version: 66.04
glider: 167
mission: 2
dive: 195
start: 6 21 109 17 59 25
data:
$ID,167
$MISSION,2
$DIVE,195
$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,-8900.8701
$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,56
$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
$GPS1,175236,2459.890,12320.095,32,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-62.8
$GPS2,175904,2500.025,12320.337,12,3.7,31,-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,206.1,38131,-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,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,-23.62,0.000,2,0.000,0.000,143,2417,2398
$GC,43,-1.18,-121.7,3.0,-1.9,3,107,8.32,0.00,-49.70,0.000,6,0.246,0.000,2157,2416,3988
$GC,446,-0.68,-121.7,103.9,-23.5,74,454,0.52,2.08,0.00,0.000,4,0.178,0.044,2304,3762,3991
$GC,708,-0.79,-121.7,142.0,-13.0,120,714,0.00,1.95,0.00,0.000,6,0.000,0.025,2304,2389,3992
$GC,1052,-0.99,-121.7,185.1,-10.0,181,1059,0.17,2.12,0.00,0.000,4,0.069,0.047,2218,3761,3994
$GC,1099,-0.82,-121.7,192.1,-15.8,189,1106,0.20,1.90,0.00,0.000,6,0.155,0.025,2275,2421,3994
$GC,1443,-0.97,-121.7,231.9,-12.3,250,1451,0.12,2.08,0.00,0.000,4,0.077,0.047,2218,3763,3995
$GC,1554,-0.84,-121.7,249.4,-16.4,269,1565,0.20,1.85,0.00,0.000,6,0.159,0.025,2275,2453,3995
$GC,1905,-1.03,-121.7,288.1,-10.1,330,1912,0.17,2.03,0.00,0.000,4,0.066,0.047,2193,3764,3995
$GC,2002,-0.85,-121.7,303.1,-16.6,345,2008,0.28,1.85,0.00,0.000,6,0.161,0.025,2271,2460,3995
$GC,2327,-1.05,-121.7,338.7,-10.3,376,2331,0.17,2.03,0.00,0.000,4,0.067,0.048,2192,3768,3995
$GC,2588,-0.91,-121.7,380.5,-16.8,399,2592,0.20,1.83,0.00,0.000,6,0.162,0.026,2247,2487,3995
$GC,2920,-1.07,-121.7,417.1,-9.6,430,2924,0.15,1.98,0.00,0.000,4,0.073,0.049,2179,3758,3995
$GC,3092,-0.95,-121.7,439.5,-12.9,445,3099,0.20,1.77,0.00,0.000,6,0.166,0.028,2232,2520,3995
$GC,3418,-1.07,-121.7,473.4,-10.9,476,3421,0.00,1.95,0.00,0.000,4,0.000,0.051,2232,3772,3994
$GC,3520,-1.19,-121.7,484.6,-11.5,485,3524,0.20,1.77,0.00,0.000,6,0.069,0.028,2152,2536,3993
$GC,3855,-1.01,-121.7,536.9,-15.4,506,3860,0.20,1.92,0.00,0.000,4,0.175,0.050,2205,3769,3992
$GC,3901,-1.01,-121.7,543.3,-13.1,508,3904,0.00,1.77,0.00,0.000,6,0.000,0.028,2204,2539,3991
$GC,4233,-1.01,-121.7,578.3,-9.8,524,4237,0.00,1.92,0.00,0.000,4,0.000,0.052,2204,3770,3990
$GC,4373,-1.01,-121.7,593.4,-11.2,530,4377,0.00,1.75,0.00,0.000,6,0.000,0.029,2204,2565,3989
$GC,4701,-1.06,-121.7,627.6,-10.2,546,4704,0.00,1.88,0.00,0.000,4,0.000,0.054,2204,3761,3986
$GC,4818,-1.06,-121.7,640.7,-11.6,551,4822,0.00,1.75,0.00,0.000,6,0.000,0.029,2204,2578,3985
$GC,5146,-1.12,-121.7,678.8,-12.0,567,5150,0.00,1.88,0.00,0.000,4,0.000,0.054,2201,3771,3983
$GC,5230,-1.12,-121.7,689.7,-12.9,570,5237,0.00,1.73,0.00,0.000,6,0.000,0.030,2201,2585,3982
$GC,5548,-1.16,-121.7,725.9,-11.6,586,5552,0.00,1.85,0.00,0.000,4,0.000,0.053,2194,3764,3980
