version: 66.04
glider: 167
mission: 2
dive: 186
start: 6 20 109 0 39 59
data:
$ID,167
$MISSION,2
$DIVE,186
$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,-8711.2246
$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,73
$R_STBD_OVSHOOT,31
$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
$GPS1,002607,2456.112,12255.725,38,1.6,39,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-61.0
$GPS2,003938,2456.445,12256.127,15,1.9,15,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_2
$TGT_LATLONG,2441.200,12300.000
$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,215.6,28975,-23.2,-12.000
$D_GRID,1633
$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,-121.7,0.0,0.0,0,95,0.00,0.00,-77.07,0.000,2,0.000,0.000,141,2448,2390
$GC,98,-1.18,-121.7,3.0,-2.1,13,163,8.30,2.10,-50.97,0.000,4,0.245,0.058,2153,3764,3988
$GC,350,-0.44,-121.7,72.6,-33.2,57,357,0.80,1.95,0.00,0.000,6,0.182,0.025,2392,2404,3990
$GC,695,-0.88,-121.7,107.6,-7.4,118,702,0.32,2.12,0.00,0.000,4,0.053,0.046,2245,3773,3991
$GC,820,-0.65,-121.7,128.2,-18.3,140,828,0.30,1.90,0.00,0.000,6,0.152,0.024,2334,2438,3990
$GC,1167,-0.98,-121.7,161.5,-8.4,201,1173,0.25,2.05,0.00,0.000,4,0.060,0.046,2219,3764,3991
$GC,1264,-0.85,-121.7,175.6,-14.5,218,1271,0.17,1.83,0.00,0.000,6,0.160,0.025,2266,2475,3991
$GC,1610,-0.97,-121.7,216.8,-9.6,279,1616,0.12,2.00,0.00,0.000,4,0.079,0.046,2205,3774,3991
$GC,1713,-0.85,-121.7,231.2,-13.2,297,1719,0.22,1.80,0.00,0.000,6,0.161,0.026,2269,2503,3991
$GC,2057,-1.02,-121.7,269.4,-11.6,358,2064,0.15,1.95,0.00,0.000,4,0.071,0.048,2205,3764,3991
$GC,2160,-0.94,-121.7,283.8,-13.5,376,2168,0.12,1.75,0.00,0.000,6,0.170,0.026,2236,2528,3991
$GC,2500,-1.01,-121.7,323.7,-12.4,419,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2528,3990
$GC,2821,-1.10,-121.7,361.5,-11.5,449,2825,0.15,1.92,0.00,0.000,4,0.071,0.049,2176,3768,3989
$GC,2879,-0.92,-121.7,370.1,-16.0,454,2883,0.25,1.77,0.00,0.000,6,0.173,0.026,2243,2521,3989
$GC,3209,-1.06,-121.7,404.2,-8.6,485,3214,0.12,1.92,0.00,0.000,4,0.079,0.049,2191,3773,3986
$GC,3282,-1.00,-121.7,412.7,-12.0,491,3288,0.12,1.77,0.00,0.000,6,0.176,0.028,2222,2536,3986
$GC,3607,-1.07,-121.7,449.9,-11.5,522,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2536,3984
$GC,3927,-1.16,-121.7,488.3,-12.0,552,3931,0.15,1.92,0.00,0.000,4,0.074,0.051,2164,3767,3981
$GC,3955,-1.06,-121.7,492.4,-14.5,554,3961,0.15,1.75,0.00,0.000,6,0.183,0.028,2200,2553,3980
$GC,4284,-1.06,-121.7,530.2,-10.5,573,4288,0.00,1.90,0.00,0.000,4,0.000,0.051,2193,3773,3978
$GC,4454,-1.06,-121.7,549.6,-10.8,580,4459,0.00,1.75,0.00,0.000,6,0.000,0.029,2193,2565,3976
$GC,4775,-1.06,-121.7,582.1,-10.2,596,4778,0.00,1.88,0.00,0.000,4,0.000,0.054,2192,3761,3974
$GC,4821,-1.06,-121.7,587.1,-11.0,598,4824,0.00,1.73,0.00,0.000,6,0.000,0.030,2192,2578,3973
$GC,5155,-1.06,-121.7,626.2,-12.7,614,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2578,3971
