version: 66.04
glider: 167
mission: 2
dive: 20
start: 5 24 109 4 9 12
data:
$ID,167
$MISSION,2
$DIVE,20
$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,-4240.7075
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,040231,2537.276,12253.170,42,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-64.0
$GPS2,040850,2537.303,12253.076,12,1.4,12,-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,131.5,58709,-15.7,-10.000
$D_GRID,771
$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,-0.89,-194.7,0.0,0.0,0,67,0.00,0.00,-50.50,0.000,2,0.000,0.000,146,2323,2882
$GC,70,-0.89,-194.7,3.3,-3.6,6,114,9.07,2.12,-28.50,0.000,4,0.268,0.045,2251,883,3988
$GC,232,-0.13,-194.7,42.7,-31.7,31,241,0.85,2.17,0.00,0.000,6,0.189,0.035,2490,2304,3990
$GC,590,-0.90,-194.7,73.6,-9.4,92,599,0.65,2.17,0.00,0.000,4,0.091,0.048,2255,3711,3992
$GC,684,-0.34,-194.7,88.6,-20.2,107,691,0.52,2.08,0.00,0.000,6,0.166,0.026,2430,2275,3991
$GC,1039,-0.87,-194.7,109.8,-4.4,168,1048,0.43,2.22,0.00,0.000,4,0.066,0.047,2260,3707,3992
$GC,1179,-0.32,-194.7,133.1,-20.9,191,1186,0.52,1.92,0.00,0.000,6,0.163,0.027,2437,2373,3993
$GC,1537,-1.04,-194.7,154.9,-6.8,252,1546,0.62,2.08,0.00,0.000,4,0.094,0.048,2210,3713,3993
$GC,1659,-0.38,-194.7,174.6,-19.7,272,1668,0.62,1.88,0.00,0.000,6,0.167,0.027,2405,2409,3993
$GC,2019,-0.72,-194.7,200.4,-7.4,333,2027,0.22,2.00,0.00,0.000,4,0.063,0.048,2302,3718,3993
$GC,2095,-0.58,-194.7,210.4,-14.9,346,2104,0.15,1.88,0.00,0.000,6,0.139,0.028,2353,2418,3993
$GC,2444,-0.68,-194.7,241.4,-7.0,407,2450,0.00,2.00,0.00,0.000,4,0.000,0.050,2347,3722,3994
$GC,2550,-0.78,-194.7,249.1,-7.6,425,2558,0.15,1.85,0.00,0.000,6,0.074,0.028,2280,2418,3994
$GC,2899,-0.63,-194.7,295.0,-13.3,486,2907,0.17,0.00,0.00,0.000,6,0.157,0.000,2335,2419,3993
$GC,3237,-0.75,-194.7,324.7,-7.9,521,3242,0.10,1.98,0.00,0.000,4,0.091,0.051,2289,3711,3994
$GC,3286,-0.69,-194.7,329.4,-10.3,525,3290,0.12,1.80,0.00,0.000,6,0.159,0.029,2322,2446,3994
$GC,3617,-0.75,-194.7,361.9,-9.2,556,3621,0.00,1.95,0.00,0.000,4,0.000,0.051,2318,3723,3994
$GC,3699,-0.81,-194.7,369.2,-9.7,563,3703,0.10,1.80,0.00,0.000,6,0.091,0.029,2274,2454,3994
$GC,4030,-0.70,-194.7,407.9,-11.2,594,4032,0.15,0.00,0.00,0.000,6,0.160,0.000,2315,2453,3993
$GC,4348,-0.81,-194.7,438.4,-8.9,624,4351,0.00,2.20,0.00,0.000,4,0.000,0.033,2315,941,3993
$GC,4452,-0.95,-194.7,447.1,-8.2,633,4457,0.22,2.25,0.00,0.000,6,0.069,0.036,2223,2446,3992
$GC,4779,-0.70,-194.7,487.2,-11.5,663,4784,0.30,2.22,0.00,0.000,4,0.167,0.032,2315,928,3991
$GC,4832,-0.85,-194.7,491.2,-6.3,667,4837,0.15,2.22,0.00,0.000,6,0.083,0.036,2255,2422,3989
$GC,5162,-0.75,-194.7,519.1,-9.3,688,5164,0.17,0.00,0.00,0.000,6,0.160,0.000,2304,2422,3990
