version: 66.04
glider: 167
mission: 2
dive: 198
start: 6 22 109 8 16 43
data:
$ID,167
$MISSION,2
$DIVE,198
$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,-8989.29
$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,66
$R_STBD_OVSHOOT,56
$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
$GPS1,080937,2501.529,12323.372,38,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.3
$GPS2,081622,2501.667,12323.596,12,99.0,31,-3.7
$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,215.3,39340,-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,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,-24.40,0.000,2,0.000,0.000,141,2453,2417
$GC,44,-1.18,-121.7,3.0,-2.7,4,109,8.18,2.12,-50.08,0.000,4,0.239,0.041,2162,1024,3989
$GC,139,-0.56,-121.7,16.5,-28.8,20,146,0.73,2.10,0.00,0.000,6,0.178,0.031,2358,2419,3990
$GC,484,-0.72,-121.7,71.2,-15.2,81,490,0.15,2.05,0.00,0.000,4,0.071,0.047,2289,3754,3991
$GC,667,-0.72,-121.7,102.2,-15.9,113,673,0.00,1.90,0.00,0.000,6,0.000,0.025,2289,2411,3992
$GC,1011,-0.79,-121.7,150.9,-13.5,174,1017,0.00,2.08,0.00,0.000,4,0.000,0.047,2287,3756,3993
$GC,1194,-0.94,-121.7,175.3,-12.7,206,1200,0.12,1.83,0.00,0.000,6,0.076,0.025,2230,2462,3995
$GC,1540,-0.94,-121.7,226.0,-12.1,267,1547,0.00,1.98,0.00,0.000,4,0.000,0.044,2220,3754,3996
$GC,1576,-0.94,-121.7,230.5,-12.9,273,1581,0.00,1.75,0.00,0.000,6,0.000,0.025,2220,2499,3996
$GC,1918,-0.94,-121.7,278.2,-13.2,334,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2498,3997
$GC,2256,-0.94,-121.7,327.0,-13.6,379,2260,0.00,1.92,0.00,0.000,4,0.000,0.048,2214,3752,3997
$GC,2302,-0.94,-121.7,333.2,-13.7,383,2305,0.00,1.75,0.00,0.000,6,0.000,0.025,2214,2515,3997
$GC,2634,-0.94,-121.7,374.4,-11.9,414,2638,0.00,2.10,0.00,0.000,4,0.000,0.028,2214,1050,3997
$GC,2668,-0.99,-121.7,378.6,-11.6,417,2672,0.00,2.20,0.00,0.000,6,0.000,0.035,2208,2520,3997
$GC,2993,-0.99,-121.7,417.4,-11.8,447,2997,0.00,1.88,0.00,0.000,4,0.000,0.049,2205,3751,3997
$GC,3145,-0.99,-121.7,436.0,-11.9,460,3151,0.00,1.73,0.00,0.000,6,0.000,0.028,2205,2545,3997
$GC,3474,-0.99,-121.7,476.2,-12.4,491,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2545,3996
$GC,3796,-0.99,-121.7,515.0,-12.1,516,3799,0.00,1.88,0.00,0.000,4,0.000,0.052,2205,3749,3994
$GC,3828,-0.99,-121.7,519.3,-12.7,517,3833,0.00,1.75,0.00,0.000,6,0.000,0.028,2205,2561,3993
$GC,4150,-0.99,-121.7,558.7,-12.6,533,4154,0.00,2.20,0.00,0.000,4,0.000,0.030,2205,1053,3992
$GC,4178,-1.04,-121.7,562.3,-12.6,534,4182,0.00,2.28,0.00,0.000,6,0.000,0.037,2205,2547,3992
$GC,4500,-1.09,-121.7,600.5,-11.9,550,4504,0.00,1.88,0.00,0.000,4,0.000,0.053,2205,3746,3990
$GC,4595,-1.15,-121.7,611.6,-11.2,554,4599,0.00,1.70,0.00,0.000,6,0.000,0.029,2205,2572,3988
$GC,4922,-1.22,-121.7,645.6,-10.5,570,4924,0.15,0.00,0.00,0.000,6,0.080,0.000,2149,2572,3986
