version: 66.04
glider: 167
mission: 2
dive: 227
start: 6 27 109 22 13 29
data:
$ID,167
$MISSION,2
$DIVE,227
$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,-9514.8672
$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,67
$R_STBD_OVSHOOT,31
$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
$GPS1,220337,2444.520,12344.613,38,1.0,39,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.1
$GPS2,221307,2444.590,12344.667,14,1.1,19,-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,308.3,116617,-23.2,-12.000
$D_GRID,1813
$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,-24.58,0.000,2,0.000,0.000,141,2456,2413
$GC,44,-1.18,-121.7,3.1,-2.7,4,110,8.23,2.12,-48.45,0.000,4,0.238,0.041,2160,1027,3990
$GC,208,-0.56,-121.7,38.7,-31.3,32,215,0.75,2.12,0.00,0.000,6,0.183,0.031,2360,2443,3991
$GC,552,-0.69,-121.7,92.2,-14.1,93,559,0.12,2.00,0.00,0.000,4,0.074,0.045,2299,3754,3992
$GC,735,-0.69,-121.7,123.8,-15.7,125,742,0.00,1.90,0.00,0.000,6,0.000,0.025,2299,2408,3992
$GC,1081,-0.80,-121.7,169.1,-12.1,186,1088,0.00,2.08,0.00,0.000,4,0.000,0.044,2288,3761,3993
$GC,1249,-0.91,-121.7,191.1,-13.7,215,1255,0.12,1.85,0.00,0.000,6,0.074,0.025,2230,2446,3994
$GC,1593,-0.85,-121.7,247.2,-15.3,276,1600,0.15,2.03,0.00,0.000,4,0.160,0.044,2261,3767,3995
$GC,1752,-0.92,-121.7,267.5,-12.4,304,1758,0.00,1.85,0.00,0.000,6,0.000,0.024,2261,2443,3995
$GC,2095,-1.08,-121.7,301.9,-8.9,363,2099,0.17,2.03,0.00,0.000,4,0.069,0.045,2179,3760,3996
$GC,2314,-0.93,-121.7,337.5,-16.6,382,2322,0.22,1.80,0.00,0.000,6,0.161,0.025,2240,2489,3996
$GC,2639,-1.06,-121.7,376.5,-10.7,413,2643,0.12,2.05,0.00,0.000,4,0.076,0.026,2187,1071,3996
$GC,2666,-1.06,-121.7,380.0,-12.5,415,2672,0.00,2.12,0.00,0.000,6,0.000,0.033,2181,2484,3995
$GC,2994,-0.98,-121.7,419.7,-11.8,446,2998,0.17,1.92,0.00,0.000,4,0.166,0.044,2221,3754,3996
$GC,3062,-1.04,-121.7,427.3,-10.5,452,3066,0.00,1.83,0.00,0.000,6,0.000,0.025,2221,2462,3996
$GC,3393,-1.12,-121.7,462.1,-11.2,483,3397,0.12,2.03,0.00,0.000,4,0.080,0.048,2166,3764,3994
$GC,3460,-0.98,-121.7,471.3,-13.3,489,3465,0.22,1.83,0.00,0.000,6,0.166,0.027,2226,2488,3994
$GC,3790,-1.10,-121.7,504.1,-9.3,518,3794,0.12,1.98,0.00,0.000,4,0.078,0.049,2176,3754,3993
$GC,3885,-1.02,-121.7,516.3,-13.1,522,3889,0.15,1.80,0.00,0.000,6,0.169,0.028,2213,2501,3992
$GC,4213,-1.11,-121.7,554.5,-12.4,538,4217,0.00,2.10,0.00,0.000,4,0.000,0.029,2213,1051,3989
$GC,4246,-1.22,-121.7,558.9,-12.8,539,4251,0.17,2.17,0.00,0.000,6,0.074,0.035,2147,2494,3989
$GC,4562,-1.07,-121.7,603.7,-14.2,554,4566,0.20,1.95,0.00,0.000,4,0.186,0.049,2192,3761,3987
$GC,4594,-1.07,-121.7,608.1,-12.5,555,4598,0.00,1.85,0.00,0.000,6,0.000,0.028,2193,2504,3987
$GC,4917,-1.07,-121.7,646.1,-11.5,571,4920,0.00,1.98,0.00,0.000,4,0.000,0.052,2192,3763,3984
$GC,4989,-1.07,-121.7,654.8,-11.2,574,4993,0.00,1.83,0.00,0.000,6,0.000,0.029,2192,2506,3983