$GC,5609,-1.16,-121.7,733.9,-12.0,588,5615,0.00,1.73,0.00,0.000,6,0.000,0.030,2194,2606,3980
$GC,5925,-1.16,-121.7,769.7,-11.2,604,5929,0.00,1.83,0.00,0.000,4,0.000,0.056,2192,3763,3976
$GC,5971,-1.16,-121.7,775.1,-12.1,606,5975,0.00,1.70,0.00,0.000,6,0.000,0.031,2192,2605,3976
$GC,6304,-1.16,-121.7,810.8,-10.5,622,6308,0.00,2.30,0.00,0.000,4,0.000,0.031,2192,1043,3974
$GC,6349,-1.24,-121.7,815.7,-11.1,624,6354,0.15,2.38,0.00,0.000,6,0.084,0.041,2139,2583,3974
$GC,6683,-1.09,-121.7,860.5,-14.1,640,6687,0.17,1.85,0.00,0.000,4,0.198,0.054,2179,3767,3972
$GC,6721,-1.04,-121.7,866.1,-13.6,641,6728,0.12,1.73,0.00,0.000,6,0.186,0.031,2208,2596,3972
$GC,7037,-1.15,-121.7,898.7,-10.2,657,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2596,3970
$GC,7347,-1.27,-121.7,930.1,-10.2,672,7351,0.17,1.85,0.00,0.000,4,0.082,0.057,2137,3757,3969
$GC,7415,-1.08,-121.7,939.6,-14.5,675,7419,0.17,1.73,0.00,0.000,6,0.187,0.032,2187,2615,3968
$GC,7748,-1.08,-121.7,978.5,-11.5,691,7752,0.00,2.30,0.00,0.000,4,0.000,0.031,2187,1058,3967
$GC,7777,-1.14,-121.7,981.9,-12.2,692,7781,0.00,2.35,0.00,0.000,6,0.000,0.043,2187,2576,3967
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7868,-0.22,0.0,992.4,12.0,696,7960,0.93,0.00,88.55,1.411,6,0.161,0.000,2465,2578,3532
$STATE,7961,end apogee,CONTROL_FINISHED_OK
$STATE,7961,begin climb
$GC,7963,1.18,121.7,995.5,0.0,700,8076,1.27,2.42,101.20,1.368,4,0.061,0.034,2932,1124,3034
$GC,8331,0.61,126.9,970.0,11.7,717,8342,0.73,2.17,5.20,0.984,6,0.215,0.040,2748,2509,3014
$GC,8653,0.59,192.7,943.4,7.7,732,8717,0.00,2.22,53.33,1.350,4,0.000,0.035,2749,1146,2745
$GC,8782,0.66,204.0,930.7,11.3,737,8797,0.00,2.17,10.50,1.189,6,0.000,0.039,2749,2513,2700
$GC,9113,0.66,204.0,890.8,12.4,754,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2513,2696
$GC,9422,0.66,204.0,851.0,12.9,769,9425,0.00,2.10,0.00,0.000,4,0.000,0.036,2750,1134,2695
$GC,9523,0.73,204.6,838.3,12.0,773,9526,0.00,2.12,0.00,0.000,6,0.000,0.041,2750,2502,2695
$GC,9844,0.73,204.6,798.3,12.3,789,9847,0.00,2.08,0.00,0.000,4,0.000,0.036,2749,1133,2693
$GC,9883,0.83,216.5,793.7,11.2,790,9900,0.17,2.10,10.57,1.190,6,0.084,0.039,2814,2497,2651
$GC,10224,0.67,216.5,745.7,14.6,807,10228,0.17,2.08,0.00,0.000,4,0.194,0.033,2774,1129,2648
$GC,10370,0.68,217.4,727.5,11.9,813,10376,0.00,2.10,0.00,0.000,6,0.000,0.040,2774,2487,2648
$GC,10686,0.68,217.4,688.6,12.1,829,10689,0.00,2.05,0.00,0.000,4,0.000,0.035,2775,1127,2646
$GC,10814,0.68,223.8,673.2,11.6,834,10826,0.00,2.08,7.43,1.063,6,0.000,0.040,2775,2473,2619
$GC,11148,0.68,223.8,629.6,13.1,851,11152,0.00,2.03,0.00,0.000,4,0.000,0.058,2775,3758,2617
$GC,11176,0.58,223.8,625.6,14.2,852,11180,0.17,1.88,0.00,0.000,6,0.196,0.029,2733,2500,2617
$GC,11502,0.75,244.2,590.1,10.7,868,11525,0.15,2.17,16.90,1.132,4,0.081,0.035,2795,1100,2536