$GC,5232,-1.08,-121.7,687.4,-13.9,585,5236,0.17,2.22,0.00,0.000,4,0.173,0.030,2199,1052,3984
$GC,5264,-1.14,-121.7,691.7,-12.0,586,5270,0.00,2.28,0.00,0.000,6,0.000,0.038,2194,2547,3984
$GC,5579,-1.14,-121.7,729.9,-12.4,602,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2547,3981
$GC,5889,-1.19,-121.7,768.3,-12.8,617,5893,0.00,1.88,0.00,0.000,4,0.000,0.055,2192,3753,3979
$GC,5939,-1.19,-121.7,775.0,-12.7,619,5947,0.00,1.77,0.00,0.000,6,0.000,0.031,2192,2570,3978
$GC,6268,-1.25,-121.7,816.0,-12.5,635,6273,0.15,2.22,0.00,0.000,4,0.087,0.031,2137,1056,3976
$GC,6446,-1.13,-121.7,844.0,-15.3,643,6451,0.17,2.25,0.00,0.000,6,0.183,0.041,2179,2519,3975
$GC,6767,-1.13,-121.7,884.3,-12.2,659,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2520,3973
$GC,7076,-1.13,-121.7,919.7,-11.2,674,7080,0.00,2.20,0.00,0.000,4,0.000,0.032,2179,1053,3971
$GC,7145,-1.18,-121.7,927.4,-11.9,677,7149,0.00,2.25,0.00,0.000,6,0.000,0.041,2179,2506,3970
$GC,7472,-1.18,-121.7,963.6,-11.3,693,7475,0.00,2.17,0.00,0.000,4,0.000,0.031,2178,1053,3969
$GC,7501,-1.18,-121.7,966.9,-11.5,694,7505,0.00,2.25,0.00,0.000,6,0.000,0.041,2178,2512,3969
$STATE,7716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7716,begin apogee
$GC,7722,-0.22,0.0,991.1,11.0,705,7814,0.95,0.00,88.68,1.411,6,0.156,0.000,2465,2512,3532
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7815,begin climb
$GC,7817,1.18,121.7,993.4,0.0,709,7926,1.27,2.15,101.22,1.367,4,0.059,0.053,2925,3756,3035
$GC,7944,0.53,191.7,995.3,7.4,715,8009,0.88,1.92,58.33,1.335,6,0.219,0.028,2721,2523,2749
$GC,8331,0.61,194.9,950.5,11.8,734,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2523,2743
$GC,8640,0.71,202.4,914.5,11.5,749,8655,0.15,2.17,8.95,1.173,4,0.084,0.035,2776,1116,2707
$GC,8694,0.71,202.4,907.0,14.6,751,8698,0.00,2.15,0.00,0.000,6,0.000,0.038,2776,2492,2706
$GC,9015,0.64,202.4,864.3,12.8,767,9019,0.00,2.10,0.00,0.000,4,0.000,0.035,2776,1108,2704
$GC,9161,0.65,213.0,847.1,11.3,773,9176,0.00,2.15,10.15,1.193,6,0.000,0.041,2776,2494,2663
$GC,9503,0.59,217.6,807.1,11.7,790,9513,0.17,2.00,5.20,0.984,4,0.192,0.057,2728,3767,2644
$GC,9548,0.59,217.6,801.9,12.0,792,9552,0.00,1.92,0.00,0.000,6,0.000,0.030,2733,2480,2644
$GC,9882,0.71,250.0,769.1,9.9,808,9916,0.12,2.15,26.77,1.259,4,0.087,0.034,2788,1110,2511
$GC,9973,0.71,250.0,757.4,13.3,812,9977,0.00,2.17,0.00,0.000,6,0.000,0.039,2788,2490,2508
$GC,10295,0.71,250.0,713.1,13.8,828,10299,0.00,2.10,0.00,0.000,4,0.000,0.034,2794,1106,2506
$GC,10328,0.71,250.0,708.2,14.2,829,10331,0.00,2.12,0.00,0.000,6,0.000,0.038,2793,2474,2506
$GC,10649,0.66,250.0,662.3,14.5,845,10651,0.15,0.00,0.00,0.000,6,0.196,0.000,2757,2475,2505
$GC,10959,0.74,250.0,621.7,13.1,860,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2476,2504
$GC,11268,0.83,258.8,584.0,11.4,875,11282,0.15,2.12,7.40,1.013,4,0.083,0.035,2820,1111,2475