$GC,5463,-1.06,-121.7,665.1,-11.9,629,5467,0.00,1.90,0.00,0.000,4,0.000,0.056,2192,3763,3968
$GC,5586,-1.06,-121.7,680.4,-11.6,634,5589,0.00,1.73,0.00,0.000,6,0.000,0.031,2192,2582,3967
$GC,5907,-1.06,-121.7,718.2,-12.1,650,5910,0.00,1.88,0.00,0.000,4,0.000,0.056,2192,3770,3965
$GC,5975,-1.06,-121.7,726.9,-13.2,653,5979,0.00,1.73,0.00,0.000,6,0.000,0.031,2192,2594,3964
$GC,6308,-1.06,-121.7,767.8,-12.3,669,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2595,3962
$GC,6616,-1.06,-121.7,806.1,-12.7,684,6620,0.00,1.85,0.00,0.000,4,0.000,0.058,2192,3763,3960
$GC,6649,-1.06,-121.7,810.7,-13.6,685,6653,0.00,1.73,0.00,0.000,6,0.000,0.031,2192,2591,3960
$GC,6972,-1.06,-121.7,850.8,-12.6,701,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2591,3958
$GC,7280,-1.06,-121.7,888.5,-11.9,716,7283,0.00,1.85,0.00,0.000,4,0.000,0.057,2188,3760,3956
$GC,7330,-1.06,-121.7,894.7,-12.6,718,7333,0.00,1.73,0.00,0.000,6,0.000,0.033,2188,2594,3956
$GC,7657,-1.06,-121.7,931.2,-10.8,734,7660,0.00,1.85,0.00,0.000,4,0.000,0.059,2188,3757,3954
$GC,7725,-1.06,-121.7,939.2,-12.1,737,7729,0.00,1.70,0.00,0.000,6,0.000,0.033,2188,2607,3953
$GC,8059,-1.06,-121.7,976.0,-11.2,753,8063,0.00,2.30,0.00,0.000,4,0.000,0.034,2187,1057,3952
$GC,8114,-1.12,-121.7,982.3,-11.5,755,8120,0.00,2.35,0.00,0.000,6,0.000,0.042,2181,2578,3951
$STATE,8180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8180,begin apogee
$GC,8186,-0.22,0.0,990.2,11.8,759,8274,0.98,0.00,85.00,1.415,6,0.166,0.000,2470,2578,3532
$STATE,8275,end apogee,CONTROL_FINISHED_OK
$STATE,8275,begin climb
$GC,8277,1.18,121.7,992.8,0.0,763,8387,1.25,2.40,101.10,1.372,4,0.055,0.031,2933,1133,3034
$GC,8640,0.60,121.7,963.1,13.5,779,8645,0.75,2.17,0.00,0.000,6,0.216,0.043,2741,2507,3030
$GC,8961,0.59,180.0,934.9,8.2,795,9013,0.00,2.22,46.65,1.345,4,0.000,0.035,2746,1140,2797
$GC,9081,0.59,181.1,922.4,11.9,800,9085,0.00,2.17,0.00,0.000,6,0.000,0.039,2746,2510,2794
$GC,9396,0.59,184.1,885.9,11.8,815,9405,0.00,2.03,3.88,0.826,4,0.000,0.057,2746,3756,2781
$GC,9469,0.47,184.1,875.9,14.5,818,9473,0.20,1.85,0.00,0.000,6,0.193,0.030,2700,2521,2780
$GC,9795,0.64,203.3,840.0,10.7,834,9818,0.15,2.22,16.77,1.261,4,0.089,0.036,2761,1100,2703
$GC,9886,0.64,203.3,827.6,14.3,838,9890,0.00,2.20,0.00,0.000,6,0.000,0.039,2761,2500,2702
$GC,10218,0.64,203.3,781.9,13.3,854,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2500,2699
$GC,10528,0.64,203.3,742.4,12.3,869,10532,0.00,2.00,0.00,0.000,4,0.000,0.057,2761,3768,2698
$GC,10551,0.56,203.3,739.5,12.8,870,10556,0.17,1.92,0.00,0.000,6,0.192,0.030,2726,2477,2698
$GC,10885,0.72,233.4,705.0,10.0,886,10915,0.15,2.10,24.85,1.223,4,0.086,0.035,2787,1106,2580
$GC,11019,0.72,233.4,688.1,13.0,892,11022,0.00,2.17,0.00,0.000,6,0.000,0.040,2787,2487,2576
$GC,11351,0.72,233.4,639.3,15.1,908,11354,0.00,2.03,0.00,0.000,4,0.000,0.057,2787,3765,2574
