version: 66.04
glider: 167
mission: 2
dive: 233
start: 6 29 109 2 26 11
data:
$ID,167
$MISSION,2
$DIVE,233
$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,-9672.7705
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,021930,2455.525,12341.908,41,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.0
$GPS2,022549,2455.602,12341.953,15,1.2,15,-3.7
$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,329.6,96398,-23.2,-12.000
$D_GRID,1985
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.40,0.000,2,0.000,0.000,142,2442,2326
$GC,43,-1.18,-121.7,3.1,-2.4,4,110,8.43,2.17,-52.80,0.000,4,0.244,0.039,2156,1009,3989
$GC,279,-0.59,-121.7,61.3,-30.1,44,286,0.73,2.15,0.00,0.000,6,0.180,0.031,2350,2441,3990
$GC,624,-0.78,-121.7,108.5,-10.9,105,632,0.17,2.00,0.00,0.000,4,0.066,0.045,2261,3753,3992
$GC,717,-0.66,-121.7,123.2,-15.6,121,725,0.25,1.90,0.00,0.000,6,0.158,0.023,2333,2402,3992
$GC,1064,-0.92,-121.7,159.5,-9.7,182,1070,0.20,2.08,0.00,0.000,4,0.061,0.044,2234,3757,3993
$GC,1111,-0.81,-121.7,166.4,-14.9,190,1118,0.17,1.85,0.00,0.000,6,0.165,0.024,2281,2445,3994
$GC,1457,-0.93,-121.7,208.4,-11.4,251,1464,0.12,2.00,0.00,0.000,4,0.074,0.044,2221,3754,3994
$GC,1717,-0.75,-121.7,251.4,-17.6,297,1725,0.28,1.80,0.00,0.000,6,0.156,0.025,2300,2480,3995
$GC,2063,-1.09,-121.7,280.2,-6.0,358,2070,0.25,1.98,0.00,0.000,4,0.058,0.047,2190,3764,3996
$GC,2325,-0.97,-121.7,315.2,-15.3,396,2329,0.08,1.80,0.00,0.000,6,0.160,0.025,2227,2514,3996
$GC,2657,-1.07,-121.7,353.4,-9.5,427,2660,0.00,1.90,0.00,0.000,4,0.000,0.046,2220,3755,3996
$GC,2713,-1.07,-121.7,359.8,-11.0,432,2717,0.00,1.77,0.00,0.000,6,0.000,0.026,2220,2500,3996
$GC,3046,-1.15,-121.7,397.7,-11.4,463,3050,0.12,1.95,0.00,0.000,4,0.077,0.048,2162,3761,3996
$GC,3231,-0.98,-121.7,424.1,-13.8,479,3237,0.22,1.75,0.00,0.000,6,0.166,0.027,2223,2536,3996
$GC,3557,-1.10,-121.7,461.9,-10.6,510,3560,0.00,1.90,0.00,0.000,4,0.000,0.049,2219,3761,3995
$GC,3664,-1.18,-121.7,473.9,-10.4,519,3670,0.15,1.75,0.00,0.000,6,0.073,0.028,2159,2539,3993
$GC,3997,-1.05,-121.7,516.4,-13.3,545,4001,0.17,1.90,0.00,0.000,4,0.169,0.048,2205,3760,3992
$GC,4020,-1.05,-121.7,519.5,-12.1,546,4024,0.00,1.75,0.00,0.000,6,0.000,0.028,2205,2564,3991
$GC,4353,-1.12,-121.7,559.6,-12.2,562,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2564,3990
$GC,4662,-1.20,-121.7,595.3,-11.3,577,4666,0.15,1.88,0.00,0.000,4,0.076,0.051,2139,3761,3987
$GC,4757,-1.00,-121.7,609.5,-14.0,581,4761,0.30,1.73,0.00,0.000,6,0.171,0.029,2221,2572,3986
$GC,5086,-1.14,-121.7,643.2,-10.4,597,5090,0.12,1.85,0.00,0.000,4,0.081,0.051,2166,3753,3983
$GC,5137,-1.05,-121.7,650.1,-13.2,599,5141,0.10,1.73,0.00,0.000,6,0.167,0.029,2196,2585,3983
$GC,5463,-1.11,-121.7,686.9,-10.8,615,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2585,3980
