version: 66.04
glider: 167
mission: 2
dive: 194
start: 6 21 109 13 21 31
data:
$ID,167
$MISSION,2
$DIVE,194
$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,-8865.9561
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,131037,2459.471,12318.579,58,0.9,59,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-65.9
$GPS2,132108,2459.635,12318.889,14,1.1,14,-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,202.4,38479,-23.2,-12.000
$D_GRID,2015
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.70,0.000,2,0.000,0.000,142,2418,2385
$GC,42,-1.18,-121.7,3.2,-3.1,4,103,8.40,2.10,-45.83,0.000,4,0.247,0.057,2145,3768,3989
$GC,191,-0.33,-121.7,40.4,-36.2,29,197,1.08,2.00,0.00,0.000,6,0.207,0.024,2430,2378,3990
$GC,536,-0.81,-121.7,74.6,-6.6,90,542,0.38,2.15,0.00,0.000,4,0.051,0.046,2262,3761,3992
$GC,796,-0.61,-121.7,120.5,-20.1,136,804,0.30,1.88,0.00,0.000,6,0.161,0.025,2348,2439,3992
$GC,1144,-0.90,-121.7,164.7,-11.2,197,1151,0.22,2.05,0.00,0.000,4,0.061,0.046,2245,3767,3993
$GC,1387,-0.83,-121.7,201.8,-14.8,240,1395,0.12,1.85,0.00,0.000,6,0.160,0.024,2278,2450,3994
$GC,1734,-0.95,-121.7,243.2,-12.4,301,1740,0.12,2.03,0.00,0.000,4,0.077,0.045,2221,3766,3994
$GC,1843,-0.85,-121.7,258.7,-15.0,320,1850,0.17,1.83,0.00,0.000,6,0.157,0.025,2269,2470,3994
$GC,2190,-0.99,-121.7,298.2,-9.5,381,2197,0.12,2.00,0.00,0.000,4,0.074,0.045,2205,3770,3994
$GC,2298,-0.89,-121.7,312.0,-12.6,392,2306,0.17,1.85,0.00,0.000,6,0.165,0.025,2252,2461,3995
$GC,2623,-1.02,-121.7,349.4,-12.1,423,2631,0.12,2.03,0.00,0.000,4,0.075,0.046,2193,3773,3994
$GC,2811,-0.90,-121.7,381.0,-17.0,439,2818,0.22,1.80,0.00,0.000,6,0.164,0.026,2255,2506,3994
$GC,3137,-1.06,-121.7,418.4,-10.2,470,3141,0.15,1.95,0.00,0.000,4,0.068,0.050,2192,3761,3994
$GC,3361,-0.99,-121.7,447.6,-13.7,490,3365,0.08,1.77,0.00,0.000,6,0.166,0.028,2215,2552,3994
$GC,3692,-1.04,-121.7,487.0,-12.6,521,3695,0.00,1.90,0.00,0.000,4,0.000,0.051,2207,3773,3992
$GC,3793,-1.04,-121.7,501.1,-13.8,530,3796,0.00,1.75,0.00,0.000,6,0.000,0.028,2207,2553,3992
$GC,4114,-1.04,-121.7,543.1,-13.0,546,4117,0.00,1.90,0.00,0.000,4,0.000,0.052,2205,3773,3991
$GC,4197,-1.04,-121.7,554.4,-13.4,549,4203,0.00,1.75,0.00,0.000,6,0.000,0.028,2206,2562,3989
$GC,4514,-1.09,-121.7,594.6,-13.0,565,4517,0.00,1.88,0.00,0.000,4,0.000,0.053,2205,3761,3987
$GC,4570,-1.09,-121.7,601.8,-12.2,567,4574,0.00,1.73,0.00,0.000,6,0.000,0.029,2205,2568,3987
$GC,4892,-1.15,-121.7,639.8,-11.2,583,4896,0.00,1.88,0.00,0.000,4,0.000,0.054,2205,3764,3985
$GC,5005,-1.15,-121.7,653.1,-10.9,588,5008,0.00,1.73,0.00,0.000,6,0.000,0.031,2205,2579,3983
$GC,5338,-1.22,-121.7,691.3,-11.3,604,5340,0.15,0.00,0.00,0.000,6,0.079,0.000,2149,2579,3981
$GC,5646,-1.08,-121.7,734.5,-13.7,619,5650,0.17,1.88,0.00,0.000,4,0.184,0.054,2192,3767,3978
