version: 66.04
glider: 167
mission: 2
dive: 193
start: 6 21 109 8 43 41
data:
$ID,167
$MISSION,2
$DIVE,193
$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,-8850.8994
$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,68
$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
$GPS1,083625,2459.090,12316.782,46,1.4,47,-3.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-63.9
$GPS2,084320,2459.197,12317.044,13,2.0,13,-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,197.8,39249,-23.2,-12.000
$D_GRID,1960
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.08,0.000,2,0.000,0.000,142,2417,2417
$GC,44,-1.18,-121.7,3.5,-5.2,4,103,8.48,2.12,-43.88,0.000,4,0.252,0.057,2148,3773,3989
$GC,261,-0.47,-121.7,68.6,-32.6,42,268,0.85,1.98,0.00,0.000,6,0.186,0.025,2385,2404,3990
$GC,606,-0.86,-121.7,106.3,-8.3,103,614,0.30,2.10,0.00,0.000,4,0.058,0.045,2248,3763,3992
$GC,794,-0.68,-121.7,137.2,-17.5,136,801,0.25,1.88,0.00,0.000,6,0.163,0.025,2318,2446,3993
$GC,1139,-0.91,-121.7,174.5,-9.0,197,1146,0.17,2.05,0.00,0.000,4,0.068,0.046,2233,3774,3994
$GC,1395,-0.85,-121.7,212.6,-14.5,242,1402,0.15,1.85,0.00,0.000,6,0.161,0.026,2273,2469,3994
$GC,1742,-0.99,-121.7,255.6,-11.3,303,1750,0.15,2.00,0.00,0.000,4,0.070,0.047,2206,3767,3995
$GC,1858,-0.81,-121.7,273.7,-15.5,323,1865,0.25,1.80,0.00,0.000,6,0.159,0.025,2278,2495,3995
$GC,2203,-1.03,-121.7,309.9,-9.9,376,2207,0.20,1.98,0.00,0.000,4,0.066,0.048,2188,3773,3996
$GC,2294,-0.88,-121.7,322.9,-14.8,384,2298,0.25,1.80,0.00,0.000,6,0.161,0.025,2258,2507,3996
$GC,2625,-1.06,-121.7,360.1,-10.7,415,2629,0.17,1.95,0.00,0.000,4,0.067,0.047,2179,3768,3996
$GC,2821,-0.92,-121.7,391.6,-16.8,432,2827,0.25,1.77,0.00,0.000,6,0.165,0.026,2248,2521,3996
$GC,3146,-1.08,-121.7,429.4,-11.8,463,3150,0.15,1.92,0.00,0.000,4,0.074,0.049,2187,3760,3995
$GC,3203,-1.00,-121.7,437.9,-15.5,468,3207,0.12,1.75,0.00,0.000,6,0.173,0.028,2218,2539,3995
$GC,3534,-1.06,-121.7,477.5,-12.0,499,3538,0.00,1.90,0.00,0.000,4,0.000,0.051,2218,3759,3994
$GC,3652,-1.11,-121.7,492.3,-12.8,509,3658,0.00,1.73,0.00,0.000,6,0.000,0.028,2218,2563,3993
$GC,3970,-1.19,-121.7,532.1,-12.3,528,3974,0.17,1.88,0.00,0.000,4,0.075,0.051,2137,3763,3992
$GC,4048,-0.93,-121.7,544.9,-16.8,531,4052,0.38,1.70,0.00,0.000,6,0.175,0.028,2241,2582,3991
$GC,4370,-1.11,-121.7,582.8,-12.0,547,4372,0.17,0.00,0.00,0.000,6,0.073,0.000,2173,2582,3990
$GC,4679,-1.04,-121.7,625.9,-13.6,562,4683,0.15,1.85,0.00,0.000,4,0.187,0.051,2205,3763,3987
$GC,4762,-1.04,-121.7,636.6,-12.4,565,4768,0.00,1.73,0.00,0.000,6,0.000,0.029,2205,2593,3986
$GC,5079,-1.11,-121.7,675.1,-12.6,581,5082,0.00,1.83,0.00,0.000,4,0.000,0.054,2204,3755,3985
$GC,5124,-1.11,-121.7,681.4,-13.8,583,5127,0.00,1.67,0.00,0.000,6,0.000,0.030,2205,2600,3984
