version: 66.04
glider: 167
mission: 2
dive: 19
start: 5 24 109 0 2 24
data:
$ID,167
$MISSION,2
$DIVE,19
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4227.832
$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,24
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$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
$GPS1,235531,2538.778,12251.925,42,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.5
$GPS2,000202,2538.870,12251.882,15,1.2,15,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$TGT_RADIUS,2000.000
$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,140.2,62110,-15.7,-10.000
$D_GRID,737
$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,-0.89,-194.7,0.0,0.0,0,59,0.00,0.00,-42.42,0.000,2,0.000,0.000,147,2281,2892
$GC,62,-0.89,-194.7,3.3,-3.4,5,107,9.05,2.03,-27.95,0.000,4,0.268,0.046,2250,907,3988
$GC,242,-0.10,-194.7,50.0,-30.5,33,251,0.88,2.15,0.00,0.000,6,0.191,0.036,2507,2312,3989
$GC,600,-0.82,-194.7,84.2,-8.6,94,610,0.60,2.17,0.00,0.000,4,0.085,0.049,2284,3717,3993
$GC,682,-0.47,-194.7,92.7,-11.9,107,692,0.32,2.08,0.00,0.000,6,0.154,0.027,2388,2285,3993
$GC,1039,-0.60,-194.7,116.3,-8.8,168,1048,0.12,2.22,0.00,0.000,4,0.077,0.048,2331,3713,3994
$GC,1114,-0.50,-194.7,124.8,-12.2,180,1124,0.15,1.98,0.00,0.000,6,0.147,0.026,2379,2345,3995
$GC,1473,-0.69,-194.7,151.6,-4.7,241,1482,0.17,2.12,0.00,0.000,4,0.067,0.048,2298,3711,3996
$GC,1606,-0.50,-194.7,163.8,-10.6,263,1616,0.25,1.92,0.00,0.000,6,0.146,0.028,2380,2374,3996
$GC,1965,-0.72,-194.7,181.2,-5.7,324,1974,0.17,2.08,0.00,0.000,4,0.069,0.048,2299,3709,3997
$GC,1989,-0.79,-194.7,183.2,-7.1,327,1999,0.00,1.92,0.00,0.000,6,0.000,0.028,2299,2367,3997
$GC,2340,-0.70,-194.7,222.0,-10.1,388,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2366,3997
$GC,2688,-0.64,-194.7,250.8,-8.5,449,2695,0.15,2.08,0.00,0.000,4,0.158,0.050,2340,3716,3997
$GC,2760,-0.81,-194.7,255.7,-6.0,461,2766,0.15,1.90,0.00,0.000,6,0.074,0.030,2277,2382,3997
$GC,3104,-0.70,-194.7,286.3,-8.5,522,3113,0.15,2.08,0.00,0.000,4,0.162,0.051,2316,3711,3997
$GC,3150,-0.78,-194.7,289.3,-6.1,529,3156,0.00,1.88,0.00,0.000,6,0.000,0.030,2316,2394,3997
$GC,3486,-0.86,-194.7,315.2,-7.8,573,3490,0.15,2.12,0.00,0.000,4,0.079,0.032,2251,918,3997
$GC,3542,-0.70,-194.7,321.3,-11.0,578,3546,0.25,2.20,0.00,0.000,6,0.163,0.036,2320,2395,3997
$GC,3867,-0.84,-194.7,354.2,-11.4,608,3872,0.15,2.00,0.00,0.000,4,0.084,0.054,2261,3708,3996
$GC,4024,-0.72,-194.7,375.8,-14.2,622,4028,0.17,1.83,0.00,0.000,6,0.160,0.031,2310,2438,3995
$GC,4357,-0.84,-194.7,417.8,-9.8,653,4361,0.10,1.95,0.00,0.000,4,0.094,0.056,2270,3707,3994
$GC,4382,-0.84,-194.7,420.3,-9.7,655,4385,0.00,1.83,0.00,0.000,6,0.000,0.031,2270,2432,3994
