version: 66.04
glider: 167
mission: 2
dive: 226
start: 6 27 109 17 29 49
data:
$ID,167
$MISSION,2
$DIVE,226
$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,-9494.4795
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,172307,2442.917,12344.839,35,1.7,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-68.6
$GPS2,172926,2442.931,12344.848,13,1.9,13,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,306.2,119518,-23.2,-12.000
$D_GRID,1797
$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,-24.42,0.000,2,0.000,0.000,139,2451,2368
$GC,44,-1.18,-121.7,3.1,-2.1,4,110,8.30,2.15,-49.88,0.000,4,0.242,0.038,2160,991,3988
$GC,203,-0.56,-121.7,38.1,-32.7,31,210,0.75,2.15,0.00,0.000,6,0.181,0.031,2360,2425,3990
$GC,548,-0.73,-121.7,91.4,-13.6,92,555,0.15,2.03,0.00,0.000,4,0.067,0.045,2291,3750,3991
$GC,618,-0.53,-121.7,103.1,-17.1,104,624,0.28,1.92,0.00,0.000,6,0.158,0.024,2368,2391,3991
$GC,963,-0.86,-121.7,136.5,-10.3,165,969,0.25,1.92,0.00,0.000,4,0.059,0.025,2257,1045,3992
$GC,1009,-0.86,-121.7,142.5,-13.7,173,1015,0.00,2.15,0.00,0.000,6,0.000,0.031,2257,2488,3992
$GC,1354,-0.86,-121.7,197.3,-15.1,234,1361,0.00,1.92,0.00,0.000,4,0.000,0.045,2248,3764,3993
$GC,1575,-0.81,-121.7,228.8,-13.7,273,1581,0.12,1.75,0.00,0.000,6,0.166,0.025,2279,2516,3994
$GC,1919,-0.98,-121.7,269.2,-12.0,334,1927,0.15,1.90,0.00,0.000,4,0.070,0.044,2208,3757,3995
$GC,2180,-0.88,-121.7,309.5,-15.4,375,2184,0.15,1.73,0.00,0.000,6,0.155,0.025,2255,2557,3995
$GC,2510,-1.02,-121.7,348.5,-10.6,406,2515,0.12,1.85,0.00,0.000,4,0.073,0.046,2192,3758,3995
$GC,2612,-0.90,-121.7,362.9,-14.1,415,2617,0.22,1.70,0.00,0.000,6,0.160,0.025,2255,2555,3995
$GC,2944,-1.08,-121.7,400.2,-10.7,446,2946,0.17,0.00,0.00,0.000,6,0.065,0.000,2180,2555,3995
$GC,3263,-0.99,-121.7,437.2,-11.1,476,3267,0.17,1.85,0.00,0.000,4,0.169,0.046,2218,3754,3995
$GC,3292,-0.99,-121.7,440.6,-11.7,478,3299,0.00,1.70,0.00,0.000,6,0.000,0.027,2218,2557,3995
$GC,3617,-1.06,-121.7,478.6,-12.9,509,3620,0.00,1.85,0.00,0.000,4,0.000,0.050,2218,3750,3994
$GC,3687,-1.12,-121.7,487.7,-13.5,515,3691,0.00,1.67,0.00,0.000,6,0.000,0.028,2218,2575,3994
$GC,4014,-1.21,-121.7,526.5,-11.2,535,4019,0.17,1.83,0.00,0.000,4,0.074,0.049,2137,3757,3993
$GC,4082,-0.95,-121.7,536.9,-15.6,538,4086,0.35,1.67,0.00,0.000,6,0.173,0.028,2233,2592,3992
$GC,4417,-1.10,-121.7,573.5,-11.0,554,4421,0.12,1.83,0.00,0.000,4,0.081,0.051,2179,3760,3990
$GC,4455,-1.02,-121.7,579.0,-13.8,555,4462,0.15,1.67,0.00,0.000,6,0.175,0.028,2216,2599,3990
$GC,4772,-1.12,-121.7,613.6,-10.6,571,4776,0.00,1.80,0.00,0.000,4,0.000,0.051,2209,3754,3987
$GC,4806,-1.19,-121.7,617.3,-10.8,572,4810,0.15,1.65,0.00,0.000,6,0.077,0.029,2150,2610,3987
$GC,5127,-1.04,-121.7,660.2,-14.0,588,5131,0.17,1.80,0.00,0.000,4,0.179,0.050,2193,3761,3984