$GC,5456,-1.18,-121.7,723.5,-12.5,599,5460,0.12,1.83,0.00,0.000,4,0.086,0.054,2152,3758,3981
$GC,5484,-1.09,-121.7,727.6,-15.4,600,5488,0.15,1.67,0.00,0.000,6,0.183,0.030,2188,2606,3981
$GC,5811,-1.09,-121.7,771.6,-13.8,616,5814,0.00,1.83,0.00,0.000,4,0.000,0.055,2182,3764,3979
$GC,5849,-1.04,-121.7,777.6,-14.8,617,5855,0.00,1.67,0.00,0.000,6,0.000,0.031,2182,2614,3978
$GC,6165,-1.04,-121.7,822.1,-14.0,633,6168,0.00,1.83,0.00,0.000,4,0.000,0.056,2179,3767,3976
$GC,6277,-1.04,-121.7,838.5,-13.8,638,6281,0.00,1.73,0.00,0.000,6,0.000,0.031,2179,2616,3975
$GC,6610,-1.04,-121.7,882.2,-13.0,654,6614,0.12,2.30,0.00,0.000,4,0.186,0.031,2208,1056,3973
$GC,6688,-1.20,-121.7,891.0,-10.7,657,6694,0.15,2.38,0.00,0.000,6,0.085,0.041,2154,2599,3972
$GC,7003,-1.11,-121.7,933.7,-12.9,673,7008,0.12,2.33,0.00,0.000,4,0.205,0.031,2181,1045,3970
$GC,7030,-1.11,-121.7,937.2,-13.1,674,7035,0.00,2.38,0.00,0.000,6,0.000,0.040,2179,2585,3970
$GC,7346,-1.11,-121.7,974.2,-11.6,689,7350,0.00,1.85,0.00,0.000,4,0.000,0.059,2179,3764,3969
$GC,7401,-1.11,-121.7,981.3,-12.5,691,7405,0.00,1.70,0.00,0.000,6,0.000,0.031,2179,2610,3968
$STATE,7494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7494,begin apogee
$GC,7500,-0.22,0.0,992.5,12.1,696,7597,0.98,0.00,88.80,1.411,6,0.166,0.000,2467,2533,3531
$STATE,7597,end apogee,CONTROL_FINISHED_OK
$STATE,7598,begin climb
$GC,7600,1.18,121.7,996.4,0.0,701,7709,1.27,2.30,100.72,1.368,4,0.061,0.033,2932,1088,3036
$GC,7756,0.60,131.5,995.4,11.4,708,7772,0.77,2.30,9.82,1.177,6,0.217,0.041,2741,2514,2995
$GC,8083,0.59,172.6,964.3,9.3,723,8127,0.00,2.08,33.75,1.332,4,0.000,0.056,2740,3751,2827
$GC,8195,0.47,172.6,951.8,13.3,728,8200,0.20,1.92,0.00,0.000,6,0.193,0.030,2699,2490,2825
$GC,8528,0.68,224.4,922.3,8.6,744,8576,0.20,2.15,42.55,1.332,4,0.081,0.035,2779,1120,2616
$GC,8682,0.68,224.4,902.8,13.7,751,8687,0.00,2.20,0.00,0.000,6,0.000,0.038,2779,2492,2611
$GC,9009,0.68,224.4,858.9,13.3,767,9013,0.00,2.10,0.00,0.000,4,0.000,0.035,2779,1114,2609
$GC,9138,0.68,224.4,842.0,13.3,772,9145,0.00,2.15,0.00,0.000,6,0.000,0.040,2779,2494,2608
$GC,9453,0.68,224.4,800.9,13.4,788,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2494,2606
$GC,9762,0.68,224.4,759.0,13.8,803,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2494,2605
$GC,10072,0.68,224.4,716.6,13.5,818,10076,0.00,2.10,0.00,0.000,4,0.000,0.036,2779,1110,2604
$GC,10185,0.68,224.4,702.3,12.1,823,10188,0.00,2.15,0.00,0.000,6,0.000,0.041,2779,2497,2604
$GC,10517,0.68,224.4,660.5,13.2,839,10520,0.00,2.10,0.00,0.000,4,0.000,0.036,2779,1112,2603
$GC,10578,0.68,224.4,652.5,12.9,841,10584,0.00,2.12,0.00,0.000,6,0.000,0.041,2778,2489,2603
$GC,10894,0.68,225.9,614.3,11.9,857,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2489,2602
