version: 66.04
glider: 167
mission: 2
dive: 196
start: 6 21 109 22 54 23
data:
$ID,167
$MISSION,2
$DIVE,196
$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,-8938.9209
$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,57
$R_STBD_OVSHOOT,34
$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
$GPS1,223506,2500.477,12320.776,43,1.3,55,-3.6
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-61.0
$GPS2,225404,2500.570,12321.597,17,6.4,36,-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,209.6,38324,-23.2,-12.000
$D_GRID,2034
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-23.80,0.000,2,0.000,0.000,140,2399,2394
$GC,44,-1.18,-121.7,3.2,-4.2,4,114,8.45,2.17,-51.65,0.000,4,0.249,0.055,2152,3765,3989
$GC,367,-0.45,-121.7,93.2,-31.9,60,374,0.88,1.98,0.00,0.000,6,0.190,0.023,2396,2381,3990
$GC,713,-0.88,-121.7,126.7,-7.9,121,720,0.32,2.15,0.00,0.000,4,0.054,0.044,2246,3774,3992
$GC,917,-0.88,-121.7,158.0,-14.1,157,924,0.00,1.88,0.00,0.000,6,0.000,0.025,2246,2443,3992
$GC,1262,-0.88,-121.7,205.8,-12.8,218,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2443,3992
$GC,1604,-0.88,-121.7,245.6,-12.5,279,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2443,3992
$GC,1949,-0.97,-121.7,289.7,-11.4,340,1955,0.00,2.03,0.00,0.000,4,0.000,0.045,2238,3764,3992
$GC,2097,-0.97,-121.7,307.9,-12.1,361,2101,0.00,1.88,0.00,0.000,6,0.000,0.025,2238,2436,3992
$GC,2428,-1.05,-121.7,345.2,-12.0,392,2432,0.00,2.05,0.00,0.000,4,0.000,0.046,2232,3771,3992
$GC,2631,-1.05,-121.7,371.6,-13.2,410,2634,0.00,1.85,0.00,0.000,6,0.000,0.025,2232,2466,3992
$GC,2962,-1.14,-121.7,410.4,-11.5,441,2966,0.15,2.00,0.00,0.000,4,0.074,0.047,2166,3760,3992
$GC,3068,-0.93,-121.7,426.8,-15.7,450,3074,0.28,1.80,0.00,0.000,6,0.166,0.026,2242,2500,3991
$GC,3393,-1.08,-121.7,459.9,-9.8,481,3397,0.12,1.98,0.00,0.000,4,0.079,0.048,2189,3773,3990
$GC,3465,-0.99,-121.7,469.1,-13.0,487,3472,0.15,1.80,0.00,0.000,6,0.166,0.027,2227,2517,3990
$GC,3799,-1.09,-121.7,508.2,-12.5,516,3802,0.00,1.92,0.00,0.000,4,0.000,0.048,2220,3760,3987
$GC,3935,-1.16,-121.7,526.6,-14.2,522,3939,0.15,1.77,0.00,0.000,6,0.075,0.028,2161,2532,3986
$GC,4269,-1.02,-121.7,578.9,-15.8,538,4274,0.20,1.92,0.00,0.000,4,0.173,0.048,2209,3768,3983
$GC,4360,-1.02,-121.7,591.4,-12.3,542,4364,0.00,1.75,0.00,0.000,6,0.000,0.028,2209,2553,3982
$GC,4694,-1.08,-121.7,627.8,-10.6,558,4697,0.00,1.90,0.00,0.000,4,0.000,0.051,2205,3771,3980
$GC,4800,-1.08,-121.7,639.9,-11.4,562,4806,0.00,1.73,0.00,0.000,6,0.000,0.028,2205,2576,3979
$GC,5117,-1.14,-121.7,674.9,-11.2,578,5121,0.00,1.85,0.00,0.000,4,0.000,0.052,2205,3758,3977
$GC,5154,-1.14,-121.7,679.8,-12.4,579,5161,0.00,1.75,0.00,0.000,6,0.000,0.029,2204,2575,3976
