version: 66.04
glider: 167
mission: 2
dive: 202
start: 6 23 109 2 48 29
data:
$ID,167
$MISSION,2
$DIVE,202
$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,-9059.2881
$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,42
$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
$GPS1,024036,2502.687,12325.396,25,1.3,26,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-66.0
$GPS2,024808,2502.807,12325.653,16,1.5,16,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,189.8,51874,-23.2,-12.000
$D_GRID,2063
$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,-121.7,0.0,0.0,0,48,0.00,0.00,-29.33,0.000,2,0.000,0.000,141,2446,2552
$GC,51,-1.18,-121.7,3.4,-3.2,5,106,8.45,2.10,-40.78,0.000,4,0.250,0.058,2149,3761,3989
$GC,215,-0.34,-121.7,46.7,-36.1,33,222,1.00,1.95,0.00,0.000,6,0.184,0.024,2430,2405,3991
$GC,560,-0.85,-121.7,78.4,-8.0,94,567,0.40,2.10,0.00,0.000,4,0.050,0.046,2259,3754,3992
$GC,715,-0.71,-121.7,102.4,-16.7,121,722,0.20,1.88,0.00,0.000,6,0.158,0.025,2315,2433,3992
$GC,1060,-0.86,-121.7,147.9,-11.4,182,1067,0.15,2.05,0.00,0.000,4,0.070,0.045,2244,3762,3993
$GC,1321,-0.86,-121.7,189.6,-14.8,228,1326,0.00,1.80,0.00,0.000,6,0.000,0.025,2243,2478,3995
$GC,1664,-0.86,-121.7,232.1,-10.5,289,1670,0.00,1.95,0.00,0.000,4,0.000,0.045,2234,3754,3996
$GC,1761,-0.86,-121.7,243.7,-12.3,306,1768,0.12,1.80,0.00,0.000,6,0.158,0.025,2266,2476,3996
$GC,2105,-1.02,-121.7,282.2,-12.4,367,2112,0.15,0.00,0.00,0.000,6,0.073,0.000,2202,2476,3997
$GC,2439,-0.98,-121.7,333.2,-14.4,408,2442,0.00,1.98,0.00,0.000,4,0.000,0.048,2195,3760,3997
$GC,2641,-0.87,-121.7,362.0,-13.1,426,2645,0.22,1.80,0.00,0.000,6,0.160,0.027,2258,2499,3997
$GC,2971,-1.06,-121.7,394.0,-10.5,457,2975,0.17,1.95,0.00,0.000,4,0.067,0.048,2178,3757,3997
$GC,3083,-0.94,-121.7,411.1,-15.4,467,3088,0.17,1.83,0.00,0.000,6,0.160,0.028,2243,2510,3996
$GC,3414,-1.10,-121.7,448.9,-11.3,498,3418,0.15,1.92,0.00,0.000,4,0.074,0.050,2178,3753,3995
$GC,3459,-0.99,-121.7,455.2,-14.6,502,3463,0.17,1.77,0.00,0.000,6,0.169,0.028,2224,2514,3995
$GC,3789,-1.09,-121.7,495.9,-11.5,533,3793,0.00,1.92,0.00,0.000,4,0.000,0.050,2218,3750,3993
$GC,3918,-1.16,-121.7,511.6,-12.4,540,3925,0.12,1.75,0.00,0.000,6,0.081,0.028,2166,2532,3993
$GC,4235,-1.05,-121.7,556.5,-14.4,556,4239,0.15,1.92,0.00,0.000,4,0.176,0.051,2203,3763,3991
$GC,4363,-1.05,-121.7,573.7,-13.3,561,4369,0.00,1.77,0.00,0.000,6,0.000,0.028,2203,2558,3990
$GC,4679,-1.10,-121.7,612.5,-12.1,577,4683,0.00,1.88,0.00,0.000,4,0.000,0.052,2203,3758,3988
$GC,4792,-1.10,-121.7,626.1,-12.5,582,4795,0.00,1.73,0.00,0.000,6,0.000,0.029,2203,2591,3987
$GC,5125,-1.17,-121.7,662.9,-10.7,598,5129,0.10,1.83,0.00,0.000,4,0.090,0.054,2165,3761,3985
$GC,5267,-1.05,-121.7,681.6,-13.5,604,5271,0.15,1.67,0.00,0.000,6,0.182,0.030,2200,2608,3983
