version: 66.04
glider: 167
mission: 2
dive: 197
start: 6 22 109 3 36 35
data:
$ID,167
$MISSION,2
$DIVE,197
$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,-8954.5645
$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,83
$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
$GPS1,032337,2500.837,12322.238,30,1.2,31,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-58.3
$GPS2,033614,2501.072,12322.674,14,1.3,14,-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,212.6,38667,-23.2,-12.000
$D_GRID,2048
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,43,0.00,0.00,-24.12,0.000,2,0.000,0.000,142,2399,2375
$GC,46,-1.18,-121.7,3.2,-4.1,4,116,8.25,2.05,-54.58,0.000,4,0.242,0.041,2159,1036,3989
$GC,157,-0.63,-121.7,20.0,-30.6,22,165,0.68,2.12,0.00,0.000,6,0.192,0.035,2334,2435,3990
$GC,503,-0.72,-121.7,74.4,-14.5,83,509,0.00,2.03,0.00,0.000,4,0.000,0.047,2326,3758,3991
$GC,763,-0.84,-121.7,111.1,-12.8,129,769,0.15,1.88,0.00,0.000,6,0.071,0.025,2260,2434,3992
$GC,1107,-0.84,-121.7,166.3,-17.3,190,1114,0.00,2.05,0.00,0.000,4,0.000,0.046,2257,3765,3993
$GC,1232,-0.84,-121.7,187.4,-15.3,212,1238,0.00,1.85,0.00,0.000,6,0.000,0.024,2257,2441,3993
$GC,1577,-0.89,-121.7,233.0,-10.5,273,1583,0.00,2.03,0.00,0.000,4,0.000,0.046,2249,3761,3994
$GC,1651,-0.77,-121.7,242.3,-14.6,286,1659,0.17,1.83,0.00,0.000,6,0.148,0.025,2299,2466,3994
$GC,1997,-1.04,-121.7,272.9,-8.9,347,2003,0.22,2.00,0.00,0.000,4,0.063,0.047,2192,3765,3994
$GC,2033,-0.90,-121.7,277.7,-14.4,353,2039,0.22,1.85,0.00,0.000,6,0.165,0.025,2255,2452,3994
$GC,2370,-1.02,-121.7,317.3,-11.2,400,2374,0.12,2.03,0.00,0.000,4,0.074,0.044,2193,3770,3994
$GC,2610,-0.91,-121.7,353.8,-14.5,421,2617,0.20,1.80,0.00,0.000,6,0.164,0.025,2247,2498,3994
$GC,2935,-1.05,-121.7,387.6,-9.5,452,2940,0.12,1.95,0.00,0.000,4,0.078,0.048,2192,3761,3994
$GC,3050,-0.95,-121.7,402.3,-13.7,462,3054,0.17,1.77,0.00,0.000,6,0.166,0.027,2239,2520,3994
$GC,3380,-1.08,-121.7,439.6,-11.9,493,3385,0.12,1.92,0.00,0.000,4,0.077,0.048,2180,3761,3992
$GC,3507,-0.96,-121.7,458.3,-14.9,504,3511,0.15,1.77,0.00,0.000,6,0.166,0.028,2240,2548,3993
$GC,3837,-1.11,-121.7,494.4,-10.7,535,3839,0.15,0.00,0.00,0.000,6,0.073,0.000,2179,2548,3991
$GC,4157,-1.03,-121.7,537.1,-13.6,553,4161,0.12,1.90,0.00,0.000,4,0.180,0.051,2205,3763,3989
$GC,4242,-1.03,-121.7,548.6,-13.6,556,4248,0.00,1.77,0.00,0.000,6,0.000,0.028,2205,2530,3988
$GC,4558,-1.03,-121.7,590.6,-13.4,572,4561,0.00,1.92,0.00,0.000,4,0.000,0.053,2205,3761,3986
$GC,4636,-1.03,-121.7,602.0,-14.2,575,4639,0.00,1.75,0.00,0.000,6,0.000,0.030,2205,2555,3985
$GC,4958,-1.08,-121.7,643.7,-12.9,591,4961,0.00,1.88,0.00,0.000,4,0.000,0.054,2205,3753,3982
$GC,5109,-1.08,-121.7,661.5,-11.1,597,5115,0.00,1.73,0.00,0.000,6,0.000,0.030,2205,2563,3981
$GC,5425,-1.15,-121.7,694.2,-10.5,613,5429,0.00,1.88,0.00,0.000,4,0.000,0.054,2204,3756,3979
