version: 66.04
glider: 167
mission: 2
dive: 159
start: 6 14 109 1 19 58
data:
$ID,167
$MISSION,2
$DIVE,159
$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,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,-8083.9712
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,011255,2447.334,12236.930,39,1.8,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-66.9
$GPS2,011936,2447.533,12236.888,14,1.8,30,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,272.3,50694,-18.3,-12.000
$D_GRID,1103
$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,-1.05,-194.7,0.0,0.0,0,47,0.00,0.00,-29.58,0.000,2,0.000,0.000,142,2496,2393
$GC,50,-1.05,-194.7,3.1,-2.3,5,114,8.50,2.03,-50.38,0.000,4,0.248,0.060,2192,3765,3989
$GC,305,-0.26,-194.7,72.5,-32.9,49,312,0.93,1.98,0.00,0.000,6,0.176,0.025,2457,2394,3991
$GC,651,-1.17,-194.7,101.1,-7.1,110,658,0.77,2.12,0.00,0.000,4,0.080,0.048,2172,3760,3992
$GC,829,-0.59,-194.7,134.4,-19.6,141,837,0.62,1.85,0.00,0.000,6,0.166,0.027,2355,2465,3993
$GC,1176,-0.79,-194.7,165.1,-8.3,202,1182,0.17,2.05,0.00,0.000,4,0.065,0.028,2274,1043,3995
$GC,1256,-0.71,-194.7,175.5,-13.8,216,1263,0.15,2.15,0.00,0.000,6,0.152,0.035,2316,2477,3996
$GC,1602,-0.80,-194.7,209.7,-8.1,277,1609,0.00,2.10,0.00,0.000,4,0.000,0.028,2316,1042,3996
$GC,1627,-0.91,-194.7,211.7,-8.2,281,1635,0.17,2.15,0.00,0.000,6,0.068,0.035,2241,2482,3996
$GC,1973,-0.72,-194.7,259.2,-15.6,342,1980,0.20,1.95,0.00,0.000,4,0.160,0.049,2303,3757,3996
$GC,2049,-0.82,-194.7,267.6,-9.0,355,2054,0.00,1.83,0.00,0.000,6,0.000,0.028,2303,2481,3996
$GC,2393,-0.93,-194.7,291.6,-7.6,416,2399,0.17,0.00,0.00,0.000,6,0.071,0.000,2221,2481,3996
$GC,2722,-0.73,-194.7,337.2,-14.7,453,2724,0.30,0.00,0.00,0.000,6,0.159,0.000,2308,2481,3996
$GC,3043,-0.91,-194.7,362.6,-6.3,483,3045,0.17,0.00,0.00,0.000,6,0.071,0.000,2236,2480,3996
$GC,3359,-0.79,-194.7,401.5,-12.3,513,3364,0.17,2.10,0.00,0.000,4,0.163,0.032,2291,1044,3995
$GC,3445,-0.94,-194.7,410.6,-10.6,520,3449,0.12,2.17,0.00,0.000,6,0.081,0.038,2234,2487,3995
$GC,3770,-0.87,-194.7,447.0,-9.6,550,3774,0.12,1.98,0.00,0.000,4,0.167,0.053,2261,3766,3993
$GC,3797,-0.87,-194.7,449.6,-9.1,552,3804,0.00,1.85,0.00,0.000,6,0.000,0.029,2261,2486,3993
$GC,4122,-0.87,-194.7,480.1,-9.9,583,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2485,3992
$GC,4438,-0.92,-194.7,509.7,-9.1,608,4441,0.00,2.00,0.00,0.000,4,0.000,0.055,2261,3755,3990
$GC,4484,-0.98,-194.7,514.0,-9.5,610,4488,0.00,1.85,0.00,0.000,6,0.000,0.031,2261,2488,3989
$GC,4818,-1.04,-194.7,544.5,-9.4,626,4820,0.15,0.00,0.00,0.000,6,0.083,0.000,2202,2488,3987
$GC,5126,-0.86,-194.7,585.8,-14.1,641,5130,0.17,2.12,0.00,0.000,4,0.164,0.031,2256,1041,3986
$GC,5198,-0.92,-194.7,594.4,-10.8,644,5202,0.00,2.20,0.00,0.000,6,0.000,0.041,2256,2484,3985
$GC,5515,-0.97,-194.7,625.7,-9.3,659,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2484,3982
