version: 66.04
glider: 167
mission: 2
dive: 231
start: 6 28 109 17 4 58
data:
$ID,167
$MISSION,2
$DIVE,231
$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,-9641.8721
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,165754,2451.991,12342.845,42,1.4,60,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-67.6
$GPS2,170436,2451.965,12342.845,14,1.4,29,-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,330.3,103043,-23.2,-12.000
$D_GRID,1938
$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,14,-1.18,-121.7,0.0,0.0,0,41,0.00,0.00,-24.60,0.000,2,0.000,0.000,140,2428,2386
$GC,44,-1.18,-121.7,3.3,-4.1,4,108,8.27,2.17,-50.22,0.000,4,0.241,0.039,2157,996,3990
$GC,266,-0.63,-121.7,56.9,-27.6,42,273,0.68,2.15,0.00,0.000,6,0.175,0.031,2339,2433,3992
$GC,611,-0.79,-121.7,108.7,-14.6,103,618,0.15,2.03,0.00,0.000,4,0.071,0.046,2275,3754,3992
$GC,748,-0.73,-121.7,132.9,-17.2,127,755,0.12,1.95,0.00,0.000,6,0.160,0.024,2307,2378,3993
$GC,1093,-0.92,-121.7,174.5,-10.9,188,1099,0.17,2.12,0.00,0.000,4,0.062,0.044,2220,3757,3994
$GC,1157,-0.77,-121.7,184.2,-16.3,199,1163,0.25,1.88,0.00,0.000,6,0.158,0.023,2292,2419,3994
$GC,1504,-0.94,-121.7,225.7,-10.5,260,1510,0.15,2.05,0.00,0.000,4,0.068,0.044,2221,3755,3996
$GC,1654,-0.76,-121.7,248.4,-17.0,286,1660,0.28,1.85,0.00,0.000,6,0.159,0.025,2299,2443,3996
$GC,2000,-1.03,-121.7,288.7,-10.9,347,2007,0.20,2.03,0.00,0.000,4,0.064,0.046,2205,3757,3995
$GC,2085,-0.97,-121.7,302.0,-15.2,361,2092,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2473,3996
$GC,2412,-0.97,-121.7,345.5,-13.7,392,2415,0.00,1.98,0.00,0.000,4,0.000,0.047,2205,3753,3996
$GC,2547,-0.97,-121.7,364.8,-14.8,404,2550,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2478,3996
$GC,2877,-0.97,-121.7,408.8,-12.9,435,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2478,3996
$GC,3198,-0.97,-121.7,444.6,-10.0,465,3201,0.00,1.98,0.00,0.000,4,0.000,0.048,2205,3751,3997
$GC,3369,-0.97,-121.7,463.2,-11.5,480,3372,0.00,1.80,0.00,0.000,6,0.000,0.027,2205,2492,3997
$GC,3701,-1.02,-121.7,499.1,-11.2,511,3706,0.00,1.98,0.00,0.000,4,0.000,0.050,2205,3760,3995
$GC,3791,-1.02,-121.7,510.0,-12.2,516,3795,0.00,1.83,0.00,0.000,6,0.000,0.028,2205,2494,3994
$GC,4125,-1.08,-121.7,552.0,-12.4,532,4129,0.00,2.00,0.00,0.000,4,0.000,0.051,2205,3771,3992
$GC,4238,-1.13,-121.7,565.5,-11.6,537,4242,0.00,1.80,0.00,0.000,6,0.000,0.028,2205,2520,3991
$GC,4571,-1.21,-121.7,605.4,-12.5,553,4575,0.15,1.90,0.00,0.000,4,0.076,0.050,2140,3750,3989
$GC,4594,-1.15,-121.7,608.8,-15.2,554,4598,0.15,1.77,0.00,0.000,6,0.179,0.027,2176,2517,3988
$GC,4929,-1.15,-121.7,652.3,-11.9,570,4933,0.00,1.92,0.00,0.000,4,0.000,0.051,2169,3749,3986
$GC,5047,-1.06,-121.7,668.3,-12.6,575,5051,0.08,1.80,0.00,0.000,6,0.168,0.028,2192,2531,3985