$GC,5459,-1.15,-121.7,698.0,-11.3,614,5462,0.00,1.70,0.00,0.000,6,0.000,0.030,2204,2584,3978
$GC,5780,-1.22,-121.7,733.8,-11.9,630,5785,0.15,1.85,0.00,0.000,4,0.079,0.053,2142,3761,3976
$GC,5830,-1.01,-121.7,741.5,-16.1,632,5835,0.28,1.70,0.00,0.000,6,0.178,0.031,2215,2594,3975
$GC,6160,-1.14,-121.7,776.6,-10.6,648,6165,0.12,1.83,0.00,0.000,4,0.083,0.055,2166,3754,3973
$GC,6193,-1.05,-121.7,781.0,-13.1,649,6197,0.15,1.67,0.00,0.000,6,0.182,0.031,2202,2605,3973
$GC,6514,-1.13,-121.7,815.6,-10.4,665,6518,0.00,2.28,0.00,0.000,4,0.000,0.031,2202,1056,3971
$GC,6570,-1.24,-121.7,821.4,-10.2,667,6577,0.15,2.33,0.00,0.000,6,0.084,0.040,2142,2575,3971
$GC,6887,-1.10,-121.7,863.9,-13.8,683,6891,0.17,1.85,0.00,0.000,4,0.193,0.053,2183,3764,3968
$GC,7039,-1.10,-121.7,883.2,-12.8,689,7045,0.00,1.67,0.00,0.000,6,0.000,0.031,2182,2618,3967
$GC,7355,-1.10,-121.7,920.3,-11.6,705,7359,0.00,2.30,0.00,0.000,4,0.000,0.032,2182,1057,3965
$GC,7400,-1.15,-121.7,925.6,-11.9,707,7404,0.00,2.35,0.00,0.000,6,0.000,0.041,2179,2583,3966
$GC,7721,-1.15,-121.7,963.1,-11.4,723,7725,0.00,2.28,0.00,0.000,4,0.000,0.031,2179,1061,3963
$GC,7743,-1.15,-121.7,965.5,-10.7,724,7747,0.00,2.35,0.00,0.000,6,0.000,0.041,2178,2581,3963
$STATE,7978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7978,begin apogee
$GC,7984,-0.22,0.0,991.5,10.9,736,8075,0.98,0.00,87.30,1.408,6,0.164,0.000,2468,2582,3533
$STATE,8076,end apogee,CONTROL_FINISHED_OK
$STATE,8076,begin climb
$GC,8078,1.18,121.7,993.3,0.0,740,8190,1.27,2.03,100.95,1.366,4,0.060,0.054,2928,3756,3034
$GC,8220,0.37,122.7,992.1,11.9,747,8226,1.08,1.90,0.00,0.000,6,0.222,0.029,2674,2535,3033
$GC,8543,0.58,183.6,965.2,8.0,763,8596,0.17,0.00,50.05,1.346,6,0.081,0.000,2738,2535,2783
$GC,8891,0.60,194.7,925.8,11.3,780,8905,0.00,2.20,9.65,1.186,4,0.000,0.035,2746,1100,2737
$GC,8984,0.66,201.4,915.0,11.6,784,9000,0.00,2.20,7.12,1.102,6,0.000,0.038,2746,2505,2710
$GC,9310,0.67,203.0,876.8,11.9,800,9313,0.00,2.12,0.00,0.000,4,0.000,0.035,2746,1110,2708
$GC,9401,0.75,206.9,866.2,11.7,804,9412,0.12,2.17,6.03,1.050,6,0.091,0.039,2791,2511,2688
$GC,9730,0.64,206.9,821.1,13.4,820,9734,0.15,1.98,0.00,0.000,4,0.193,0.054,2755,3767,2686
$GC,9785,0.53,206.9,813.1,14.8,822,9789,0.17,1.90,0.00,0.000,6,0.196,0.030,2718,2487,2686
$GC,10106,0.71,234.6,779.4,10.2,838,10135,0.15,2.15,23.35,1.256,4,0.084,0.035,2776,1116,2574
$GC,10281,0.71,234.6,756.3,13.4,846,10284,0.00,2.17,0.00,0.000,6,0.000,0.039,2776,2504,2570
$GC,10613,0.71,234.6,711.2,13.4,862,10617,0.00,2.12,0.00,0.000,4,0.000,0.035,2780,1103,2568
$GC,10681,0.71,234.6,702.1,14.3,865,10684,0.00,2.15,0.00,0.000,6,0.000,0.038,2780,2490,2568
$GC,11013,0.71,234.6,655.0,13.8,881,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2490,2567
$GC,11322,0.71,234.6,614.4,12.5,896,11326,0.00,2.10,0.00,0.000,4,0.000,0.035,2787,1103,2567