$GC,5475,-0.86,-194.7,539.4,-6.8,703,5477,0.12,0.00,0.00,0.000,6,0.086,0.000,2258,2424,3987
$GC,5781,-0.78,-194.7,566.8,-9.0,718,5785,0.12,1.98,0.00,0.000,4,0.169,0.058,2289,3707,3986
$GC,5831,-0.84,-194.7,571.0,-7.7,720,5834,0.00,1.85,0.00,0.000,6,0.000,0.032,2289,2428,3990
$GC,6159,-0.90,-194.7,594.8,-7.5,736,6164,0.10,2.00,0.00,0.000,4,0.095,0.058,2247,3710,3981
$GC,6198,-0.78,-194.7,598.5,-10.0,737,6206,0.17,1.85,0.00,0.000,6,0.168,0.034,2294,2436,3982
$GC,6518,-0.86,-194.7,621.9,-7.6,753,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2433,3980
$GC,6823,-0.95,-194.7,648.2,-8.2,768,6827,0.17,2.00,0.00,0.000,4,0.083,0.059,2224,3716,3978
$GC,6918,-0.75,-194.7,659.0,-11.2,772,6922,0.28,1.85,0.00,0.000,6,0.169,0.035,2303,2447,3977
$GC,7247,-0.88,-194.7,679.6,-5.6,788,7252,0.12,2.22,0.00,0.000,4,0.091,0.037,2257,934,3975
$GC,7273,-0.88,-194.7,681.6,-7.2,789,7277,0.00,2.25,0.00,0.000,6,0.000,0.041,2254,2425,3975
$GC,7599,-0.81,-194.7,708.6,-8.4,805,7604,0.12,1.98,0.00,0.000,4,0.188,0.059,2279,3706,3973
$GC,7662,-0.81,-194.7,713.8,-7.3,807,7668,0.00,1.83,0.00,0.000,6,0.000,0.035,2279,2455,3972
$GC,7980,-0.81,-194.7,738.4,-8.4,823,7984,0.00,1.98,0.00,0.000,4,0.000,0.059,2278,3718,3971
$GC,8013,-0.81,-194.7,741.4,-8.9,824,8017,0.00,1.88,0.00,0.000,6,0.000,0.035,2284,2460,3971
$GC,8334,-0.81,-194.7,768.5,-8.2,840,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2460,3969
$STATE,8375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8375,begin apogee
$GC,8380,-0.21,0.0,771.5,7.6,842,8470,0.62,0.00,86.85,1.382,6,0.156,0.000,2470,2461,3534
$STATE,8471,end apogee,CONTROL_FINISHED_OK
$STATE,8471,begin climb
$GC,8473,0.89,194.7,773.9,0.0,846,8641,1.00,2.35,156.27,1.276,4,0.063,0.038,2839,1026,2737
$GC,8879,0.37,194.7,730.6,17.3,864,8884,0.62,2.12,0.00,0.000,6,0.196,0.041,2671,2395,2732
$GC,9207,0.31,194.7,695.3,10.4,880,9211,0.00,2.15,0.00,0.000,4,0.000,0.058,2671,3758,2730
$GC,9329,0.16,194.7,680.6,11.5,885,9334,0.28,1.98,0.00,0.000,6,0.171,0.035,2600,2435,2730
$GC,9647,0.44,257.1,656.5,7.8,900,9699,0.25,0.00,49.55,1.287,6,0.075,0.000,2693,2433,2484
$GC,9998,0.44,257.1,612.4,13.3,917,10001,0.00,2.12,0.00,0.000,4,0.000,0.060,2693,3758,2477
$GC,10053,0.31,257.1,603.6,14.7,919,10058,0.17,2.05,0.00,0.000,6,0.179,0.035,2649,2409,2477
$GC,10379,0.42,257.1,568.6,10.7,935,10382,0.00,2.15,0.00,0.000,4,0.000,0.058,2649,3760,2475
$GC,10426,0.42,257.1,562.8,12.7,937,10430,0.00,2.05,0.00,0.000,6,0.000,0.036,2650,2410,2475
$GC,10763,0.62,329.5,534.1,7.5,953,10827,0.28,2.25,58.35,1.259,4,0.077,0.041,2755,980,2187
$GC,10849,0.51,329.5,522.0,14.9,957,10854,0.20,2.28,0.00,0.000,6,0.174,0.039,2708,2418,2185
$GC,11175,0.51,329.5,478.0,13.3,980,11179,0.00,2.12,0.00,0.000,4,0.000,0.058,2708,3761,2179