$GC,5375,-1.12,-121.7,703.1,-10.1,591,5379,0.00,1.92,0.00,0.000,4,0.000,0.053,2192,3755,3982
$GC,5421,-1.12,-121.7,708.4,-11.7,593,5424,0.00,1.77,0.00,0.000,6,0.000,0.029,2192,2537,3981
$GC,5754,-1.17,-121.7,746.2,-12.0,609,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2537,3979
$GC,6063,-1.23,-121.7,784.0,-12.5,624,6067,0.12,1.92,0.00,0.000,4,0.087,0.053,2138,3753,3976
$GC,6146,-1.04,-121.7,797.1,-17.0,627,6152,0.25,1.77,0.00,0.000,6,0.179,0.029,2203,2537,3975
$GC,6462,-1.16,-121.7,830.9,-9.1,643,6466,0.00,1.92,0.00,0.000,4,0.000,0.055,2202,3754,3973
$GC,6513,-1.27,-121.7,835.7,-9.4,645,6517,0.20,1.77,0.00,0.000,6,0.071,0.030,2128,2541,3973
$GC,6842,-1.10,-121.7,876.1,-12.8,661,6847,0.20,2.20,0.00,0.000,4,0.181,0.031,2185,1053,3971
$GC,6933,-1.17,-121.7,885.9,-10.2,665,6937,0.00,2.25,0.00,0.000,6,0.000,0.040,2182,2513,3970
$GC,7259,-1.17,-121.7,920.8,-11.0,681,7263,0.00,1.95,0.00,0.000,4,0.000,0.057,2179,3754,3968
$GC,7317,-1.17,-121.7,927.3,-12.1,683,7320,0.00,1.77,0.00,0.000,6,0.000,0.031,2179,2548,3967
$GC,7638,-1.17,-121.7,963.6,-10.9,699,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2548,3966
$STATE,7882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7882,begin apogee
$GC,7888,-0.22,0.0,990.7,10.5,711,7985,0.98,0.00,88.80,1.414,6,0.160,0.000,2468,2547,3532
$STATE,7985,end apogee,CONTROL_FINISHED_OK
$STATE,7985,begin climb
$GC,7988,1.18,121.7,993.9,0.0,716,8099,1.25,2.33,101.93,1.371,4,0.057,0.032,2929,1133,3034
$GC,8352,0.61,121.7,966.9,12.4,732,8357,0.73,2.15,0.00,0.000,6,0.212,0.041,2744,2497,3031
$GC,8668,0.61,187.6,942.5,7.7,747,8731,0.00,2.22,52.65,1.351,4,0.000,0.034,2750,1138,2766
$GC,8816,0.63,205.8,927.7,10.8,753,8838,0.00,2.17,16.20,1.256,6,0.000,0.038,2750,2512,2693
$GC,9155,0.63,211.3,887.8,11.6,770,9163,0.00,0.00,5.85,1.035,6,0.000,0.000,2749,2512,2670
$GC,9464,0.65,226.7,853.0,11.0,785,9487,0.00,2.15,14.23,1.243,4,0.000,0.034,2750,1143,2606
$GC,9612,0.78,246.1,837.2,10.7,791,9634,0.12,2.10,16.70,1.249,6,0.088,0.037,2795,2494,2528
$GC,9952,0.70,246.1,791.2,14.1,808,9956,0.00,2.08,0.00,0.000,4,0.000,0.034,2801,1134,2523
$GC,10035,0.70,246.1,778.7,14.5,811,10042,0.00,2.12,0.00,0.000,6,0.000,0.039,2801,2498,2522
$GC,10352,0.63,246.1,730.9,15.1,827,10356,0.17,2.08,0.00,0.000,4,0.184,0.032,2759,1128,2521
$GC,10396,0.73,246.1,724.8,13.2,829,10399,0.00,2.10,0.00,0.000,6,0.000,0.039,2759,2488,2521
$GC,10723,0.81,250.6,685.5,11.7,845,10732,0.15,2.08,4.18,0.843,4,0.084,0.033,2819,1140,2509
$GC,10929,0.74,250.6,656.0,15.2,854,10933,0.15,2.03,0.00,0.000,6,0.185,0.038,2783,2461,2508
$GC,11255,0.74,250.6,610.6,13.9,870,11259,0.00,2.05,0.00,0.000,4,0.000,0.054,2783,3768,2508
$GC,11302,0.64,250.6,603.6,15.4,872,11306,0.15,1.92,0.00,0.000,6,0.193,0.029,2753,2471,2508
$GC,11635,0.79,281.3,567.7,10.0,888,11664,0.12,0.00,25.88,1.132,6,0.088,0.000,2800,2470,2385
