version: 66.04
glider: 167
mission: 2
dive: 234
start: 6 29 109 7 12 13
data:
$ID,167
$MISSION,2
$DIVE,234
$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,-9707.1455
$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,70
$R_STBD_OVSHOOT,33
$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
$GPS1,070507,2457.171,12340.963,31,1.2,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.9
$GPS2,071152,2457.280,12341.000,12,2.1,31,-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,342.1,92909,-23.2,-12.000
$D_GRID,2038
$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,-24.08,0.000,2,0.000,0.000,141,2423,2417
$GC,44,-1.18,-121.7,3.3,-3.3,4,110,8.25,2.10,-47.17,0.000,4,0.239,0.040,2158,1030,3990
$GC,262,-0.61,-121.7,57.5,-30.2,42,270,0.70,2.12,0.00,0.000,6,0.179,0.031,2346,2448,3990
$GC,608,-0.83,-121.7,106.7,-12.7,103,615,0.17,2.00,0.00,0.000,4,0.066,0.046,2261,3755,3992
$GC,705,-0.75,-121.7,124.7,-17.6,120,712,0.15,1.90,0.00,0.000,6,0.159,0.023,2301,2409,3993
$GC,1050,-0.91,-121.7,166.1,-10.8,181,1057,0.15,2.08,0.00,0.000,4,0.071,0.044,2233,3755,3994
$GC,1194,-0.77,-121.7,190.0,-17.8,206,1202,0.22,1.83,0.00,0.000,6,0.163,0.024,2296,2461,3994
$GC,1544,-0.96,-121.7,231.4,-9.9,267,1550,0.17,2.03,0.00,0.000,4,0.066,0.025,2221,1043,3996
$GC,1607,-0.96,-121.7,239.6,-12.9,278,1614,0.00,2.10,0.00,0.000,6,0.000,0.031,2217,2458,3995
$GC,1951,-0.96,-121.7,284.9,-13.3,339,1957,0.00,2.05,0.00,0.000,4,0.000,0.025,2217,1034,3996
$GC,1998,-0.96,-121.7,291.2,-12.9,347,2004,0.00,2.12,0.00,0.000,6,0.000,0.031,2213,2471,3996
$GC,2331,-0.96,-121.7,334.7,-12.8,384,2335,0.00,1.98,0.00,0.000,4,0.000,0.046,2205,3753,3997
$GC,2527,-0.91,-121.7,361.0,-13.1,401,2534,0.15,1.80,0.00,0.000,6,0.156,0.025,2245,2486,3997
$GC,2853,-1.07,-121.7,394.2,-10.6,432,2857,0.15,1.98,0.00,0.000,4,0.071,0.047,2179,3763,3997
$GC,2994,-0.95,-121.7,413.8,-15.5,444,3001,0.22,1.77,0.00,0.000,6,0.160,0.027,2241,2516,3996
$GC,3321,-1.11,-121.7,451.0,-10.9,475,3323,0.15,0.00,0.00,0.000,6,0.071,0.000,2178,2516,3996
$GC,3639,-1.06,-121.7,492.9,-13.3,505,3643,0.00,1.92,0.00,0.000,4,0.000,0.048,2172,3761,3995
$GC,3712,-0.94,-121.7,503.5,-14.3,511,3717,0.25,1.80,0.00,0.000,6,0.160,0.027,2241,2506,3995
$GC,4040,-1.14,-121.7,533.5,-8.7,527,4044,0.17,1.95,0.00,0.000,4,0.068,0.050,2166,3754,3993
$GC,4086,-1.02,-121.7,538.9,-12.4,529,4090,0.17,1.77,0.00,0.000,6,0.167,0.028,2211,2523,3993
$GC,4421,-1.12,-121.7,573.5,-10.3,545,4424,0.00,1.92,0.00,0.000,4,0.000,0.050,2205,3757,3991
$GC,4467,-1.18,-121.7,578.8,-11.2,547,4471,0.08,1.83,0.00,0.000,6,0.070,0.027,2163,2513,3991
$GC,4800,-1.10,-121.7,624.9,-14.6,563,4805,0.00,2.12,0.00,0.000,4,0.000,0.028,2163,1046,3989
$GC,4815,-1.02,-121.7,627.5,-14.4,563,4822,0.20,2.20,0.00,0.000,6,0.166,0.036,2216,2500,3989