$GC,5232,-1.04,-121.7,673.7,-11.9,592,5238,0.00,1.65,0.00,0.000,6,0.000,0.030,2193,2625,3983
$GC,5548,-1.04,-121.7,707.1,-10.4,608,5551,0.00,1.77,0.00,0.000,4,0.000,0.054,2192,3754,3981
$GC,5581,-1.04,-121.7,710.8,-11.0,609,5585,0.00,1.62,0.00,0.000,6,0.000,0.030,2192,2631,3980
$GC,5902,-1.04,-121.7,745.3,-10.8,625,5906,0.00,1.75,0.00,0.000,4,0.000,0.054,2192,3746,3979
$GC,5941,-1.04,-121.7,749.9,-11.3,626,5952,0.00,1.62,0.00,0.000,6,0.000,0.029,2192,2626,3978
$GC,6257,-1.08,-121.7,786.7,-11.3,642,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2626,3976
$GC,6566,-1.14,-121.7,821.2,-10.7,657,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2626,3974
$GC,6876,-1.19,-121.7,856.2,-11.2,672,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2626,3971
$GC,7185,-1.25,-121.7,890.0,-10.8,687,7189,0.15,1.80,0.00,0.000,4,0.085,0.058,2137,3753,3969
$GC,7218,-1.08,-121.7,894.6,-14.6,688,7222,0.22,1.65,0.00,0.000,6,0.185,0.031,2193,2630,3969
$GC,7541,-1.15,-121.7,927.4,-10.0,704,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2630,3967
$GC,7848,-1.22,-121.7,960.4,-10.8,719,7850,0.12,0.00,0.00,0.000,6,0.088,0.000,2149,2630,3966
$STATE,8071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8072,begin apogee
$GC,8078,-0.22,0.0,990.0,13.2,730,8175,1.10,0.00,88.47,1.417,6,0.173,0.000,2465,2541,3532
$STATE,8176,end apogee,CONTROL_FINISHED_OK
$STATE,8176,begin climb
$GC,8178,1.18,121.7,993.1,0.0,735,8287,1.27,2.12,101.38,1.371,4,0.058,0.054,2926,3748,3035
$GC,8427,0.42,121.7,976.0,15.2,746,8433,1.00,1.92,0.00,0.000,6,0.217,0.028,2683,2481,3032
$GC,8749,0.62,188.1,950.1,7.6,762,8808,0.17,2.15,53.38,1.349,4,0.081,0.033,2749,1117,2764
$GC,8903,0.63,191.7,933.1,11.8,768,8913,0.00,2.17,4.10,0.845,6,0.000,0.037,2749,2491,2749
$GC,9230,0.63,198.6,895.4,11.5,784,9243,0.00,2.17,6.97,1.106,4,0.000,0.034,2749,1112,2722
$GC,9430,0.71,211.4,872.7,11.2,793,9451,0.00,2.15,12.15,1.229,6,0.000,0.038,2749,2493,2670
$GC,9760,0.72,222.2,834.3,11.3,809,9775,0.00,2.12,10.40,1.195,4,0.000,0.034,2749,1115,2625
$GC,9844,0.85,240.4,824.8,10.8,812,9867,0.20,2.15,16.02,1.236,6,0.077,0.039,2824,2487,2551
$GC,10177,0.70,240.4,774.6,15.4,828,10181,0.17,2.10,0.00,0.000,4,0.185,0.031,2783,1106,2547
$GC,10366,0.70,240.4,748.3,13.3,836,10372,0.00,2.10,0.00,0.000,6,0.000,0.039,2783,2460,2545
$GC,10682,0.70,240.4,703.6,13.9,852,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2461,2544
$GC,10992,0.70,240.4,662.5,13.5,867,10995,0.00,2.05,0.00,0.000,4,0.000,0.034,2789,1105,2544
$GC,11041,0.70,240.4,655.7,12.6,869,11045,0.00,2.08,0.00,0.000,6,0.000,0.038,2789,2452,2543
$GC,11368,0.70,240.4,612.6,13.6,885,11372,0.00,2.08,0.00,0.000,4,0.000,0.056,2788,3769,2543
$GC,11402,0.57,240.4,607.4,15.5,886,11406,0.25,1.95,0.00,0.000,6,0.186,0.028,2731,2437,2543
$GC,11723,0.81,285.4,573.6,9.0,902,11767,0.20,2.05,35.72,1.145,4,0.074,0.034,2815,1120,2367
