version: 66.04
glider: 167
mission: 2
dive: 238
start: 6 30 109 2 3 48
data:
$ID,167
$MISSION,2
$DIVE,238
$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,-9802.2344
$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,49
$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
$GPS1,015627,2504.617,12339.785,32,2.2,52,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.5
$GPS2,020328,2504.705,12339.858,11,2.4,30,-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,320.8,80080,-23.2,-12.000
$D_GRID,2079
$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,-121.7,0.0,0.0,0,38,0.00,0.00,-21.45,0.000,2,0.000,0.000,143,2398,2201
$GC,41,-1.18,-121.7,3.0,-1.9,3,116,8.27,2.03,-59.25,0.000,4,0.239,0.040,2163,1008,3986
$GC,251,-0.60,-121.7,47.4,-29.5,39,258,0.68,2.15,0.00,0.000,6,0.179,0.031,2343,2442,3987
$GC,595,-0.78,-121.7,98.5,-13.0,100,602,0.15,2.03,0.00,0.000,4,0.069,0.045,2275,3763,3988
$GC,788,-0.78,-121.7,129.5,-15.3,134,795,0.00,1.92,0.00,0.000,6,0.000,0.023,2275,2388,3989
$GC,1133,-0.85,-121.7,176.6,-11.8,195,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2388,3990
$GC,1476,-0.99,-121.7,215.4,-11.3,256,1482,0.15,2.12,0.00,0.000,4,0.067,0.044,2206,3767,3992
$GC,1736,-0.91,-121.7,251.9,-13.6,302,1743,0.17,1.80,0.00,0.000,6,0.157,0.024,2253,2485,3992
$GC,2081,-1.05,-121.7,289.7,-10.5,363,2087,0.15,1.95,0.00,0.000,4,0.067,0.045,2189,3753,3992
$GC,2111,-1.00,-121.7,293.6,-13.6,368,2118,0.12,1.75,0.00,0.000,6,0.166,0.025,2220,2508,3992
$GC,2446,-1.04,-121.7,330.8,-11.2,404,2450,0.00,2.08,0.00,0.000,4,0.000,0.026,2220,1059,3992
$GC,2537,-1.12,-121.7,340.8,-10.9,412,2542,0.10,2.15,0.00,0.000,6,0.081,0.032,2177,2500,3992
$GC,2863,-1.02,-121.7,385.0,-14.3,442,2867,0.15,1.92,0.00,0.000,4,0.179,0.045,2206,3765,3992
$GC,2930,-1.02,-121.7,394.3,-13.4,448,2934,0.00,1.83,0.00,0.000,6,0.000,0.025,2206,2498,3992
$GC,3261,-1.07,-121.7,435.7,-12.2,479,3265,0.00,1.95,0.00,0.000,4,0.000,0.048,2205,3754,3992
$GC,3340,-1.07,-121.7,445.7,-12.8,486,3344,0.00,1.80,0.00,0.000,6,0.000,0.027,2205,2516,3991
$GC,3671,-1.12,-121.7,484.2,-11.8,517,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2516,3990
$GC,3995,-1.19,-121.7,523.8,-12.0,539,4000,0.12,1.95,0.00,0.000,4,0.079,0.051,2153,3761,3988
$GC,4079,-1.03,-121.7,536.2,-15.2,542,4086,0.22,1.77,0.00,0.000,6,0.169,0.028,2212,2530,3987
$GC,4396,-1.14,-121.7,569.6,-9.5,558,4400,0.00,1.90,0.00,0.000,4,0.000,0.050,2205,3751,3985
$GC,4469,-1.20,-121.7,577.0,-9.5,561,4473,0.15,1.73,0.00,0.000,6,0.075,0.028,2145,2551,3984
$GC,4796,-1.06,-121.7,618.9,-13.0,577,4800,0.17,1.90,0.00,0.000,4,0.174,0.050,2192,3760,3982
$GC,4863,-1.06,-121.7,626.8,-11.1,580,4867,0.00,1.75,0.00,0.000,6,0.000,0.028,2192,2553,3981
$GC,5197,-1.10,-121.7,663.9,-11.5,596,5200,0.00,1.88,0.00,0.000,4,0.000,0.052,2192,3750,3979
$GC,5247,-1.10,-121.7,670.4,-12.2,598,5250,0.00,1.70,0.00,0.000,6,0.000,0.028,2192,2573,3978