$GC,11553,0.75,244.2,583.3,13.6,870,11557,0.00,2.15,0.00,0.000,6,0.000,0.038,2795,2481,2534
$GC,11880,0.75,244.2,540.4,12.5,886,11883,0.00,2.10,0.00,0.000,4,0.000,0.034,2803,1097,2532
$GC,11941,0.75,244.2,532.9,12.5,888,11947,0.00,2.15,0.00,0.000,6,0.000,0.038,2803,2485,2531
$GC,12258,0.76,251.7,494.7,11.5,906,12271,0.00,2.15,6.97,0.943,4,0.000,0.034,2803,1106,2505
$GC,12350,0.78,267.7,484.0,10.9,914,12373,0.00,2.10,14.35,1.031,6,0.000,0.038,2803,2463,2439
$GC,12691,0.78,267.7,440.4,13.0,946,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2463,2437
$GC,13010,0.78,267.7,401.6,12.6,976,13014,0.00,2.03,0.00,0.000,4,0.000,0.054,2803,3761,2436
$GC,13067,0.69,267.7,393.6,15.0,981,13071,0.15,1.95,0.00,0.000,6,0.190,0.028,2773,2440,2437
$GC,13397,0.84,286.6,358.0,10.8,1012,13420,0.12,2.00,16.15,0.942,4,0.084,0.033,2829,1102,2362
$GC,13544,0.84,286.6,338.5,12.9,1025,13547,0.00,2.12,0.00,0.000,6,0.000,0.037,2828,2473,2360
$GC,13871,0.84,286.6,298.5,12.5,1056,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2473,2360
$GC,14213,0.85,296.4,258.8,11.3,1117,14227,0.00,2.12,8.98,0.800,4,0.000,0.033,2829,1105,2323
$GC,14290,0.94,309.7,250.6,11.1,1130,14309,0.00,2.08,11.98,0.815,6,0.000,0.035,2828,2462,2269
$GC,14649,1.01,309.7,204.9,12.2,1193,14655,0.12,2.05,0.00,0.000,4,0.081,0.030,2886,1095,2267
$GC,14869,0.95,309.7,176.0,13.1,1232,14876,0.15,2.05,0.00,0.000,6,0.186,0.035,2848,2450,2267
$GC,15215,1.07,354.1,139.4,9.1,1293,15257,0.12,2.08,35.05,0.752,4,0.081,0.052,2897,3761,2086
$GC,15432,0.95,354.1,110.7,13.8,1331,15439,0.20,2.05,0.00,0.000,6,0.183,0.025,2855,2369,2082
$GC,15777,1.21,406.9,75.3,8.5,1392,15824,0.20,0.00,40.62,0.680,6,0.074,0.000,2937,2367,1871
$GC,16164,1.31,428.4,32.0,10.6,1460,16188,0.00,2.20,16.98,0.613,4,0.000,0.044,2937,3765,1784
$GC,16334,1.22,428.4,6.9,16.8,1490,16341,0.00,2.00,0.00,0.000,6,0.000,0.025,2947,2401,1781
$STATE,16356,end climb,SURFACE_DEPTH_REACHED
$STATE,16356,begin surface coast
$FINISH,1.7,1.000867
$STATE,16375,end surface coast,CONTROL_FINISHED_OK
$STATE,16375,begin surface
$SM_CCo,16452,0.00,0.000,0,0,1779,430.26
$SM_GC,2.61,7.40,0.00,0.00,0.045,0.000,0.000,141,2398,1779,-7.50,-0.79,430.26
$IRIDIUM_FIX,2451.31,12320.96,150998,131354
$TT8_MAMPS,0.028379
$HUMID,1562
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,34.984
$10V_AH,10.8,19.984
$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,24.000,132.500,444.750,0.000,0.000,22.448,31.735,180.845,8.000,0.000,0.000,34.286,2682.177,10280.711,559.409,2761.246,546.070,0.000,1945.151,0.000,2677.639,0.000,54.434,0.000
$DEVICE_MAMPS,246.207,57.525,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.146,1020.003,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78863,1497
$CAP_FILE_SIZE,168626,0
$CFSIZE,260165632,210141184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 42.0,1
$GPS,210609,223506,2500.477,12320.776,43,1.3,55,-3.6