$GC,11203,0.70,242.7,579.9,10.9,872,11226,0.00,2.12,13.18,1.101,4,0.000,0.036,2779,1123,2541
$GC,11295,0.78,242.7,569.0,12.0,876,11298,0.00,2.10,0.00,0.000,6,0.000,0.038,2779,2476,2539
$GC,11627,0.78,242.7,526.8,12.7,892,11630,0.00,2.03,0.00,0.000,4,0.000,0.057,2779,3764,2538
$GC,11768,0.70,242.7,505.9,14.9,898,11772,0.00,1.92,0.00,0.000,6,0.000,0.029,2779,2472,2538
$GC,12095,0.72,263.2,468.1,10.6,926,12117,0.00,2.08,16.55,1.033,4,0.000,0.036,2784,1098,2460
$GC,12369,0.86,291.8,439.3,10.1,950,12399,0.10,2.08,24.60,1.017,6,0.094,0.037,2823,2447,2342
$GC,12715,0.86,291.8,393.3,13.7,983,12718,0.00,2.05,0.00,0.000,4,0.000,0.034,2829,1100,2337
$GC,12753,0.86,291.8,387.5,14.4,986,12759,0.00,2.10,0.00,0.000,6,0.000,0.038,2829,2455,2337
$GC,13080,0.86,291.8,344.4,12.8,1017,13084,0.00,2.05,0.00,0.000,4,0.000,0.034,2834,1093,2336
$GC,13096,0.86,291.8,341.8,13.0,1018,13102,0.00,2.08,0.00,0.000,6,0.000,0.037,2834,2443,2336
$GC,13423,0.86,291.8,298.0,13.8,1050,13429,0.00,2.08,0.00,0.000,4,0.000,0.054,2834,3768,2336
$GC,13537,0.75,291.8,280.8,14.8,1070,13544,0.20,2.00,0.00,0.000,6,0.189,0.028,2791,2421,2336
$GC,13882,0.93,311.7,241.1,10.7,1131,13907,0.15,2.00,16.02,0.830,4,0.084,0.032,2856,1098,2260
$GC,14059,0.93,311.7,216.0,13.9,1162,14065,0.00,2.03,0.00,0.000,6,0.000,0.036,2856,2429,2259
$GC,14403,0.93,314.2,176.0,11.8,1223,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2429,2258
$GC,14746,1.01,332.1,137.0,10.8,1284,14770,0.00,2.05,17.02,0.727,4,0.000,0.033,2863,1093,2177
$GC,15002,1.20,392.8,112.8,8.0,1329,15055,0.20,2.05,46.95,0.715,6,0.078,0.035,2938,2448,1929
$GC,15392,1.20,392.8,56.3,13.1,1398,15398,0.00,2.03,0.00,0.000,4,0.000,0.033,2937,1101,1923
$GC,15502,1.20,392.8,41.1,13.1,1417,15508,0.00,1.98,0.00,0.000,6,0.000,0.034,2938,2412,1924
$STATE,15843,end climb,SURFACE_DEPTH_REACHED
$STATE,15843,begin surface coast
$FINISH,1.8,1.012256
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15897,23.05,0.603,0,0,1797,425.10
$SM_GC,2.82,0.00,0.00,23.05,0.000,0.000,0.603,143,2418,1797,-7.51,-0.28,425.10
$IRIDIUM_FIX,2451.31,12315.69,150998,040437
$TT8_MAMPS,0.028379
$HUMID,1583
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,34.659
$10V_AH,10.8,19.798
$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,24.950,127.225,409.975,23.050,0.000,29.628,38.188,214.624,8.000,0.000,0.000,13.274,2640.596,9895.586,548.182,2664.825,578.449,0.000,1886.228,0.000,2600.652,0.000,54.425,0.000
$DEVICE_MAMPS,251.576,88.205,1411.280,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.986,1026.543,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78949,1484
$CAP_FILE_SIZE,162207,0
$CFSIZE,260165632,210321408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.349, 49.7,1
$GPS,210609,131037,2459.471,12318.579,58,0.9,59,-3.6