$GC,11966,0.79,281.3,522.6,14.5,904,11970,0.00,2.05,0.00,0.000,4,0.000,0.035,2805,1106,2381
$GC,12016,0.79,281.3,515.3,14.1,906,12020,0.00,2.12,0.00,0.000,6,0.000,0.038,2805,2474,2380
$GC,12340,0.79,281.3,471.9,12.0,931,12343,0.00,2.08,0.00,0.000,4,0.000,0.033,2813,1101,2380
$GC,12397,0.79,286.0,465.1,11.7,936,12408,0.00,2.10,5.03,0.819,6,0.000,0.037,2813,2463,2364
$GC,12726,0.79,286.0,424.4,13.2,967,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2464,2363
$GC,13045,0.79,286.0,382.4,13.0,997,13049,0.00,2.05,0.00,0.000,4,0.000,0.033,2817,1097,2364
$GC,13105,0.79,286.0,374.5,12.9,1002,13112,0.00,2.10,0.00,0.000,6,0.000,0.036,2817,2473,2364
$GC,13434,0.81,303.4,336.2,10.9,1033,13458,0.00,2.10,15.05,0.916,4,0.000,0.032,2825,1109,2295
$GC,13497,0.90,303.4,328.2,13.1,1038,13503,0.00,2.08,0.00,0.000,6,0.000,0.037,2825,2456,2293
$GC,13827,1.01,327.9,289.4,10.4,1077,13858,0.12,2.10,20.33,0.882,4,0.079,0.031,2884,1109,2194
$GC,14063,1.01,327.9,258.0,12.8,1118,14069,0.00,2.08,0.00,0.000,6,0.000,0.036,2884,2460,2191
$GC,14407,0.96,334.1,214.0,11.6,1179,14419,0.12,2.03,6.30,0.686,4,0.186,0.028,2861,1101,2169
$GC,14519,1.08,364.9,202.8,10.0,1198,14550,0.00,2.03,25.42,0.792,6,0.000,0.033,2861,2440,2044
$GC,14890,1.24,383.1,159.6,10.8,1263,14910,0.20,2.08,15.10,0.722,4,0.074,0.028,2952,1093,1969
$GC,15164,1.18,383.1,121.9,12.4,1311,15170,0.00,2.12,0.00,0.000,6,0.000,0.033,2953,2488,1967
$GC,15508,1.12,383.1,76.7,13.0,1372,15515,0.17,2.05,0.00,0.000,4,0.174,0.027,2910,1097,1967
$GC,15590,1.30,405.1,67.2,10.6,1386,15615,0.15,2.08,18.67,0.646,6,0.082,0.031,2969,2477,1880
$GC,15954,1.30,405.1,20.0,12.1,1450,15960,0.00,1.98,0.00,0.000,4,0.000,0.048,2969,3765,1878
$GC,15989,1.21,405.1,15.1,14.4,1456,15996,0.17,1.90,0.00,0.000,6,0.183,0.025,2934,2461,1877
$STATE,16095,end climb,SURFACE_DEPTH_REACHED
$STATE,16096,begin surface coast
$FINISH,1.8,1.016461
$STATE,16127,end surface coast,CONTROL_FINISHED_OK
$STATE,16127,begin surface
$SM_CCo,16144,13.27,0.575,0,0,1799,425.10
$SM_GC,4.06,0.00,0.00,13.27,0.000,0.000,0.575,142,2457,1799,-7.51,0.85,425.10
$IRIDIUM_FIX,2439.44,12342.72,220998,121255
$TT8_MAMPS,0.029146
$HUMID,1578
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.7,40.980
$10V_AH,10.8,23.273
$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,23.725,128.525,432.300,13.275,0.000,31.646,32.446,186.576,8.000,0.000,0.000,31.588,2646.336,10084.130,557.785,2690.755,572.891,0.000,1904.589,0.000,2612.594,0.000,54.437,0.000
$DEVICE_MAMPS,240.838,56.758,1413.581,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.749,1011.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78900,1480
$CAP_FILE_SIZE,163888,0
$CFSIZE,260165632,207060992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 70.6,1
$GPS,280609,213531,2453.969,12342.454,37,1.6,38,-3.7