$GC,5702,-1.08,-121.7,741.6,-12.1,621,5706,0.00,1.75,0.00,0.000,6,0.000,0.031,2192,2595,3978
$GC,6026,-1.08,-121.7,776.5,-11.5,637,6030,0.00,1.85,0.00,0.000,4,0.000,0.057,2192,3767,3975
$GC,6104,-1.08,-121.7,786.8,-12.9,640,6108,0.00,1.75,0.00,0.000,6,0.000,0.031,2192,2597,3975
$GC,6426,-1.08,-121.7,826.1,-12.8,656,6430,0.00,1.88,0.00,0.000,4,0.000,0.057,2192,3761,3972
$GC,6464,-1.08,-121.7,831.4,-13.4,657,6470,0.00,1.73,0.00,0.000,6,0.000,0.031,2192,2608,3972
$GC,6780,-1.08,-121.7,870.3,-12.2,673,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2608,3970
$GC,7090,-1.13,-121.7,906.4,-11.5,688,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2607,3968
$GC,7399,-1.18,-121.7,941.2,-10.9,703,7403,0.00,1.85,0.00,0.000,4,0.000,0.059,2192,3768,3967
$GC,7427,-1.18,-121.7,944.3,-10.9,704,7430,0.00,1.73,0.00,0.000,6,0.000,0.032,2192,2605,3966
$GC,7754,-1.24,-121.7,981.1,-11.4,720,7756,0.15,0.00,0.00,0.000,6,0.088,0.000,2138,2605,3964
$STATE,7833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7833,begin apogee
$GC,7839,-0.22,0.0,993.0,14.6,724,7931,1.15,0.00,87.80,1.408,6,0.179,0.000,2467,2529,3532
$STATE,7931,end apogee,CONTROL_FINISHED_OK
$STATE,7932,begin climb
$GC,7934,1.18,121.7,996.0,0.0,728,8043,1.25,2.33,100.80,1.366,4,0.054,0.033,2932,1102,3035
$GC,8298,0.59,121.7,968.3,13.1,745,8303,0.75,2.22,0.00,0.000,6,0.215,0.039,2740,2520,3031
$GC,8626,0.58,169.3,939.0,8.9,761,8669,0.00,2.30,38.17,1.337,4,0.000,0.034,2746,1103,2841
$GC,8692,0.60,187.9,932.2,10.8,764,8716,0.00,2.25,15.90,1.249,6,0.000,0.038,2746,2512,2766
$GC,9023,0.61,194.5,894.2,11.6,780,9031,0.00,0.00,6.68,1.086,6,0.000,0.000,2746,2512,2738
$GC,9332,0.62,204.2,858.7,11.4,795,9346,0.00,2.20,9.27,1.174,4,0.000,0.035,2747,1106,2698
$GC,9454,0.70,206.9,844.5,11.8,800,9466,0.00,2.17,4.00,0.839,6,0.000,0.040,2747,2500,2687
$GC,9774,0.71,221.1,807.0,11.1,816,9797,0.00,2.20,13.15,1.216,4,0.000,0.035,2747,1101,2629
$GC,9860,0.84,237.8,797.7,10.9,819,9881,0.20,2.17,14.80,1.213,6,0.081,0.038,2820,2496,2561
$GC,10199,0.69,237.8,747.1,15.5,836,10203,0.17,2.15,0.00,0.000,4,0.188,0.035,2776,1096,2558
$GC,10293,0.70,248.8,734.9,11.3,840,10307,0.00,2.12,9.60,1.131,6,0.000,0.038,2776,2466,2517
$GC,10614,0.70,249.4,695.9,12.0,856,10617,0.00,2.08,0.00,0.000,4,0.000,0.035,2776,1106,2514
$GC,10653,0.76,249.4,690.6,12.9,857,10658,0.00,2.10,0.00,0.000,6,0.000,0.038,2776,2462,2514
$GC,10968,0.76,249.4,647.5,14.7,873,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2462,2513
$GC,11277,0.76,249.4,606.6,12.8,888,11281,0.00,2.08,0.00,0.000,4,0.000,0.035,2776,1089,2513
$GC,11315,0.83,249.4,601.7,13.1,889,11322,0.10,2.10,0.00,0.000,6,0.102,0.038,2814,2455,2512
$GC,11632,0.74,249.4,554.4,15.2,905,11636,0.12,2.05,0.00,0.000,4,0.193,0.054,2786,3765,2511
