.00,2.10,0.00,0.000,4,0.000,0.035,2747,1134,2678
$GC,8818,0.75,208.3,879.9,12.8,756,8825,0.12,2.12,0.00,0.000,6,0.092,0.040,2791,2496,2678
$GC,9134,0.64,208.3,835.2,14.2,772,9138,0.15,2.05,0.00,0.000,4,0.196,0.033,2762,1152,2677
$GC,9256,0.64,208.3,819.4,12.9,777,9260,0.00,2.08,0.00,0.000,6,0.000,0.039,2762,2488,2676
$GC,9577,0.64,208.3,778.6,12.6,793,9581,0.00,2.00,0.00,0.000,4,0.000,0.057,2762,3760,2675
$GC,9668,0.51,208.3,765.4,15.2,797,9672,0.22,1.83,0.00,0.000,6,0.191,0.031,2714,2528,2674
$GC,10000,0.69,224.6,728.3,10.9,813,10024,0.15,2.17,13.23,1.192,4,0.082,0.037,2776,1117,2615
$GC,10119,0.69,224.6,711.7,14.4,818,10123,0.00,2.15,0.00,0.000,6,0.000,0.039,2776,2500,2615
$GC,10446,0.69,224.6,664.7,14.0,834,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2500,2614
$GC,10755,0.69,224.6,624.0,13.1,849,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2500,2612
$GC,11064,0.69,224.6,584.5,12.5,864,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2500,2612
$GC,11373,0.69,224.6,546.7,13.0,879,11377,0.00,2.10,0.00,0.000,4,0.000,0.037,2775,1112,2612
$GC,11468,0.69,224.6,534.9,12.8,883,11472,0.00,2.15,0.00,0.000,6,0.000,0.041,2776,2507,2611
$GC,11785,0.69,224.6,493.7,12.7,900,11789,0.00,1.95,0.00,0.000,4,0.000,0.056,2776,3757,2611
$GC,11809,0.64,224.6,490.6,13.3,902,11814,0.12,1.88,0.00,0.000,6,0.194,0.031,2754,2481,2611
$GC,12140,0.79,259.6,455.8,9.7,933,12175,0.12,2.05,27.33,1.049,4,0.091,0.035,2806,1115,2471
$GC,12236,0.79,259.6,443.9,12.3,941,12243,0.00,2.12,0.00,0.000,6,0.000,0.037,2806,2477,2469
$GC,12564,0.79,259.6,399.7,13.9,972,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2477,2467
$GC,12889,0.79,259.6,356.7,13.4,1003,12892,0.00,2.03,0.00,0.000,4,0.000,0.055,2806,3765,2467
$GC,13024,0.68,259.6,338.4,15.0,1015,13028,0.20,1.95,0.00,0.000,6,0.186,0.031,2764,2450,2467
$GC,13355,0.92,319.8,307.6,8.0,1046,13409,0.22,2.05,46.72,0.923,4,0.074,0.033,2855,1109,2227
$GC,13421,0.87,319.8,300.2,12.5,1052,13426,0.12,2.15,0.00,0.000,6,0.180,0.038,2827,2473,2225
$GC,13765,0.92,319.8,255.2,13.5,1112,13771,0.00,2.05,0.00,0.000,4,0.000,0.054,2827,3767,2220
$GC,13979,0.92,319.8,222.9,13.4,1150,13985,0.00,1.98,0.00,0.000,6,0.000,0.028,2829,2440,2219
$GC,14324,1.04,329.0,180.7,11.4,1211,14337,0.15,2.03,7.68,0.708,4,0.081,0.031,2898,1107,2191
$GC,14430,0.98,329.0,166.3,12.8,1229,14437,0.15,2.03,0.00,0.000,6,0.188,0.038,2861,2434,2189
$GC,14776,1.09,362.2,125.9,9.8,1290,14811,0.10,2.12,27.00,0.733,4,0.089,0.052,2899,3755,2053
$GC,14863,0.97,362.2,114.0,14.5,1305,14870,0.20,1.98,0.00,0.000,6,0.186,0.027,2858,2418,2051
$GC,15209,1.21,390.5,76.9,10.1,1366,15239,0.17,1.95,22.58,0.674,4,0.074,0.031,2938,1110,1937
$GC,15284,1.21,390.5,66.1,15.7,1379,15290,0.00,2.03,0.00,0.000,6,0.000,0.034,2938,2437,1936
$GC,15628,1.30,424.2,21.1,9.8,1440,15659,0.00,2.15,26.45,0.621,4,0.000,0.049,2938,3773,1801
$GC,15750,1.30,424.2,6.7,15.4,1461,15757,0.00,2.00,0.00,0.000,6,0.000,0.025,2947,2420,1798
$STATE,15778,end climb,SURFACE_DEPTH_REACHED
$STATE,15778,begin surface coast
$FINISH,1.8,1.000650
$STATE,15802,end surface coast,CONTROL_FINISHED_OK
$STATE,15802,begin surface
$SM_CCo,15879,0.00,0.000,0,0,1796,425.84
$SM_GC,3.08,7.53,0.00,0.00,0.054,0.000,0.000,142,2417,1796,-7.50,-0.28,425.84
$IRIDIUM_FIX,2448.93,12309.10,140998,232357
$TT8_MAMPS,0.028379
$HUMID,1586
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.8,34.499
$10V_AH,10.8,19.708
$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,24.950,130.350,430.575,0.000,0.000,31.334,41.248,227.418,8.250,0.000,0.000,30.132,2615.872,9917.498,546.718,2641.941,595.830,0.000,1874.867,0.000,2565.467,0.000,59.331,0.000
$DEVICE_MAMPS,246.207,57.525,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.505,1019.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78823,1470
$CAP_FILE_SIZE,163655,0
$CFSIZE,260165632,210411520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.391, 54.9,1
$GPS,210609,083625,2459.090,12316.782,46,1.4,47,-3.6