$GC,5597,-1.12,-121.7,718.0,-11.0,620,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2607,3981
$GC,5904,-1.19,-121.7,753.4,-11.3,635,5908,0.12,1.80,0.00,0.000,4,0.087,0.055,2152,3748,3979
$GC,5949,-1.05,-121.7,759.7,-15.0,637,5954,0.20,1.65,0.00,0.000,6,0.183,0.031,2202,2622,3979
$GC,6284,-1.13,-121.7,796.5,-11.0,653,6287,0.00,1.77,0.00,0.000,4,0.000,0.055,2203,3749,3976
$GC,6353,-1.22,-121.7,804.0,-10.4,656,6357,0.15,1.62,0.00,0.000,6,0.080,0.031,2148,2639,3975
$GC,6689,-1.10,-121.7,850.9,-14.8,672,6693,0.15,1.75,0.00,0.000,4,0.189,0.054,2177,3748,3973
$GC,6734,-1.10,-121.7,857.7,-13.8,674,6737,0.00,1.62,0.00,0.000,6,0.000,0.031,2177,2640,3973
$GC,7066,-1.10,-121.7,898.9,-12.5,690,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2640,3971
$GC,7375,-1.10,-121.7,937.6,-12.8,705,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2641,3969
$GC,7686,-1.10,-121.7,976.8,-12.5,720,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2640,3968
$STATE,7805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7805,begin apogee
$GC,7812,-0.22,0.0,992.2,12.5,726,7908,0.98,0.00,88.57,1.411,6,0.166,0.000,2464,2536,3531
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7911,1.18,121.7,996.5,0.0,731,8020,1.27,2.35,100.88,1.371,4,0.059,0.035,2933,1097,3035
$GC,8273,0.59,121.7,968.5,14.1,747,8278,0.75,2.20,0.00,0.000,6,0.213,0.039,2740,2500,3031
$GC,8589,0.58,175.9,941.0,8.4,762,8637,0.00,2.22,43.20,1.344,4,0.000,0.035,2745,1100,2815
$GC,8704,0.59,190.8,929.3,11.0,767,8722,0.00,2.25,13.27,1.232,6,0.000,0.038,2746,2518,2754
$GC,9044,0.61,200.3,890.2,11.4,784,9059,0.00,2.22,8.88,1.165,4,0.000,0.036,2746,1105,2714
$GC,9161,0.68,200.3,876.0,12.5,789,9165,0.00,2.17,0.00,0.000,6,0.000,0.040,2746,2494,2713
$GC,9488,0.69,205.8,837.9,11.6,805,9498,0.00,2.15,6.10,1.053,4,0.000,0.035,2746,1090,2692
$GC,9583,0.80,228.1,827.1,10.5,809,9608,0.17,2.17,19.75,1.260,6,0.083,0.041,2810,2487,2601
$GC,9926,0.66,228.1,774.3,15.3,826,9928,0.20,0.00,0.00,0.000,6,0.191,0.000,2760,2489,2597
$GC,10234,0.66,228.1,733.4,13.1,841,10237,0.00,2.12,0.00,0.000,4,0.000,0.036,2762,1089,2595
$GC,10347,0.75,228.1,718.2,13.0,846,10350,0.00,2.15,0.00,0.000,6,0.000,0.040,2763,2473,2594
$GC,10679,0.75,233.6,677.4,11.6,862,10689,0.00,2.12,4.70,0.897,4,0.000,0.038,2762,1086,2579
$GC,10831,0.85,233.6,659.9,12.3,868,10838,0.17,2.10,0.00,0.000,6,0.082,0.041,2828,2448,2578
$GC,11148,0.69,233.6,613.4,14.9,884,11152,0.20,2.08,0.00,0.000,4,0.184,0.056,2771,3764,2578
$GC,11265,0.59,233.6,596.2,14.6,889,11269,0.15,1.95,0.00,0.000,6,0.190,0.031,2739,2460,2577
$GC,11586,0.77,261.8,562.0,10.1,905,11616,0.15,2.10,23.10,1.120,4,0.081,0.036,2801,1105,2463
$GC,11689,0.77,261.8,548.2,13.6,909,11695,0.00,2.10,0.00,0.000,6,0.000,0.039,2801,2451,2461