$GC,5574,-1.16,-121.7,709.1,-11.9,614,5578,0.00,2.20,0.00,0.000,4,0.000,0.028,2192,1066,3976
$GC,5636,-1.26,-121.7,716.5,-11.3,616,5643,0.15,2.25,0.00,0.000,6,0.079,0.038,2137,2544,3975
$GC,5952,-1.10,-121.7,763.1,-15.8,632,5956,0.20,1.88,0.00,0.000,4,0.190,0.051,2183,3751,3973
$GC,6068,-1.10,-121.7,779.7,-14.1,637,6072,0.00,1.73,0.00,0.000,6,0.000,0.029,2183,2589,3971
$GC,6396,-1.10,-121.7,818.6,-11.6,653,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2589,3969
$GC,6705,-1.10,-121.7,853.0,-10.7,668,6708,0.00,1.85,0.00,0.000,4,0.000,0.054,2178,3758,3967
$GC,6755,-1.10,-121.7,858.7,-11.7,670,6759,0.00,1.73,0.00,0.000,6,0.000,0.031,2179,2582,3967
$GC,7082,-1.10,-121.7,893.6,-10.7,686,7086,0.00,2.22,0.00,0.000,4,0.000,0.030,2178,1077,3965
$GC,7128,-1.16,-121.7,898.7,-11.7,688,7132,0.00,2.28,0.00,0.000,6,0.000,0.040,2179,2545,3965
$GC,7456,-1.16,-121.7,935.0,-11.2,704,7459,0.00,1.90,0.00,0.000,4,0.000,0.055,2178,3759,3963
$GC,7506,-1.16,-121.7,940.9,-11.5,706,7509,0.00,1.73,0.00,0.000,6,0.000,0.030,2178,2587,3963
$GC,7834,-1.16,-121.7,976.7,-11.2,722,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2587,3961
$STATE,7974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7974,begin apogee
$GC,7979,-0.22,0.0,992.0,10.4,729,8071,0.98,0.00,87.93,1.414,6,0.162,0.000,2465,2587,3532
$STATE,8071,end apogee,CONTROL_FINISHED_OK
$STATE,8072,begin climb
$GC,8074,1.18,121.7,994.5,0.0,733,8187,1.27,2.05,101.90,1.374,4,0.060,0.051,2924,3754,3034
$GC,8235,0.41,121.7,992.3,12.9,741,8240,1.02,1.88,0.00,0.000,6,0.216,0.027,2680,2529,3033
$GC,8562,0.63,201.4,968.3,6.7,757,8630,0.20,0.00,65.00,1.360,6,0.077,0.000,2754,2530,2710
$GC,8931,0.64,205.4,926.5,11.7,775,8940,0.00,2.17,3.95,0.832,4,0.000,0.032,2759,1114,2694
$GC,8980,0.65,210.2,920.5,11.7,777,8990,0.00,2.15,5.88,1.038,6,0.000,0.037,2759,2493,2675
$GC,9300,0.65,210.2,881.8,12.0,792,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2493,2673
$GC,9610,0.65,210.3,844.4,12.0,807,9614,0.00,2.08,0.00,0.000,4,0.000,0.031,2759,1120,2672
$GC,9733,0.66,225.8,830.3,11.0,812,9752,0.00,2.12,13.90,1.243,6,0.000,0.036,2759,2501,2611
$GC,10075,0.68,240.4,791.0,11.0,829,10096,0.00,0.00,13.25,1.216,6,0.000,0.000,2759,2501,2550
$GC,10404,0.70,252.3,754.4,11.2,845,10419,0.00,2.12,10.55,1.167,4,0.000,0.031,2759,1115,2503
$GC,10475,0.81,252.3,746.1,12.0,847,10480,0.15,2.12,0.00,0.000,6,0.084,0.036,2815,2491,2500
$GC,10797,0.70,252.3,697.3,15.9,863,10801,0.17,2.00,0.00,0.000,4,0.180,0.053,2766,3758,2499
$GC,10824,0.63,252.3,692.9,16.4,864,10827,0.00,1.90,0.00,0.000,6,0.000,0.028,2773,2473,2499
$GC,11150,0.63,252.3,648.1,13.3,880,11154,0.00,2.03,0.00,0.000,4,0.000,0.035,2773,1114,2498
$GC,11376,0.73,252.3,619.1,13.5,890,11380,0.00,2.08,0.00,0.000,6,0.000,0.038,2773,2463,2497