$GC,5774,-1.18,-121.7,717.9,-10.0,630,5777,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3744,3978
$GC,5825,-1.18,-121.7,722.9,-9.7,632,5829,0.00,1.70,0.00,0.000,6,0.000,0.030,2192,2578,3977
$GC,6152,-1.24,-121.7,759.3,-11.8,648,6157,0.15,2.25,0.00,0.000,4,0.083,0.029,2135,1040,3975
$GC,6219,-1.12,-121.7,769.3,-15.1,651,6224,0.20,2.30,0.00,0.000,6,0.179,0.038,2183,2553,3974
$GC,6545,-1.12,-121.7,811.4,-12.4,667,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2552,3972
$GC,6855,-1.12,-121.7,848.2,-11.5,682,6859,0.00,1.88,0.00,0.000,4,0.000,0.055,2179,3756,3970
$GC,6946,-1.12,-121.7,858.9,-11.1,686,6950,0.00,1.73,0.00,0.000,6,0.000,0.031,2179,2578,3969
$GC,7279,-1.12,-121.7,896.6,-11.2,702,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2577,3968
$GC,7588,-1.12,-121.7,931.2,-11.0,717,7592,0.00,1.88,0.00,0.000,4,0.000,0.056,2179,3760,3966
$GC,7638,-1.12,-121.7,937.2,-11.6,719,7642,0.00,1.75,0.00,0.000,6,0.000,0.031,2179,2572,3965
$GC,7965,-1.12,-121.7,974.7,-11.6,735,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2572,3963
$STATE,8107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8107,begin apogee
$GC,8113,-0.22,0.0,991.7,11.8,742,8212,0.98,0.00,88.60,1.421,6,0.161,0.000,2466,2572,3531
$STATE,8212,end apogee,CONTROL_FINISHED_OK
$STATE,8212,begin climb
$GC,8215,1.18,121.7,996.1,0.0,747,8323,1.27,2.08,101.93,1.377,4,0.061,0.051,2926,3754,3034
$GC,8576,0.40,121.7,967.4,14.6,763,8581,1.00,1.85,0.00,0.000,6,0.218,0.028,2681,2515,3030
$GC,8898,0.63,205.3,945.6,6.5,779,8969,0.20,0.00,67.68,1.355,6,0.078,0.000,2755,2514,2694
$GC,9266,0.63,205.3,902.0,12.0,797,9270,0.00,2.10,0.00,0.000,4,0.000,0.034,2759,1123,2688
$GC,9304,0.63,205.3,897.3,12.5,798,9312,0.00,2.12,0.00,0.000,6,0.000,0.038,2759,2494,2689
$GC,9621,0.64,208.2,859.6,11.8,814,9624,0.00,2.00,0.00,0.000,4,0.000,0.055,2759,3762,2687
$GC,9671,0.51,208.2,852.8,13.9,816,9675,0.20,1.85,0.00,0.000,6,0.190,0.028,2710,2512,2687
$GC,9998,0.71,243.9,820.6,9.6,832,10038,0.17,2.10,31.02,1.288,4,0.077,0.054,2776,3756,2536
$GC,10077,0.59,243.9,809.7,15.8,835,10084,0.20,1.90,0.00,0.000,6,0.184,0.028,2735,2497,2534
$GC,10394,0.76,259.4,774.5,11.0,851,10416,0.15,2.12,13.30,1.196,4,0.081,0.034,2799,1125,2473
$GC,10517,0.76,259.4,757.6,13.7,856,10520,0.00,2.15,0.00,0.000,6,0.000,0.038,2799,2500,2471
$GC,10838,0.71,259.4,712.8,14.3,872,10842,0.00,2.10,0.00,0.000,4,0.000,0.033,2799,1116,2470
$GC,10928,0.71,259.4,700.1,13.7,876,10932,0.00,2.12,0.00,0.000,6,0.000,0.037,2799,2493,2469
$GC,11260,0.71,259.4,651.7,14.3,892,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2493,2469
$GC,11570,0.71,259.4,612.2,12.4,907,11574,0.00,2.08,0.00,0.000,4,0.000,0.034,2799,1117,2468
$GC,11603,0.71,259.4,607.8,13.1,908,11607,0.00,2.08,0.00,0.000,6,0.000,0.037,2799,2474,2467
$GC,11924,0.71,260.3,568.2,11.9,924,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2474,2467