$GC,11258,0.46,329.5,465.9,14.5,987,11264,0.00,2.03,0.00,0.000,6,0.000,0.035,2709,2426,2179
$GC,11585,0.46,329.5,426.7,13.2,1018,11588,0.00,2.12,0.00,0.000,4,0.000,0.059,2708,3758,2177
$GC,11623,0.46,329.5,420.9,14.9,1021,11630,0.00,2.00,0.00,0.000,6,0.000,0.034,2708,2447,2176
$GC,11948,0.48,348.8,384.2,9.3,1052,11968,0.00,0.00,14.43,1.036,6,0.000,0.000,2708,2446,2111
$GC,12288,0.57,348.8,354.5,11.2,1084,12291,0.00,2.20,0.00,0.000,4,0.000,0.041,2708,985,2107
$GC,12371,0.72,348.8,344.7,11.3,1091,12377,0.20,2.25,0.00,0.000,6,0.077,0.039,2781,2455,2106
$GC,12698,0.57,348.8,292.2,16.1,1126,12707,0.17,2.25,0.00,0.000,4,0.174,0.037,2745,981,2106
$GC,12758,0.65,348.8,284.3,11.4,1136,12767,0.00,2.22,0.00,0.000,6,0.000,0.037,2744,2433,2105
$GC,13105,0.68,370.5,246.7,9.3,1197,13134,0.00,2.12,17.92,0.904,4,0.000,0.056,2744,3754,2019
$GC,13159,0.69,378.3,241.6,9.7,1205,13175,0.00,2.03,7.50,0.794,6,0.000,0.031,2745,2400,1990
$GC,13514,0.77,378.3,208.4,11.3,1267,13521,0.15,2.15,0.00,0.000,4,0.081,0.053,2805,3767,1986
$GC,13552,0.56,378.3,202.5,17.6,1273,13560,0.30,2.00,0.00,0.000,6,0.172,0.030,2730,2412,1987
$GC,13909,0.76,406.9,170.9,9.0,1334,13944,0.17,2.17,23.65,0.808,4,0.072,0.037,2811,988,1872
$GC,13976,0.76,406.9,161.9,14.3,1343,13984,0.00,2.20,0.00,0.000,6,0.000,0.035,2811,2412,1871
$GC,14331,0.71,406.9,108.3,12.0,1404,14340,0.15,2.10,0.00,0.000,4,0.163,0.052,2772,3755,1869
$GC,14487,0.77,406.9,91.2,11.1,1430,14495,0.00,1.98,0.00,0.000,6,0.000,0.029,2772,2429,1869
$GC,14844,0.97,420.5,55.8,9.5,1491,14862,0.17,2.12,11.60,0.653,4,0.074,0.051,2853,3759,1817
$GC,15050,0.85,420.5,25.9,13.8,1525,15058,0.12,1.98,0.00,0.000,6,0.163,0.028,2823,2422,1816
$STATE,15306,end climb,SURFACE_DEPTH_REACHED
$STATE,15306,begin surface coast
$FINISH,1.1,1.020267
$STATE,15371,end surface coast,CONTROL_FINISHED_OK
$STATE,15371,begin surface
$SM_CCo,15388,1.92,0.073,0,0,1799,425.60
$SM_GC,2.98,0.00,0.00,1.92,0.000,0.000,0.073,146,2292,1799,-7.50,-0.42,425.60
$IRIDIUM_FIX,2529.44,12253.02,180898,000021
$TT8_MAMPS,0.032214
$HUMID,1523
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,28.80
$XPDR_PINGS,0
$24V_AH,24.0,7.365
$10V_AH,10.7,5.453
$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,28.650,124.125,426.125,1.925,0.000,28.932,33.606,185.390,5.750,0.000,0.000,12.248,2788.226,6420.697,512.700,5436.113,604.158,0.000,1928.223,0.000,5449.726,0.000,39.411,0.000
$DEVICE_MAMPS,268.450,59.826,1382.134,72.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.185,1133.424,4182.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85191,1580
$CAP_FILE_SIZE,207139,0
$CFSIZE,260165632,223526912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,308.3,1
$GPS,240509,082700,2536.017,12254.369,41,1.0,42,-3.8