$GC,11710,0.81,277.3,580.6,10.3,906,11733,0.00,0.00,20.92,1.137,6,0.000,0.000,2773,2463,2401
$GC,12041,0.92,290.0,545.1,11.2,922,12060,0.20,0.00,11.85,1.055,6,0.076,0.000,2846,2464,2349
$GC,12370,0.80,290.0,496.5,15.3,939,12374,0.17,2.05,0.00,0.000,4,0.185,0.031,2804,1120,2345
$GC,12437,0.86,290.0,487.2,13.0,945,12441,0.00,2.10,0.00,0.000,6,0.000,0.037,2804,2468,2345
$GC,12771,0.86,290.0,443.2,12.9,976,12775,0.00,2.05,0.00,0.000,4,0.000,0.033,2804,1107,2344
$GC,12912,0.97,303.0,426.5,11.1,988,12931,0.15,2.03,11.55,0.969,6,0.077,0.037,2863,2432,2295
$GC,13247,0.85,303.0,380.5,14.1,1020,13252,0.17,2.10,0.00,0.000,4,0.183,0.053,2819,3764,2293
$GC,13313,0.76,303.0,370.7,14.8,1025,13321,0.15,1.98,0.00,0.000,6,0.186,0.027,2790,2420,2293
$GC,13639,0.91,320.4,335.4,10.8,1056,13662,0.15,1.95,14.90,0.913,4,0.081,0.031,2854,1107,2224
$GC,13770,0.91,320.4,317.7,14.0,1067,13776,0.00,2.00,0.00,0.000,6,0.000,0.036,2854,2412,2222
$GC,14107,0.91,320.4,269.0,14.4,1117,14113,0.00,1.95,0.00,0.000,4,0.000,0.031,2859,1106,2222
$GC,14221,0.91,320.4,252.5,14.8,1137,14228,0.00,1.98,0.00,0.000,6,0.000,0.035,2859,2409,2221
$GC,14566,0.91,320.4,206.2,14.0,1198,14572,0.00,1.92,0.00,0.000,4,0.000,0.029,2866,1106,2222
$GC,14618,0.91,320.4,199.5,12.4,1207,14624,0.00,1.95,0.00,0.000,6,0.000,0.034,2866,2400,2222
$GC,14962,0.94,339.4,160.4,10.7,1268,14987,0.00,1.95,16.25,0.760,4,0.000,0.030,2868,1117,2146
$GC,15114,1.10,365.1,145.7,10.3,1294,15143,0.00,1.95,21.45,0.749,6,0.000,0.031,2868,2416,2042
$GC,15483,1.31,405.7,107.6,9.3,1359,15525,0.25,2.00,32.10,0.714,4,0.067,0.028,2981,1114,1875
$GC,15711,1.22,405.7,75.5,13.4,1399,15718,0.17,1.95,0.00,0.000,6,0.186,0.031,2940,2411,1872
$GC,16055,1.34,429.6,37.3,10.4,1460,16080,0.12,2.00,18.98,0.627,4,0.074,0.028,2998,1104,1779
$GC,16166,1.34,429.6,23.2,12.5,1479,16171,0.00,1.92,0.00,0.000,6,0.000,0.031,2998,2385,1777
$STATE,16310,end climb,SURFACE_DEPTH_REACHED
$STATE,16310,begin surface coast
$FINISH,1.7,1.010656
$STATE,16333,end surface coast,CONTROL_FINISHED_OK
$STATE,16334,begin surface
$SM_CCo,16411,0.00,0.000,0,0,1774,430.99
$SM_GC,2.71,7.75,0.00,0.00,0.061,0.000,0.000,142,2393,1774,-7.49,-0.99,430.99
$IRIDIUM_FIX,2453.69,12334.15,230998,212137
$TT8_MAMPS,0.028379
$HUMID,1583
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.6,42.153
$10V_AH,10.8,23.917
$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,24.075,122.325,450.350,0.000,0.000,28.514,38.214,197.196,8.000,0.000,0.000,31.300,2656.965,10361.576,589.142,2649.027,562.851,0.000,1905.107,0.000,2568.044,0.000,54.422,0.000
$DEVICE_MAMPS,238.537,55.224,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.204,1045.076,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82208,1509
$CAP_FILE_SIZE,163340,0
$CFSIZE,260165632,206458880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,150.2,1
$GPS,300609,063831,2505.975,12339.027,37,1.7,38,-3.7