$GC,11345,0.71,234.6,611.6,12.1,897,11349,0.00,2.15,0.00,0.000,6,0.000,0.038,2787,2498,2566
$GC,11677,0.72,244.3,572.0,11.4,913,11692,0.00,2.15,7.65,1.013,4,0.000,0.035,2789,1119,2536
$GC,11732,0.73,250.8,565.5,11.6,915,11744,0.00,2.08,6.85,0.968,6,0.000,0.037,2789,2469,2509
$GC,12052,0.73,250.8,525.0,13.2,931,12056,0.00,2.05,0.00,0.000,4,0.000,0.035,2789,1115,2507
$GC,12176,0.78,250.8,508.5,12.7,936,12179,0.00,2.05,0.00,0.000,6,0.000,0.039,2789,2447,2507
$GC,12506,0.78,251.2,466.8,12.0,964,12510,0.00,2.08,0.00,0.000,4,0.000,0.057,2789,3768,2506
$GC,12563,0.67,251.2,458.8,13.5,969,12567,0.15,1.95,0.00,0.000,6,0.193,0.030,2761,2442,2506
$GC,12893,0.83,278.7,423.8,10.2,1000,12927,0.15,2.08,23.05,1.013,4,0.082,0.035,2818,1103,2394
$GC,13020,0.83,278.7,406.9,13.1,1011,13023,0.00,2.10,0.00,0.000,6,0.000,0.038,2818,2452,2392
$GC,13351,0.83,278.7,360.6,13.9,1042,13355,0.00,2.08,0.00,0.000,4,0.000,0.056,2818,3767,2390
$GC,13435,0.72,278.7,347.8,14.7,1049,13441,0.20,1.95,0.00,0.000,6,0.185,0.028,2775,2445,2390
$GC,13760,0.92,318.0,315.1,9.4,1080,13798,0.17,2.05,31.23,0.922,4,0.078,0.033,2855,1115,2234
$GC,13850,0.92,318.0,303.8,12.1,1088,13854,0.00,2.08,0.00,0.000,6,0.000,0.038,2855,2444,2231
$GC,14191,0.92,318.0,255.7,14.1,1146,14199,0.00,2.00,0.00,0.000,4,0.000,0.032,2860,1114,2228
$GC,14453,0.92,318.0,218.4,13.6,1192,14459,0.00,1.92,0.00,0.000,6,0.000,0.035,2860,2380,2229
$GC,14796,0.92,319.8,173.7,11.9,1253,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2380,2229
$GC,15139,0.98,319.8,131.2,13.2,1314,15146,0.00,1.90,0.00,0.000,4,0.000,0.033,2860,1097,2229
$GC,15284,1.17,366.9,115.7,8.9,1339,15331,0.17,1.90,37.55,0.730,6,0.075,0.035,2927,2364,2035
$GC,15668,1.17,366.9,66.4,12.5,1407,15674,0.00,1.88,0.00,0.000,4,0.000,0.031,2935,1100,2031
$GC,15918,1.22,412.7,39.2,9.0,1451,15959,0.00,1.85,35.45,0.644,6,0.000,0.032,2936,2336,1848
$STATE,16257,end climb,SURFACE_DEPTH_REACHED
$STATE,16257,begin surface coast
$FINISH,1.7,1.013430
$STATE,16281,end surface coast,CONTROL_FINISHED_OK
$STATE,16281,begin surface
$SM_CCo,16299,6.85,0.522,0,0,1799,425.10
$SM_GC,3.57,0.00,0.00,6.85,0.000,0.000,0.522,141,2453,1799,-7.51,0.74,425.10
$IRIDIUM_FIX,2451.31,12324.26,160998,030339
$TT8_MAMPS,0.029146
$HUMID,1596
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,35.332
$10V_AH,10.8,20.176
$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,24.275,135.500,426.225,6.850,0.000,84.650,220.280,194.513,8.000,0.000,0.000,15.014,2708.400,10261.183,564.002,2711.234,810.935,0.000,1924.093,0.000,2647.776,0.000,54.422,0.000
$DEVICE_MAMPS,241.605,69.797,1408.212,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.342,1043.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82022,1515
$CAP_FILE_SIZE,168885,0
$CFSIZE,260165632,209965056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285, 50.2,1
$GPS,220609,080937,2501.529,12323.372,38,1.1,39,-3.7