$GC,5316,-1.07,-121.7,691.6,-11.2,590,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2506,3980
$GC,5627,-1.12,-121.7,727.1,-11.8,605,5631,0.00,1.98,0.00,0.000,4,0.000,0.054,2192,3758,3977
$GC,5688,-1.12,-121.7,735.5,-13.1,607,5694,0.00,1.83,0.00,0.000,6,0.000,0.030,2192,2531,3978
$GC,6005,-1.17,-121.7,774.0,-11.8,623,6009,0.00,1.92,0.00,0.000,4,0.000,0.054,2192,3750,3975
$GC,6044,-1.17,-121.7,778.9,-13.0,624,6050,0.00,1.80,0.00,0.000,6,0.000,0.031,2192,2520,3974
$GC,6360,-1.23,-121.7,816.0,-11.8,640,6362,0.12,0.00,0.00,0.000,6,0.088,0.000,2144,2520,3972
$GC,6669,-1.11,-121.7,856.9,-12.9,655,6671,0.15,0.00,0.00,0.000,6,0.186,0.000,2180,2520,3969
$GC,6978,-1.11,-121.7,889.3,-10.4,670,6981,0.00,1.98,0.00,0.000,4,0.000,0.057,2178,3761,3967
$GC,7039,-1.11,-121.7,896.0,-10.9,672,7045,0.00,1.83,0.00,0.000,6,0.000,0.032,2178,2525,3967
$GC,7355,-1.11,-121.7,928.6,-10.1,688,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2526,3965
$GC,7664,-1.11,-121.7,960.2,-10.3,703,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2526,3964
$STATE,7950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7950,begin apogee
$GC,7956,-0.22,0.0,991.3,11.2,717,8047,0.98,0.00,88.20,1.423,6,0.161,0.000,2467,2525,3532
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8050,1.18,121.7,993.9,0.0,721,8159,1.27,2.30,101.50,1.377,4,0.058,0.033,2934,1129,3035
$GC,8356,0.60,121.7,974.1,13.2,734,8364,0.75,2.17,0.00,0.000,6,0.216,0.042,2745,2499,3031
$GC,8672,0.58,172.5,946.3,8.6,750,8720,0.00,2.22,41.33,1.347,4,0.000,0.035,2746,1134,2828
$GC,8760,0.61,198.1,937.4,10.3,754,8787,0.00,2.20,21.90,1.289,6,0.000,0.040,2746,2513,2724
$GC,9103,0.61,198.1,897.3,12.0,771,9106,0.00,2.10,0.00,0.000,4,0.000,0.033,2746,1136,2719
$GC,9194,0.68,200.5,886.5,11.8,775,9198,0.00,2.12,0.00,0.000,6,0.000,0.039,2746,2498,2718
$GC,9527,0.70,215.0,848.3,11.0,791,9549,0.00,2.05,14.35,1.251,4,0.000,0.058,2746,3754,2655
$GC,9582,0.64,215.0,841.5,13.2,793,9586,0.00,1.85,0.00,0.000,6,0.000,0.028,2746,2517,2653
$GC,9904,0.72,239.8,807.1,10.4,809,9930,0.00,2.15,20.80,1.266,4,0.000,0.035,2746,1106,2555
$GC,10014,0.88,270.5,795.3,10.0,814,10046,0.25,2.15,26.42,1.259,6,0.071,0.039,2838,2478,2428
$GC,10365,0.71,270.5,740.2,15.9,831,10369,0.20,2.10,0.00,0.000,4,0.185,0.033,2789,1104,2423
$GC,10403,0.71,270.5,733.9,15.1,833,10407,0.00,2.15,0.00,0.000,6,0.000,0.038,2789,2480,2422
$GC,10736,0.71,270.5,687.5,13.8,849,10739,0.00,2.03,0.00,0.000,4,0.000,0.055,2789,3763,2421
$GC,10792,0.61,270.5,678.3,17.1,851,10796,0.17,1.95,0.00,0.000,6,0.187,0.029,2747,2475,2421
$GC,11113,0.76,270.5,636.6,13.1,867,11117,0.12,2.05,0.00,0.000,4,0.087,0.033,2801,1105,2419
$GC,11213,0.76,270.5,622.3,14.2,871,11217,0.00,2.12,0.00,0.000,6,0.000,0.038,2802,2482,2419
$GC,11534,0.76,270.5,578.3,13.6,887,11538,0.00,2.08,0.00,0.000,4,0.000,0.033,2803,1107,2418
$GC,11589,0.76,270.5,570.6,13.2,889,11593,0.00,2.08,0.00,0.000,6,0.000,0.038,2803,2460,2419