$GC,5132,-1.16,-121.7,663.6,-10.8,579,5136,0.15,1.95,0.00,0.000,4,0.080,0.051,2153,3761,3986
$GC,5285,-1.02,-121.7,685.3,-13.7,585,5291,0.22,1.80,0.00,0.000,6,0.169,0.028,2212,2519,3984
$GC,5601,-1.16,-121.7,715.0,-8.6,601,5605,0.12,1.95,0.00,0.000,4,0.081,0.051,2163,3756,3982
$GC,5656,-1.06,-121.7,721.7,-12.6,603,5660,0.12,1.80,0.00,0.000,6,0.173,0.028,2199,2543,3981
$GC,5979,-1.15,-121.7,754.7,-10.0,619,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2542,3979
$GC,6287,-1.25,-121.7,786.6,-10.6,634,6289,0.17,0.00,0.00,0.000,6,0.074,0.000,2134,2542,3977
$GC,6596,-1.09,-121.7,830.0,-14.0,649,6598,0.22,0.00,0.00,0.000,6,0.184,0.000,2191,2542,3974
$GC,6905,-1.17,-121.7,863.8,-11.3,664,6909,0.00,1.92,0.00,0.000,4,0.000,0.056,2191,3753,3973
$GC,7012,-1.23,-121.7,876.1,-11.3,668,7018,0.12,1.77,0.00,0.000,6,0.087,0.031,2144,2547,3972
$GC,7328,-1.13,-121.7,920.5,-14.3,684,7329,0.15,0.00,0.00,0.000,6,0.184,0.000,2180,2545,3970
$GC,7637,-1.13,-121.7,960.7,-13.2,699,7640,0.00,1.92,0.00,0.000,4,0.000,0.055,2178,3756,3968
$GC,7720,-1.13,-121.7,972.2,-13.2,702,7727,0.00,1.80,0.00,0.000,6,0.000,0.031,2178,2556,3967
$STATE,7868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7868,begin apogee
$GC,7874,-0.22,0.0,991.3,12.9,710,7974,0.98,0.00,89.30,1.414,6,0.160,0.000,2468,2555,3532
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7974,begin climb
$GC,7977,1.18,121.7,996.6,0.0,715,8085,1.30,2.05,101.90,1.375,4,0.059,0.051,2930,3754,3034
$GC,8310,0.41,121.7,972.5,14.3,730,8316,0.95,1.88,0.00,0.000,6,0.218,0.027,2680,2527,3030
$GC,8626,0.63,205.6,951.8,6.5,745,8696,0.20,0.00,67.82,1.356,6,0.077,0.000,2755,2527,2694
$GC,8995,0.63,205.6,908.1,12.6,763,8999,0.00,2.12,0.00,0.000,4,0.000,0.032,2759,1116,2688
$GC,9028,0.63,205.6,903.8,12.7,764,9032,0.00,2.15,0.00,0.000,6,0.000,0.036,2759,2499,2688
$GC,9350,0.63,205.6,863.2,12.8,780,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2499,2686
$GC,9659,0.63,205.6,825.1,12.1,795,9663,0.00,2.03,0.00,0.000,4,0.000,0.056,2759,3780,2685
$GC,9714,0.51,205.6,817.6,14.2,797,9719,0.20,1.90,0.00,0.000,6,0.189,0.028,2709,2500,2685
$GC,10036,0.73,252.3,788.3,8.9,813,10079,0.20,2.20,36.90,1.282,4,0.074,0.035,2795,1112,2502
$GC,10135,0.73,252.3,775.0,13.6,817,10139,0.00,2.17,0.00,0.000,6,0.000,0.038,2795,2499,2499
$GC,10456,0.68,252.3,727.9,14.3,833,10460,0.12,2.12,0.00,0.000,4,0.189,0.031,2774,1103,2496
$GC,10610,0.75,252.3,707.8,12.3,840,10613,0.00,2.15,0.00,0.000,6,0.000,0.037,2774,2491,2495
$GC,10942,0.75,252.3,661.9,13.9,856,10946,0.00,2.00,0.00,0.000,4,0.000,0.054,2774,3758,2494
$GC,11004,0.68,252.3,652.4,15.2,858,11010,0.00,1.90,0.00,0.000,6,0.000,0.028,2779,2467,2494
$GC,11319,0.68,252.3,610.0,12.2,874,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2467,2493