$GC,5824,-1.02,-194.7,654.5,-9.2,674,5826,0.12,0.00,0.00,0.000,6,0.082,0.000,2207,2487,3980
$GC,6132,-0.88,-194.7,691.2,-12.6,689,6137,0.17,2.15,0.00,0.000,4,0.165,0.033,2260,1049,3977
$GC,6160,-0.88,-194.7,694.4,-11.7,690,6164,0.00,2.22,0.00,0.000,6,0.000,0.041,2260,2498,3977
$GC,6489,-0.94,-194.7,725.9,-9.6,706,6493,0.00,1.98,0.00,0.000,4,0.000,0.059,2260,3758,3976
$GC,6517,-1.03,-194.7,728.9,-9.3,707,6521,0.15,1.85,0.00,0.000,6,0.084,0.033,2202,2508,3975
$GC,6844,-0.87,-194.7,770.8,-13.4,723,6848,0.20,2.15,0.00,0.000,4,0.160,0.033,2261,1052,3973
$GC,6963,-0.98,-194.7,783.9,-10.3,728,6967,0.00,2.17,0.00,0.000,6,0.000,0.042,2261,2468,3973
$GC,7279,-1.07,-194.7,813.9,-8.9,743,7281,0.17,0.00,0.00,0.000,6,0.079,0.000,2192,2469,3972
$GC,7591,-0.89,-194.7,850.3,-11.9,758,7595,0.20,2.12,0.00,0.000,4,0.173,0.034,2251,1051,3970
$GC,7710,-0.97,-194.7,862.0,-8.4,763,7714,0.00,2.20,0.00,0.000,6,0.000,0.044,2250,2474,3970
$GC,8026,-1.04,-194.7,886.3,-7.3,778,8028,0.12,0.00,0.00,0.000,6,0.089,0.000,2202,2476,3968
$GC,8335,-0.91,-194.7,917.5,-11.8,793,8337,0.17,0.00,0.00,0.000,6,0.168,0.000,2248,2476,3967
$GC,8644,-0.99,-194.7,943.2,-7.3,808,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2476,3966
$GC,8954,-1.05,-194.7,971.7,-9.8,823,8958,0.12,2.15,0.00,0.000,4,0.090,0.035,2203,1050,3964
$GC,8986,-0.96,-194.7,975.6,-13.0,824,8991,0.12,2.20,0.00,0.000,6,0.173,0.046,2233,2466,3964
$STATE,9134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9135,begin apogee
$GC,9140,-0.22,0.0,991.8,10.7,831,9231,0.77,0.00,87.45,1.431,6,0.152,0.000,2471,2515,3532
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9234,1.05,194.7,995.0,0.0,835,9402,1.15,0.00,160.98,1.384,6,0.058,0.000,2886,2515,2738
$GC,9712,0.43,194.7,937.1,20.6,858,9717,0.73,2.03,0.00,0.000,4,0.202,0.061,2688,3761,2731
$GC,9751,0.31,204.9,931.5,11.6,860,9766,0.17,1.88,9.35,1.177,6,0.183,0.034,2648,2529,2695
$GC,10084,0.51,283.6,903.2,8.7,876,10157,0.17,2.15,64.65,1.337,4,0.081,0.059,2719,3758,2374
$GC,10252,0.44,283.6,877.9,17.8,883,10259,0.12,1.92,0.00,0.000,6,0.185,0.033,2691,2511,2370
$GC,10568,0.53,283.6,834.9,13.8,899,10572,0.00,2.15,0.00,0.000,4,0.000,0.037,2693,1096,2367
$GC,10601,0.66,283.6,830.2,13.8,900,10606,0.20,2.25,0.00,0.000,6,0.077,0.041,2771,2532,2367
$GC,10917,0.50,283.6,774.9,16.5,915,10919,0.25,0.00,0.00,0.000,6,0.178,0.000,2704,2535,2366
$GC,11227,0.59,315.0,739.7,10.7,930,11256,0.00,2.25,25.02,1.241,4,0.000,0.038,2706,1101,2247
$GC,11297,0.78,361.4,732.6,10.1,933,11344,0.25,2.25,39.38,1.233,6,0.071,0.041,2798,2523,2056
$GC,11666,0.62,361.4,669.4,18.0,951,11670,0.17,1.98,0.00,0.000,4,0.179,0.058,2750,3758,2049
$GC,11736,0.56,361.4,658.5,16.3,954,11740,0.12,1.88,0.00,0.000,6,0.180,0.033,2726,2520,2048
$GC,12068,0.63,361.4,614.0,13.4,970,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2517,2047