$GC,4714,-0.84,-194.7,449.1,-7.4,686,4717,0.00,2.20,0.00,0.000,4,0.000,0.035,2270,925,3993
$GC,4761,-0.84,-194.7,452.6,-6.8,690,4765,0.00,2.25,0.00,0.000,6,0.000,0.038,2264,2425,3993
$GC,5088,-0.75,-194.7,483.0,-9.0,720,5092,0.12,1.98,0.00,0.000,4,0.179,0.055,2296,3711,3991
$GC,5126,-0.83,-194.7,485.9,-5.8,723,5133,0.00,1.85,0.00,0.000,6,0.000,0.032,2296,2430,3991
$GC,5451,-0.91,-194.7,496.3,-6.0,754,5455,0.12,2.00,0.00,0.000,4,0.088,0.054,2246,3718,3989
$GC,5490,-0.77,-194.7,499.4,-9.4,757,5495,0.17,1.85,0.00,0.000,6,0.170,0.033,2294,2439,3988
$GC,5815,-0.84,-194.7,524.7,-6.7,773,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2439,3986
$GC,6121,-0.92,-194.7,539.0,-3.4,788,6123,0.12,0.00,0.00,0.000,6,0.091,0.000,2246,2439,3984
$GC,6432,-0.82,-194.7,565.8,-10.9,803,6436,0.12,2.00,0.00,0.000,4,0.183,0.059,2275,3711,3982
$GC,6459,-0.82,-194.7,568.2,-7.4,804,6463,0.00,1.85,0.00,0.000,6,0.000,0.034,2275,2464,3982
$GC,6787,-0.82,-194.7,595.6,-9.8,820,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2463,3980
$GC,7098,-0.82,-194.7,622.9,-8.2,835,7101,0.00,1.95,0.00,0.000,4,0.000,0.061,2275,3707,3979
$GC,7146,-0.82,-194.7,627.0,-8.8,837,7150,0.00,1.85,0.00,0.000,6,0.000,0.035,2275,2466,3978
$GC,7482,-0.82,-194.7,654.0,-8.1,853,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2465,3977
$GC,7788,-0.82,-194.7,684.3,-10.3,868,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2465,3975
$STATE,7973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7974,begin apogee
$GC,7979,-0.21,0.0,702.7,9.8,877,8073,0.65,0.00,87.62,1.335,6,0.153,0.000,2477,2465,3531
$STATE,8074,end apogee,CONTROL_FINISHED_OK
$STATE,8074,begin climb
$GC,8077,0.89,194.7,707.9,0.0,882,8245,1.02,2.38,159.73,1.392,4,0.067,0.038,2846,1022,2738
$GC,8312,0.35,194.7,698.5,15.0,893,8317,0.70,2.20,0.00,0.000,6,0.195,0.042,2662,2398,2734
$GC,8629,0.42,254.4,673.3,7.9,908,8682,0.00,2.25,48.08,1.325,4,0.000,0.059,2662,3757,2496
$GC,8716,0.42,254.4,665.3,11.1,912,8719,0.00,2.08,0.00,0.000,6,0.000,0.032,2664,2430,2493
$GC,9045,0.58,341.4,639.6,7.0,928,9125,0.17,2.38,72.25,1.340,4,0.085,0.041,2736,988,2138
$GC,9147,0.59,348.0,629.2,9.8,932,9160,0.00,2.30,6.55,0.882,6,0.000,0.039,2736,2401,2113
$GC,9492,0.50,348.0,592.4,12.4,949,9496,0.12,2.17,0.00,0.000,4,0.165,0.059,2705,3765,2106
$GC,9547,0.50,348.0,584.5,12.6,951,9554,0.00,2.08,0.00,0.000,6,0.000,0.033,2704,2394,2105
$GC,9865,0.51,362.3,552.3,9.5,967,9887,0.00,2.28,11.70,1.082,4,0.000,0.058,2705,3766,2055
$GC,9912,0.51,362.3,547.1,11.8,969,9916,0.00,2.08,0.00,0.000,6,0.000,0.035,2705,2404,2053
$GC,10249,0.56,362.3,510.2,11.0,985,10252,0.00,2.15,0.00,0.000,4,0.000,0.058,2705,3758,2051
$GC,10332,0.56,362.3,498.1,14.7,988,10340,0.00,2.03,0.00,0.000,6,0.000,0.033,2706,2427,2050