$GC,11659,0.64,249.4,549.9,16.1,906,11664,0.15,1.95,0.00,0.000,6,0.199,0.031,2754,2456,2511
$GC,11987,0.77,249.5,509.9,12.0,922,11991,0.12,2.00,0.00,0.000,4,0.092,0.034,2801,1106,2511
$GC,12177,0.77,249.5,484.3,12.5,935,12181,0.00,2.08,0.00,0.000,6,0.000,0.039,2801,2460,2511
$GC,12508,0.77,251.2,442.7,11.9,966,12511,0.00,2.03,0.00,0.000,4,0.000,0.034,2805,1093,2511
$GC,12632,0.79,266.3,427.9,11.0,977,12654,0.00,2.03,14.38,0.993,6,0.000,0.037,2805,2429,2445
$GC,12972,0.79,266.3,384.0,12.8,1009,12976,0.00,2.10,0.00,0.000,4,0.000,0.054,2805,3765,2443
$GC,13018,0.68,266.3,377.6,13.3,1013,13023,0.17,2.03,0.00,0.000,6,0.190,0.028,2771,2396,2443
$GC,13344,0.82,287.5,342.0,10.6,1043,13368,0.12,2.25,18.15,0.931,4,0.087,0.054,2816,3761,2358
$GC,13437,0.70,287.5,329.1,14.4,1051,13441,0.22,1.98,0.00,0.000,6,0.187,0.029,2768,2437,2357
$GC,13764,0.92,305.1,293.2,10.8,1087,13785,0.17,2.12,15.02,0.867,4,0.079,0.052,2839,3762,2287
$GC,13878,0.79,305.1,275.7,16.1,1106,13885,0.20,2.00,0.00,0.000,6,0.186,0.028,2798,2420,2284
$GC,14223,0.95,321.3,233.8,10.9,1167,14243,0.15,1.98,13.65,0.807,4,0.082,0.031,2862,1091,2220
$GC,14496,0.95,321.3,193.8,12.9,1215,14502,0.00,2.08,0.00,0.000,6,0.000,0.038,2862,2444,2219
$GC,14839,0.95,323.2,152.6,11.9,1276,14846,0.00,2.00,0.00,0.000,4,0.000,0.031,2868,1102,2219
$GC,15100,1.07,337.8,121.9,11.0,1322,15120,0.00,1.95,14.23,0.707,6,0.000,0.035,2868,2399,2154
$GC,15460,1.23,384.5,84.7,8.9,1385,15500,0.17,0.00,36.03,0.690,6,0.079,0.000,2941,2400,1963
$GC,15839,1.23,384.5,35.1,12.6,1452,15846,0.00,1.92,0.00,0.000,4,0.000,0.030,2949,1097,1959
$GC,15897,1.23,384.5,27.4,14.0,1462,15903,0.00,1.98,0.00,0.000,6,0.000,0.034,2949,2411,1959
$STATE,16120,end climb,SURFACE_DEPTH_REACHED
$STATE,16120,begin surface coast
$FINISH,1.7,1.001717
$STATE,16150,end surface coast,CONTROL_FINISHED_OK
$STATE,16150,begin surface
$SM_CCo,16166,28.15,0.607,0,0,1799,425.10
$SM_GC,2.48,0.00,0.00,28.15,0.000,0.000,0.607,143,2416,1799,-7.51,-0.31,425.10
$IRIDIUM_FIX,2451.31,12317.67,150998,131332
$TT8_MAMPS,0.029146
$HUMID,1581
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.8,34.826
$10V_AH,10.8,19.892
$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,24.975,123.200,411.625,28.150,0.000,61.099,64.768,307.665,8.250,0.000,0.000,14.427,2683.378,10159.721,552.757,2680.752,745.337,0.000,1900.027,0.000,2624.840,0.000,54.435,0.000
$DEVICE_MAMPS,246.974,91.273,1408.212,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.768,1046.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81967,1507
$CAP_FILE_SIZE,168067,0
$CFSIZE,260165632,210227200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326, 53.9,1
$GPS,210609,175236,2459.890,12320.095,32,1.1,33,-3.6