$GC,12377,0.72,363.2,575.4,11.9,985,12381,0.15,2.12,0.00,0.000,4,0.084,0.038,2787,1107,2046
$GC,12415,0.67,363.2,569.9,15.4,986,12421,0.00,2.22,0.00,0.000,6,0.000,0.041,2787,2544,2046
$GC,12731,0.56,363.2,519.3,16.5,1002,12736,0.20,1.92,0.00,0.000,4,0.177,0.057,2728,3768,2045
$GC,12754,0.51,363.2,515.7,15.2,1003,12758,0.00,1.88,0.00,0.000,6,0.000,0.033,2733,2513,2045
$GC,13084,0.57,363.2,471.9,13.5,1028,13088,0.00,2.00,0.00,0.000,4,0.000,0.058,2733,3766,2044
$GC,13134,0.57,363.2,464.8,13.4,1032,13140,0.00,1.88,0.00,0.000,6,0.000,0.032,2736,2526,2044
$GC,13461,0.63,363.2,419.8,12.9,1063,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2525,2044
$GC,13779,0.72,363.2,380.8,12.2,1093,13783,0.12,2.10,0.00,0.000,4,0.085,0.035,2788,1112,2044
$GC,13931,0.72,363.2,356.5,16.4,1106,13937,0.00,2.20,0.00,0.000,6,0.000,0.039,2788,2549,2043
$GC,14258,0.67,363.2,307.7,13.2,1137,14261,0.00,2.17,0.00,0.000,4,0.000,0.036,2789,1105,2043
$GC,14365,0.67,363.2,293.3,13.6,1150,14371,0.00,2.17,0.00,0.000,6,0.000,0.040,2789,2529,2043
$GC,14709,0.69,376.4,245.9,11.5,1211,14727,0.00,2.15,10.62,0.851,4,0.000,0.035,2791,1107,1996
$GC,14744,0.69,376.4,241.2,12.6,1217,14752,0.00,2.15,0.00,0.000,6,0.000,0.039,2791,2511,1996
$GC,15089,0.69,376.4,195.2,13.1,1278,15095,0.00,2.10,0.00,0.000,4,0.000,0.033,2791,1106,1995
$GC,15118,0.69,376.4,191.3,13.5,1283,15124,0.00,2.12,0.00,0.000,6,0.000,0.039,2791,2497,1995
$GC,15461,0.69,376.4,142.3,13.6,1344,15467,0.00,2.08,0.00,0.000,4,0.000,0.035,2791,1109,1995
$GC,15553,0.79,376.4,129.9,12.9,1360,15559,0.00,2.08,0.00,0.000,6,0.000,0.037,2791,2477,1995
$GC,15897,0.96,436.9,88.2,9.5,1421,15951,0.17,0.00,47.55,0.737,6,0.074,0.000,2870,2478,1749
$GC,16291,1.08,488.2,38.5,9.9,1490,16338,0.00,2.12,38.88,0.673,4,0.000,0.034,2871,1101,1541
$GC,16462,1.33,531.0,21.8,10.2,1520,16505,0.28,2.10,33.97,0.641,6,0.062,0.034,2979,2464,1366
$STATE,16576,end climb,SURFACE_DEPTH_REACHED
$STATE,16578,begin surface coast
$FINISH,1.7,1.010558
$STATE,16594,end surface coast,CONTROL_FINISHED_OK
$STATE,16594,begin surface
$SM_CCo,16671,0.00,0.000,0,0,1357,533.53
$SM_GC,2.62,7.78,0.00,0.00,0.058,0.000,0.000,142,2470,1357,-7.49,1.22,533.53
$IRIDIUM_FIX,2439.44,12237.55,070998,202040
$TT8_MAMPS,0.029146
$HUMID,1636
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.6,28.594
$10V_AH,10.7,16.390
$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,27.325,116.025,517.850,0.000,0.000,28.194,34.860,192.444,8.000,0.000,0.000,31.701,2707.928,10581.374,620.405,2605.885,547.763,0.000,1936.556,0.000,2526.967,0.000,54.418,0.000
$DEVICE_MAMPS,247.741,119.652,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.067,1057.933,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82064,1543
$CAP_FILE_SIZE,166844,0
$CFSIZE,260165632,213450752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181, 14.2,1
$GPS,140609,055901,2449.220,12234.527,37,1.4,38,-3.5