$GC,12004,0.77,261.8,507.3,12.9,925,12008,0.00,2.05,0.00,0.000,4,0.000,0.035,2808,1100,2459
$GC,12054,0.78,263.4,501.0,11.9,927,12058,0.00,2.08,0.00,0.000,6,0.000,0.037,2807,2448,2459
$GC,12383,0.79,276.9,464.0,11.1,957,12404,0.00,2.12,12.90,1.004,4,0.000,0.035,2813,1094,2402
$GC,12507,0.79,276.9,448.3,12.2,968,12511,0.00,2.05,0.00,0.000,6,0.000,0.038,2813,2426,2401
$GC,12839,0.79,276.9,405.8,13.2,999,12842,0.00,2.00,0.00,0.000,4,0.000,0.036,2813,1106,2400
$GC,12906,0.79,276.9,397.1,12.3,1005,12910,0.00,2.03,0.00,0.000,6,0.000,0.038,2813,2427,2399
$GC,13241,0.79,277.7,357.1,11.9,1036,13244,0.00,2.00,0.00,0.000,4,0.000,0.035,2813,1099,2399
$GC,13365,0.79,277.7,341.7,12.5,1047,13368,0.00,1.98,0.00,0.000,6,0.000,0.035,2813,2405,2399
$GC,13697,0.80,285.7,301.0,11.5,1078,13715,0.00,2.00,8.55,0.834,4,0.000,0.035,2814,1103,2366
$GC,13744,0.90,302.2,295.4,10.9,1085,13763,0.00,1.95,14.57,0.870,6,0.000,0.037,2813,2380,2298
$GC,14105,1.00,311.1,255.2,11.4,1148,14118,0.15,2.00,8.12,0.781,4,0.080,0.034,2881,1096,2263
$GC,14287,0.92,311.1,226.8,14.0,1180,14294,0.15,1.92,0.00,0.000,6,0.188,0.036,2846,2362,2262
$GC,14632,0.98,311.1,183.9,12.6,1241,14638,0.00,2.20,0.00,0.000,4,0.000,0.053,2845,3768,2262
$GC,14706,0.93,311.1,173.5,14.3,1254,14712,0.00,2.05,0.00,0.000,6,0.000,0.027,2850,2381,2262
$GC,15051,1.07,352.6,140.3,9.3,1315,15090,0.12,1.98,32.72,0.754,4,0.084,0.032,2906,1088,2093
$GC,15269,1.07,352.6,113.6,12.7,1353,15275,0.00,1.98,0.00,0.000,6,0.000,0.035,2906,2385,2089
$GC,15613,1.15,375.3,75.4,10.5,1414,15637,0.00,2.15,18.30,0.666,4,0.000,0.050,2906,3761,2000
$GC,15852,1.18,400.1,46.2,10.4,1456,15877,0.00,2.10,20.23,0.637,6,0.000,0.026,2916,2339,1900
$GC,16217,1.36,421.6,8.0,10.6,1520,16242,0.17,2.30,17.25,0.591,4,0.074,0.046,2991,3770,1812
$STATE,16252,end climb,SURFACE_DEPTH_REACHED
$STATE,16252,begin surface coast
$FINISH,1.7,0.999449
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16275,begin surface
$SM_CCo,16295,1.38,0.074,0,0,1798,425.10
$SM_GC,2.95,0.00,0.00,1.38,0.000,0.000,0.074,143,2393,1798,-7.50,-0.96,425.10
$IRIDIUM_FIX,2451.31,12318.98,160998,222231
$TT8_MAMPS,0.029146
$HUMID,1577
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.8,36.151
$10V_AH,10.8,20.632
$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,24.750,127.125,441.100,1.375,0.000,30.534,32.161,253.495,8.000,0.000,0.000,16.560,2734.457,10052.276,535.295,2799.967,618.925,0.000,1928.275,0.000,2725.815,0.000,54.424,0.000
$DEVICE_MAMPS,250.042,60.593,1410.513,73.632,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.623,1064.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82043,1530
$CAP_FILE_SIZE,169466,0
$CFSIZE,260165632,209539072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245, 46.3,1
$GPS,230609,072124,2502.567,12326.549,23,0.8,41,-3.7