$GC,5471,-1.21,-121.7,717.7,-12.4,595,5473,0.15,0.00,0.00,0.000,6,0.078,0.000,2148,2575,3974
$GC,5780,-1.06,-121.7,764.4,-15.4,610,5784,0.17,1.88,0.00,0.000,4,0.185,0.051,2192,3767,3972
$GC,5819,-1.06,-121.7,770.1,-14.3,611,5825,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2590,3972
$GC,6135,-1.06,-121.7,808.7,-12.2,627,6138,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3765,3969
$GC,6184,-1.06,-121.7,815.1,-12.7,629,6188,0.00,1.73,0.00,0.000,6,0.000,0.030,2192,2609,3969
$GC,6511,-1.06,-121.7,856.4,-12.8,645,6515,0.00,1.85,0.00,0.000,4,0.000,0.055,2192,3761,3967
$GC,6549,-1.06,-121.7,861.3,-13.1,646,6555,0.00,1.70,0.00,0.000,6,0.000,0.031,2192,2600,3966
$GC,6866,-1.11,-121.7,898.4,-11.6,662,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2599,3965
$GC,7175,-1.16,-121.7,935.3,-12.0,677,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2599,3963
$GC,7483,-1.21,-121.7,972.9,-12.5,692,7485,0.12,0.00,0.00,0.000,6,0.093,0.000,2146,2600,3961
$STATE,7605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7605,begin apogee
$GC,7610,-0.22,0.0,990.3,14.4,698,7701,1.12,0.00,86.93,1.407,6,0.179,0.000,2469,2599,3532
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7702,begin climb
$GC,7705,1.18,121.7,993.6,0.0,702,7813,1.25,2.35,100.82,1.367,4,0.054,0.031,2934,1134,3035
$GC,8026,0.59,121.7,970.2,13.6,717,8031,0.75,2.17,0.00,0.000,6,0.215,0.042,2743,2507,3031
$GC,8348,0.58,181.4,943.0,8.1,733,8400,0.00,2.17,47.58,1.343,4,0.000,0.035,2746,1134,2792
$GC,8417,0.62,214.2,936.5,9.8,736,8452,0.00,2.20,28.55,1.292,6,0.000,0.038,2746,2501,2656
$GC,8782,0.63,223.3,895.5,11.4,754,8796,0.00,2.15,7.97,1.130,4,0.000,0.036,2747,1139,2621
$GC,8831,0.75,229.5,889.6,11.6,756,8847,0.12,2.12,6.70,1.067,6,0.090,0.039,2791,2496,2596
$GC,9158,0.67,229.5,845.3,13.8,772,9161,0.00,2.08,0.00,0.000,4,0.000,0.035,2799,1130,2593
$GC,9219,0.62,229.5,836.1,14.7,774,9226,0.20,2.10,0.00,0.000,6,0.189,0.041,2749,2483,2593
$GC,9535,0.68,229.5,795.9,12.7,790,9538,0.00,2.00,0.00,0.000,4,0.000,0.054,2749,3760,2591
$GC,9580,0.68,229.5,789.2,15.4,792,9583,0.00,1.85,0.00,0.000,6,0.000,0.031,2749,2519,2591
$GC,9912,0.73,229.5,747.3,12.3,808,9916,0.00,2.10,0.00,0.000,4,0.000,0.036,2760,1110,2590
$GC,9981,0.81,235.3,739.2,11.6,811,9992,0.15,2.15,5.43,0.983,6,0.090,0.041,2815,2498,2572
$GC,10310,0.69,235.3,692.6,13.6,827,10315,0.17,2.10,0.00,0.000,4,0.189,0.035,2779,1109,2570
$GC,10405,0.70,244.2,681.3,11.4,831,10419,0.00,2.10,8.38,1.089,6,0.000,0.039,2779,2477,2535
$GC,10747,0.72,257.7,642.9,11.1,848,10768,0.00,2.15,11.98,1.124,4,0.000,0.035,2787,1107,2480
$GC,10858,0.77,257.7,629.5,12.1,853,10862,0.00,2.10,0.00,0.000,6,0.000,0.040,2787,2453,2479
$GC,11191,0.77,257.7,586.4,13.4,869,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2453,2478