$GC,11629,0.70,268.9,575.6,10.9,889,11650,0.00,2.05,13.40,1.098,4,0.000,0.034,2788,1128,2434
$GC,11847,0.79,275.4,549.7,11.6,898,11858,0.00,2.12,6.62,0.951,6,0.000,0.038,2788,2504,2409
$GC,12180,0.85,275.4,508.3,12.6,915,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2504,2409
$GC,12495,0.92,275.4,470.2,12.2,941,12500,0.15,2.10,0.00,0.000,4,0.081,0.030,2851,1105,2408
$GC,12737,0.85,275.4,435.6,13.2,962,12742,0.12,2.15,0.00,0.000,6,0.182,0.038,2821,2505,2407
$GC,13062,0.85,275.4,393.6,12.4,992,13065,0.00,2.08,0.00,0.000,4,0.000,0.031,2829,1113,2407
$GC,13119,0.85,279.6,386.3,11.7,997,13130,0.00,2.12,4.95,0.759,6,0.000,0.035,2829,2507,2392
$GC,13449,0.80,279.6,342.3,13.6,1028,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2507,2392
$GC,13769,0.83,298.7,302.9,10.7,1058,13788,0.00,0.00,17.02,0.887,6,0.000,0.000,2829,2507,2314
$GC,14124,0.91,329.7,262.9,10.0,1119,14155,0.00,2.17,25.27,0.859,4,0.000,0.031,2829,1120,2186
$GC,14354,1.12,346.7,240.0,10.9,1159,14374,0.22,2.15,14.48,0.808,6,0.071,0.033,2915,2520,2117
$GC,14713,1.00,346.7,186.7,13.3,1222,14720,0.17,2.12,0.00,0.000,4,0.174,0.028,2873,1104,2114
$GC,14783,1.12,382.3,179.4,9.6,1234,14819,0.00,2.17,28.40,0.778,6,0.000,0.033,2872,2534,1972
$GC,15159,1.29,401.1,139.4,10.8,1300,15183,0.20,1.92,15.95,0.710,4,0.074,0.050,2959,3762,1895
$GC,15258,1.07,401.1,123.6,16.4,1317,15264,0.30,1.83,0.00,0.000,6,0.181,0.024,2889,2502,1893
$GC,15603,1.28,413.1,84.7,11.2,1378,15623,0.17,2.05,10.55,0.631,4,0.076,0.028,2972,1130,1847
$GC,15786,1.28,413.1,61.5,13.0,1410,15792,0.00,2.05,0.00,0.000,6,0.000,0.032,2972,2490,1847
$GC,16129,1.30,425.8,15.7,11.2,1471,16148,0.00,2.08,11.50,0.577,4,0.000,0.028,2979,1120,1795
$STATE,16230,end climb,SURFACE_DEPTH_REACHED
$STATE,16231,begin surface coast
$FINISH,1.7,1.007628
$STATE,16258,end surface coast,CONTROL_FINISHED_OK
$STATE,16258,begin surface
$SM_CCo,16337,0.00,0.000,0,0,1791,427.07
$SM_GC,2.68,7.62,0.00,0.00,0.057,0.000,0.000,139,2445,1791,-7.51,0.51,427.07
$IRIDIUM_FIX,2446.56,12342.06,230998,020222
$TT8_MAMPS,0.028379
$HUMID,1559
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.6,41.469
$10V_AH,10.8,23.546
$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,25.600,116.175,444.075,0.000,0.000,24.904,32.160,194.028,8.000,0.000,0.000,33.747,2629.412,10314.799,579.262,2645.944,562.500,0.000,1885.965,0.000,2569.067,0.000,54.436,0.000
$DEVICE_MAMPS,239.304,55.991,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.018,1022.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78874,1493
$CAP_FILE_SIZE,161695,0
$CFSIZE,260165632,206811136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,215.3,1
$GPS,290609,114537,2458.984,12340.388,33,1.0,33,-3.7