$GC,10659,0.61,362.3,457.9,11.7,1019,10664,0.10,2.10,0.00,0.000,4,0.098,0.057,2744,3764,2050
$GC,10686,0.55,362.3,454.6,13.3,1021,10690,0.00,2.00,0.00,0.000,6,0.000,0.034,2750,2430,2049
$GC,11018,0.46,362.3,404.4,15.9,1052,11023,0.17,2.15,0.00,0.000,4,0.177,0.039,2705,984,2048
$GC,11047,0.55,362.3,400.2,12.8,1054,11051,0.00,2.25,0.00,0.000,6,0.000,0.041,2705,2458,2049
$GC,11372,0.62,362.3,361.5,11.0,1084,11376,0.12,2.03,0.00,0.000,4,0.092,0.059,2754,3764,2048
$GC,11433,0.49,362.3,352.8,16.9,1089,11437,0.20,1.95,0.00,0.000,6,0.178,0.034,2705,2448,2048
$GC,11763,0.67,419.1,320.2,8.0,1120,11814,0.17,2.33,44.78,1.000,4,0.085,0.041,2775,982,1822
$GC,11904,0.67,419.1,302.4,14.1,1132,11908,0.00,2.25,0.00,0.000,6,0.000,0.038,2775,2434,1819
$GC,12244,0.59,419.1,251.8,14.6,1190,12252,0.15,2.10,0.00,0.000,4,0.179,0.055,2743,3759,1813
$GC,12380,0.59,419.1,231.6,14.4,1214,12388,0.00,2.03,0.00,0.000,6,0.000,0.033,2737,2431,1813
$GC,12726,0.69,419.1,194.4,10.6,1275,12736,0.00,2.12,0.00,0.000,4,0.000,0.055,2737,3761,1812
$GC,12843,0.75,419.1,181.8,10.3,1294,12849,0.10,1.98,0.00,0.000,6,0.072,0.032,2786,2443,1812
$GC,13198,0.75,419.1,134.8,13.9,1355,13207,0.00,2.10,0.00,0.000,4,0.000,0.056,2786,3761,1812
$GC,13262,0.67,419.1,125.2,15.0,1365,13270,0.00,1.92,0.00,0.000,6,0.000,0.032,2789,2473,1813
$GC,13616,0.67,419.1,83.0,10.6,1426,13625,0.12,2.22,0.00,0.000,4,0.168,0.036,2762,978,1813
$GC,13773,0.98,475.3,69.8,8.1,1452,13823,0.22,2.25,42.53,0.739,6,0.058,0.036,2880,2460,1596
$GC,14171,0.98,475.3,8.6,13.3,1518,14179,0.00,2.25,0.00,0.000,4,0.000,0.034,2885,977,1588
$STATE,14220,end climb,SURFACE_DEPTH_REACHED
$STATE,14220,begin surface coast
$FINISH,1.2,1.009308
$STATE,14252,end surface coast,CONTROL_FINISHED_OK
$STATE,14252,begin surface
$SM_CCo,14331,0.00,0.000,0,0,1583,478.09
$SM_GC,1.92,7.28,0.00,0.00,0.054,0.000,0.000,146,2323,1583,-7.49,0.42,478.09
$IRIDIUM_FIX,2529.44,12253.02,170898,191947
$TT8_MAMPS,0.031447
$HUMID,1546
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,27.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.8,51.4
$24V_AH,23.9,7.204
$10V_AH,10.7,5.203
$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,25.000,124.725,473.225,0.000,0.000,29.808,34.946,194.422,5.750,0.000,0.000,16.068,2683.217,5673.084,541.475,5219.367,593.476,0.000,1909.700,0.000,5229.216,0.000,43.177,0.000
$DEVICE_MAMPS,267.683,60.593,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.740,1098.610,4058.972,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82072,1531
$CAP_FILE_SIZE,195858,0
$CFSIZE,260165632,223625216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,254.3,1
$GPS,240509,040231,2537.276,12253.170,42,1.0,42,-3.8