$GC,12234,0.71,260.3,531.0,12.8,939,12237,0.00,2.05,0.00,0.000,4,0.000,0.032,2799,1106,2467
$GC,12369,0.72,270.9,514.9,11.3,945,12384,0.00,2.05,9.75,1.017,6,0.000,0.037,2799,2449,2426
$GC,12709,0.72,270.9,472.6,12.6,971,12713,0.00,2.00,0.00,0.000,4,0.000,0.033,2799,1112,2425
$GC,12811,0.80,270.9,459.7,12.6,980,12814,0.00,2.03,0.00,0.000,6,0.000,0.037,2799,2439,2425
$GC,13143,0.81,279.5,418.8,11.4,1011,13158,0.00,2.10,8.50,0.923,4,0.000,0.051,2800,3757,2392
$GC,13189,0.75,279.5,412.8,13.4,1015,13193,0.00,1.98,0.00,0.000,6,0.000,0.027,2799,2433,2392
$GC,13521,0.83,293.5,376.8,11.1,1046,13539,0.00,0.00,13.15,0.937,6,0.000,0.000,2799,2431,2334
$GC,13858,0.94,302.9,339.1,11.4,1078,13873,0.15,2.17,8.75,0.855,4,0.079,0.051,2858,3763,2296
$GC,13919,0.73,302.9,330.1,15.8,1083,13924,0.30,1.98,0.00,0.000,6,0.183,0.027,2787,2420,2295
$GC,14248,0.92,326.2,293.7,10.5,1119,14273,0.15,2.03,19.55,0.880,4,0.081,0.033,2844,1107,2202
$GC,14321,0.99,326.5,285.6,12.0,1131,14327,0.00,2.03,0.00,0.000,6,0.000,0.034,2844,2423,2199
$GC,14665,1.10,359.0,243.2,9.9,1192,14700,0.15,2.03,26.85,0.840,4,0.077,0.030,2912,1117,2067
$GC,14954,1.04,359.0,205.8,13.0,1243,14961,0.12,1.98,0.00,0.000,6,0.178,0.034,2882,2413,2062
$GC,15299,1.05,371.8,164.7,11.2,1304,15317,0.00,2.10,10.98,0.715,4,0.000,0.048,2882,3760,2015
$GC,15433,1.05,371.8,148.0,12.8,1327,15439,0.00,1.98,0.00,0.000,6,0.000,0.025,2890,2412,2013
$GC,15777,1.14,371.8,105.4,12.4,1388,15783,0.00,1.90,0.00,0.000,4,0.000,0.029,2899,1101,2013
$GC,15879,1.26,395.2,93.5,10.5,1406,15904,0.15,1.98,19.67,0.675,6,0.083,0.031,2958,2426,1919
$GC,16246,1.28,413.1,47.6,10.8,1470,16265,0.00,2.03,15.02,0.618,4,0.000,0.028,2966,1101,1847
$GC,16311,1.28,413.1,39.3,12.1,1481,16317,0.00,1.98,0.00,0.000,6,0.000,0.031,2966,2417,1846
$STATE,16618,end climb,SURFACE_DEPTH_REACHED
$STATE,16618,begin surface coast
$FINISH,1.7,1.000967
$STATE,16642,end surface coast,CONTROL_FINISHED_OK
$STATE,16642,begin surface
$SM_CCo,16659,7.55,0.529,0,0,1799,425.10
$SM_GC,4.18,0.00,0.00,7.55,0.000,0.000,0.529,141,2423,1799,-7.51,-0.11,425.10
$IRIDIUM_FIX,2444.18,12345.36,220998,212123
$TT8_MAMPS,0.029146
$HUMID,1601
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,41.306
$10V_AH,10.8,23.456
$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,25.225,121.900,434.750,7.550,0.000,24.388,36.682,181.982,8.000,0.000,0.000,15.252,2734.944,10511.623,571.640,2685.385,536.815,0.000,1905.641,0.000,2618.932,0.000,54.423,0.000
$DEVICE_MAMPS,243.906,55.991,1421.251,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.728,1054.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82142,1540
$CAP_FILE_SIZE,165501,0
$CFSIZE,260165632,206884864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,212.1,1
$GPS,290609,070507,2457.171,12340.963,31,1.2,32,-3.7