$GC,11911,0.76,270.5,529.6,12.6,905,11915,0.00,2.03,0.00,0.000,4,0.000,0.031,2804,1109,2418
$GC,11966,0.76,270.5,522.1,13.2,907,11970,0.00,2.08,0.00,0.000,6,0.000,0.038,2804,2445,2418
$GC,12292,0.77,278.5,483.5,11.5,929,12304,0.00,2.00,6.15,0.911,4,0.000,0.031,2812,1099,2397
$GC,12473,0.78,287.9,461.7,11.4,945,12487,0.00,2.05,9.75,0.986,6,0.000,0.036,2812,2441,2358
$GC,12813,0.78,287.9,418.1,12.3,977,12817,0.00,2.00,0.00,0.000,4,0.000,0.031,2817,1104,2356
$GC,12847,0.78,287.9,413.6,12.4,980,12851,0.00,2.03,0.00,0.000,6,0.000,0.035,2817,2428,2355
$GC,13179,0.78,287.9,369.4,13.3,1011,13183,0.00,1.98,0.00,0.000,4,0.000,0.031,2822,1104,2355
$GC,13230,0.79,297.1,363.0,11.4,1015,13246,0.00,2.03,8.98,0.897,6,0.000,0.037,2822,2431,2319
$GC,13565,0.80,308.4,324.7,11.3,1047,13580,0.00,2.00,10.40,0.882,4,0.000,0.031,2828,1105,2273
$GC,13627,0.87,308.4,316.9,12.4,1052,13630,0.00,2.03,0.00,0.000,6,0.000,0.036,2828,2425,2271
$GC,13963,0.93,314.6,271.0,11.6,1101,13977,0.00,2.00,6.45,0.759,4,0.000,0.031,2828,1095,2248
$GC,14051,1.06,341.7,261.5,10.2,1116,14081,0.17,2.00,22.70,0.865,6,0.074,0.035,2895,2409,2137
$GC,14420,0.96,341.7,207.7,17.0,1181,14427,0.15,2.12,0.00,0.000,4,0.189,0.050,2859,3763,2132
$GC,14548,0.91,341.7,185.5,17.4,1203,14555,0.00,2.00,0.00,0.000,6,0.000,0.027,2868,2394,2132
$GC,14893,0.98,341.7,147.5,12.0,1264,14899,0.00,1.90,0.00,0.000,4,0.000,0.032,2868,1098,2132
$GC,15024,1.15,370.6,132.5,10.1,1287,15055,0.15,1.98,23.08,0.738,6,0.077,0.032,2927,2418,2020
$GC,15394,1.19,399.6,93.0,10.1,1352,15424,0.00,1.95,23.65,0.691,4,0.000,0.028,2932,1103,1901
$GC,15661,1.30,399.6,58.8,13.0,1399,15667,0.00,1.90,0.00,0.000,6,0.000,0.031,2932,2370,1898
$GC,16005,1.46,433.9,22.1,9.7,1460,16040,0.20,1.92,27.23,0.615,4,0.065,0.028,3020,1100,1760
$GC,16075,1.36,433.9,13.0,14.5,1472,16082,0.15,1.88,0.00,0.000,6,0.185,0.031,2985,2349,1759
$STATE,16142,end climb,SURFACE_DEPTH_REACHED
$STATE,16142,begin surface coast
$FINISH,1.7,1.008745
$STATE,16165,end surface coast,CONTROL_FINISHED_OK
$STATE,16166,begin surface
$SM_CCo,16244,0.00,0.000,0,0,1755,435.90
$SM_GC,2.67,7.68,0.00,0.00,0.058,0.000,0.000,141,2473,1755,-7.49,1.30,435.90
$IRIDIUM_FIX,2432.32,12344.69,210998,222226
$TT8_MAMPS,0.029146
$HUMID,1568
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.7,40.303
$10V_AH,10.8,22.900
$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,23.600,136.375,452.875,0.000,0.000,52.668,64.490,248.371,8.000,0.000,0.000,19.760,2639.014,10290.644,559.264,2629.485,686.423,0.000,1895.059,0.000,2565.780,0.000,54.424,0.000
$DEVICE_MAMPS,237.770,65.195,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.399,1029.656,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78962,1488
$CAP_FILE_SIZE,166577,0
$CFSIZE,260165632,207405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 83.1,1
$GPS,280609,024529,2446.136,12344.312,37,1.7,42,-3.6