$GC,11406,0.56,233.4,629.7,17.5,910,11411,0.25,1.90,0.00,0.000,6,0.189,0.031,2731,2483,2574
$GC,11727,0.71,233.4,587.4,12.5,926,11731,0.12,2.05,0.00,0.000,4,0.088,0.034,2784,1112,2573
$GC,11923,0.71,233.4,560.4,13.3,934,11929,0.00,2.10,0.00,0.000,6,0.000,0.041,2784,2464,2573
$GC,12239,0.71,233.4,518.8,13.0,950,12242,0.00,2.05,0.00,0.000,4,0.000,0.036,2788,1110,2572
$GC,12271,0.71,233.4,514.5,12.1,951,12276,0.00,2.10,0.00,0.000,6,0.000,0.041,2788,2471,2572
$GC,12601,0.71,233.4,472.1,12.7,977,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2471,2571
$GC,12917,0.71,233.4,430.4,12.7,1007,12921,0.00,2.05,0.00,0.000,4,0.000,0.036,2794,1108,2571
$GC,13101,0.72,246.4,408.2,11.1,1023,13119,0.00,2.08,10.07,0.965,6,0.000,0.041,2794,2458,2527
$GC,13436,0.76,274.1,371.1,10.2,1055,13464,0.00,2.05,22.85,0.984,4,0.000,0.033,2802,1113,2414
$GC,13503,0.83,291.7,364.0,10.8,1060,13525,0.00,2.08,15.95,0.941,6,0.000,0.038,2802,2446,2341
$GC,13852,0.88,291.7,320.9,14.1,1093,13855,0.00,2.03,0.00,0.000,4,0.000,0.034,2807,1111,2336
$GC,13958,0.97,291.7,305.5,14.3,1102,13965,0.15,2.05,0.00,0.000,6,0.086,0.039,2863,2436,2336
$GC,14299,0.84,291.7,251.4,15.1,1160,14307,0.17,2.00,0.00,0.000,4,0.185,0.031,2821,1102,2335
$GC,14364,0.91,291.7,242.9,12.8,1171,14370,0.00,2.03,0.00,0.000,6,0.000,0.037,2821,2429,2335
$GC,14708,0.91,291.7,197.7,12.9,1232,14715,0.00,2.10,0.00,0.000,4,0.000,0.054,2821,3770,2335
$GC,14806,0.87,291.7,183.6,15.0,1249,14812,0.00,2.00,0.00,0.000,6,0.000,0.028,2828,2422,2335
$GC,15150,0.95,317.0,145.1,10.3,1310,15175,0.00,2.00,19.60,0.774,4,0.000,0.034,2828,1112,2238
$GC,15418,1.26,409.5,123.2,5.9,1357,15494,0.35,2.03,70.43,0.750,6,0.066,0.037,2961,2441,1861
$GC,15833,1.18,409.5,52.7,14.5,1430,15839,0.15,2.00,0.00,0.000,4,0.184,0.029,2933,1106,1852
$GC,15936,1.34,424.5,39.7,11.0,1448,15955,0.12,1.92,11.48,0.624,6,0.087,0.034,2980,2379,1799
$STATE,16228,end climb,SURFACE_DEPTH_REACHED
$STATE,16228,begin surface coast
$FINISH,1.7,1.008521
$STATE,16252,end surface coast,CONTROL_FINISHED_OK
$STATE,16252,begin surface
$SM_CCo,16330,0.00,0.000,0,0,1795,426.09
$SM_GC,3.45,7.65,0.00,0.00,0.058,0.000,0.000,140,2436,1795,-7.50,0.25,426.09
$IRIDIUM_FIX,2448.93,11950.89,140998,000035
$TT8_MAMPS,0.028379
$HUMID,1620
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,33.531
$10V_AH,10.7,19.171
$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,24.350,126.500,428.625,0.000,0.000,55.572,95.240,446.579,8.000,0.000,0.000,15.290,2658.055,10292.578,563.126,2702.935,907.846,0.000,1930.829,0.000,2636.183,0.000,54.427,0.000
$DEVICE_MAMPS,244.673,104.312,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.042,1038.566,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81993,1504
$CAP_FILE_SIZE,170528,0
$CFSIZE,260165632,210907136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.415, 59.3,1
$GPS,200609,051323,2456.937,12258.061,23,2.0,40,-3.6