$GC,11499,0.77,257.7,543.1,14.0,884,11503,0.00,2.05,0.00,0.000,4,0.000,0.036,2789,1100,2476
$GC,11600,0.82,257.7,529.3,13.4,888,11604,0.00,2.08,0.00,0.000,6,0.000,0.038,2789,2452,2477
$GC,11924,0.82,260.3,488.4,11.8,908,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2453,2476
$GC,12244,0.83,268.1,451.7,11.5,938,12255,0.00,0.00,9.18,0.955,6,0.000,0.000,2789,2453,2439
$GC,12573,0.91,274.0,414.2,11.6,969,12586,0.15,2.10,6.35,0.854,4,0.084,0.035,2850,1103,2414
$GC,12721,0.83,274.0,392.9,13.6,982,12726,0.15,2.08,0.00,0.000,6,0.179,0.039,2814,2450,2413
$GC,13046,0.83,274.0,350.7,12.5,1012,13049,0.00,2.03,0.00,0.000,4,0.000,0.034,2820,1101,2413
$GC,13081,0.83,275.0,346.6,11.9,1015,13084,0.00,2.05,0.00,0.000,6,0.000,0.038,2820,2441,2413
$GC,13414,0.83,275.0,305.0,13.0,1046,13418,0.00,2.00,0.00,0.000,4,0.000,0.032,2828,1100,2413
$GC,13493,0.83,275.0,294.0,13.7,1057,13499,0.00,2.00,0.00,0.000,6,0.000,0.037,2828,2415,2413
$GC,13837,0.85,292.3,252.7,10.9,1118,13861,0.00,2.00,16.15,0.845,4,0.000,0.032,2829,1107,2339
$GC,14115,0.95,302.8,222.8,11.3,1167,14132,0.00,1.92,9.70,0.769,6,0.000,0.037,2829,2375,2296
$GC,14472,1.07,321.7,182.0,10.8,1230,14496,0.17,2.22,15.68,0.767,4,0.072,0.052,2904,3762,2219
$GC,14583,0.82,321.7,164.8,15.9,1249,14590,0.38,2.10,0.00,0.000,6,0.186,0.027,2813,2339,2218
$GC,14930,1.11,377.9,131.4,8.3,1310,14979,0.22,1.90,43.58,0.736,4,0.067,0.031,2913,1109,1990
$GC,15086,1.11,377.9,111.2,13.8,1337,15092,0.00,1.92,0.00,0.000,6,0.000,0.035,2913,2363,1986
$GC,15429,1.11,377.9,64.9,12.9,1398,15436,0.00,2.17,0.00,0.000,4,0.000,0.050,2913,3762,1984
$GC,15471,1.04,377.9,59.0,14.4,1405,15477,0.17,2.12,0.00,0.000,6,0.182,0.025,2877,2316,1983
$GC,15815,1.33,435.4,30.3,8.2,1466,15870,0.22,2.33,43.97,0.629,4,0.066,0.046,2977,3755,1755
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,1.7,1.021603
$STATE,16009,end surface coast,CONTROL_FINISHED_OK
$STATE,16009,begin surface
$SM_CCo,16089,0.00,0.000,0,0,1747,437.62
$SM_GC,2.56,7.53,0.00,0.00,0.047,0.000,0.000,142,2399,1747,-7.50,-0.79,437.62
$IRIDIUM_FIX,2451.31,12320.96,150998,222240
$TT8_MAMPS,0.028379
$HUMID,1569
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,35.165
$10V_AH,10.8,20.081
$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,23.925,119.900,448.925,0.000,0.000,147.619,312.029,273.001,8.000,0.000,0.000,37.422,2640.449,10297.020,555.573,2674.557,1047.004,0.000,1893.330,0.000,2593.315,0.000,56.000,0.000
$DEVICE_MAMPS,249.275,55.224,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.503,1028.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78812,1500
$CAP_FILE_SIZE,164748,0
$CFSIZE,260165632,210059264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293, 44.9,1
$GPS,220609,032337,2500.837,12322.238,30,1.2,31,-3.6