$GC,11859,0.81,285.4,557.3,12.0,908,11863,0.00,2.10,0.00,0.000,6,0.000,0.036,2815,2462,2364
$GC,12192,0.81,290.0,517.3,11.7,924,12201,0.00,2.08,4.57,0.802,4,0.000,0.032,2817,1103,2348
$GC,12241,0.81,290.0,510.9,12.7,926,12244,0.00,2.10,0.00,0.000,6,0.000,0.036,2816,2461,2348
$GC,12566,0.81,290.0,467.4,14.0,952,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2461,2348
$GC,12882,0.81,290.0,423.2,13.4,982,12886,0.00,2.03,0.00,0.000,4,0.000,0.031,2823,1107,2347
$GC,13033,0.81,290.0,403.8,12.4,995,13039,0.00,2.08,0.00,0.000,6,0.000,0.037,2823,2460,2347
$GC,13359,0.82,296.4,366.2,11.6,1026,13372,0.00,2.00,6.28,0.824,4,0.000,0.030,2829,1111,2324
$GC,13531,0.88,296.4,344.5,13.3,1041,13534,0.00,2.03,0.00,0.000,6,0.000,0.037,2829,2437,2324
$GC,13863,0.89,309.9,301.8,11.1,1072,13882,0.00,2.00,12.75,0.872,4,0.000,0.031,2835,1103,2267
$GC,13894,0.98,335.0,298.4,10.3,1076,13923,0.00,2.03,20.92,0.882,6,0.000,0.035,2835,2432,2165
$GC,14264,1.08,335.0,255.2,12.4,1141,14270,0.15,2.10,0.00,0.000,4,0.074,0.051,2894,3765,2160
$GC,14355,0.86,335.0,240.4,16.6,1157,14362,0.30,1.95,0.00,0.000,6,0.184,0.026,2825,2429,2160
$GC,14700,1.09,362.0,199.5,10.2,1218,14731,0.20,2.00,21.73,0.790,4,0.069,0.031,2918,1110,2055
$GC,14789,1.04,362.6,188.3,12.0,1233,14796,0.15,2.03,0.00,0.000,6,0.176,0.035,2881,2433,2053
$GC,15134,1.13,362.6,146.0,12.9,1294,15140,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2433,2052
$GC,15478,1.37,426.5,108.5,7.8,1355,15537,0.25,2.05,50.08,0.703,4,0.067,0.030,2993,1111,1791
$GC,15689,1.30,426.5,81.1,14.2,1392,15695,0.00,2.03,0.00,0.000,6,0.000,0.033,2992,2441,1788
$GC,16033,1.23,426.5,30.1,13.7,1453,16039,0.17,1.98,0.00,0.000,4,0.180,0.028,2952,1106,1787
$GC,16147,1.37,426.5,15.8,12.3,1473,16153,0.00,2.00,0.00,0.000,6,0.000,0.030,2951,2448,1786
$STATE,16253,end climb,SURFACE_DEPTH_REACHED
$STATE,16253,begin surface coast
$FINISH,1.6,1.010815
$STATE,16278,end surface coast,CONTROL_FINISHED_OK
$STATE,16278,begin surface
$SM_CCo,16355,0.00,0.000,0,0,1786,428.29
$SM_GC,2.72,7.47,0.00,0.00,0.053,0.000,0.000,141,2456,1786,-7.50,0.82,428.29
$IRIDIUM_FIX,2432.32,12343.38,210998,131307
$TT8_MAMPS,0.028379
$HUMID,1565
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,40.132
$10V_AH,10.8,22.808
$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,25.550,120.375,444.925,0.000,0.000,28.529,34.343,182.967,8.000,0.000,0.000,13.625,2654.970,10306.863,566.729,2646.767,550.435,0.000,1902.781,0.000,2582.488,0.000,54.439,0.000
$DEVICE_MAMPS,241.605,71.331,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.341,1026.348,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79092,1496
$CAP_FILE_SIZE,164762,0
$CFSIZE,260165632,207491072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129, 80.3,1
$GPS,270609,220337,2444.520,12344.613,38,1.0,39,-3.6