$GC,11294,0.78,258.8,580.5,14.0,876,11298,0.00,2.10,0.00,0.000,6,0.000,0.041,2820,2463,2475
$GC,11621,0.68,258.8,533.2,14.0,892,11625,0.17,2.05,0.00,0.000,4,0.184,0.056,2771,3765,2473
$GC,11638,0.60,258.8,530.7,14.0,892,11644,0.15,1.95,0.00,0.000,6,0.193,0.030,2739,2450,2474
$GC,11954,0.82,289.4,498.8,10.0,908,11987,0.20,2.03,25.70,1.078,4,0.074,0.034,2828,1113,2351
$GC,12066,0.82,289.4,482.8,14.0,918,12070,0.00,2.10,0.00,0.000,6,0.000,0.040,2828,2452,2348
$GC,12399,0.74,289.4,431.2,17.1,949,12403,0.17,2.03,0.00,0.000,4,0.178,0.033,2785,1122,2347
$GC,12527,0.86,289.4,411.7,14.0,960,12534,0.12,2.00,0.00,0.000,6,0.087,0.038,2833,2420,2346
$GC,12852,0.79,289.4,361.8,15.5,991,12856,0.12,2.12,0.00,0.000,4,0.184,0.054,2803,3770,2346
$GC,12970,0.73,289.4,344.3,14.5,1001,12974,0.12,2.00,0.00,0.000,6,0.190,0.029,2783,2422,2345
$GC,13301,0.91,324.9,310.2,9.7,1032,13334,0.17,2.03,27.80,0.921,4,0.077,0.034,2862,1109,2206
$GC,13386,0.91,324.9,298.8,14.4,1040,13392,0.00,2.05,0.00,0.000,6,0.000,0.038,2862,2427,2204
$GC,13730,0.85,324.9,241.0,15.5,1101,13736,0.17,2.00,0.00,0.000,4,0.186,0.032,2820,1100,2201
$GC,13766,0.95,324.9,235.8,14.6,1107,13773,0.00,2.03,0.00,0.000,6,0.000,0.036,2820,2421,2200
$GC,14112,1.10,353.7,196.0,10.1,1168,14142,0.17,2.00,23.20,0.805,4,0.074,0.032,2902,1100,2088
$GC,14160,1.02,353.7,189.7,14.0,1176,14166,0.00,1.98,0.00,0.000,6,0.000,0.035,2902,2389,2087
$GC,14504,0.97,353.7,142.6,14.4,1237,14511,0.17,2.15,0.00,0.000,4,0.185,0.048,2853,3768,2085
$GC,14591,0.97,353.7,131.6,12.3,1252,14597,0.00,2.05,0.00,0.000,6,0.000,0.027,2859,2379,2085
$GC,14935,1.20,404.9,94.2,8.6,1313,14984,0.17,2.25,39.65,0.705,4,0.075,0.051,2932,3756,1880
$GC,15209,1.15,404.9,52.9,15.7,1361,15215,0.00,2.12,0.00,0.000,6,0.000,0.025,2941,2316,1876
$GC,15553,1.23,432.5,16.4,10.2,1422,15582,0.00,2.35,21.75,0.611,4,0.000,0.051,2941,3765,1767
$STATE,15656,end climb,SURFACE_DEPTH_REACHED
$STATE,15656,begin surface coast
$FINISH,1.8,1.021438
$STATE,15674,end surface coast,CONTROL_FINISHED_OK
$STATE,15674,begin surface
$SM_CCo,15754,0.00,0.000,0,0,1762,434.18
$SM_GC,2.72,7.40,0.00,0.00,0.046,0.000,0.000,142,2401,1762,-7.49,-0.74,434.18
$IRIDIUM_FIX,2451.31,12324.26,160998,030341
$TT8_MAMPS,0.028379
$HUMID,1578
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.7,35.495
$10V_AH,10.8,20.263
$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,23.025,131.225,444.800,0.000,0.000,28.318,39.025,185.027,8.000,0.000,0.000,34.096,2553.575,9979.279,552.856,2511.395,551.397,0.000,1831.369,0.000,2439.650,0.000,54.442,0.000
$DEVICE_MAMPS,239.304,56.758,1411.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,974.970,1001.758,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78769,1443
$CAP_FILE_SIZE,157680,0
$CFSIZE,260165632,209895424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.278, 34.0,1
$GPS,220609,124031,2502.188,12323.997,39,1.8,40,-3.7