version: 66.04
glider: 167
mission: 2
dive: 187
start: 6 20 109 5 20 47
data:
$ID,167
$MISSION,2
$DIVE,187
$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,-8728.3008
$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,34
$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
$GPS1,051323,2456.937,12258.061,23,2.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-72.8
$GPS2,052026,2457.105,12258.257,16,1.9,16,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12329.000
$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,168.6,59716,-23.2,-12.000
$D_GRID,1686
$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,-121.7,0.0,0.0,0,34,0.00,0.00,-16.77,0.000,2,0.000,0.000,140,2436,2218
$GC,37,-1.18,-121.7,3.0,-0.7,3,104,8.30,2.12,-54.05,0.000,4,0.244,0.058,2149,3763,3988
$GC,246,-0.47,-121.7,67.5,-31.4,39,253,0.85,1.98,0.00,0.000,6,0.177,0.025,2391,2390,3991
$GC,591,-0.90,-121.7,101.1,-7.9,100,598,0.35,2.15,0.00,0.000,4,0.053,0.047,2234,3771,3993
$GC,723,-0.71,-121.7,124.5,-18.5,123,729,0.28,1.88,0.00,0.000,6,0.156,0.025,2314,2453,3993
$GC,1068,-0.94,-121.7,164.9,-11.1,184,1075,0.17,2.03,0.00,0.000,4,0.067,0.046,2223,3764,3996
$GC,1194,-0.86,-121.7,183.9,-14.8,206,1201,0.15,1.83,0.00,0.000,6,0.161,0.025,2262,2473,3996
$GC,1538,-0.96,-121.7,222.7,-10.7,267,1544,0.00,2.00,0.00,0.000,4,0.000,0.048,2261,3769,3997
$GC,1769,-1.08,-121.7,249.5,-10.6,308,1778,0.17,1.77,0.00,0.000,6,0.068,0.026,2187,2520,3997
$GC,2116,-0.96,-121.7,298.8,-15.7,369,2123,0.17,1.92,0.00,0.000,4,0.162,0.046,2233,3767,3997
$GC,2224,-1.01,-121.7,313.9,-13.2,379,2230,0.00,1.75,0.00,0.000,6,0.000,0.026,2233,2535,3997
$GC,2549,-1.09,-121.7,354.9,-12.1,410,2553,0.12,1.90,0.00,0.000,4,0.083,0.049,2178,3758,3997
$GC,2616,-0.93,-121.7,365.9,-16.6,416,2621,0.25,1.73,0.00,0.000,6,0.170,0.027,2246,2548,3997
$GC,2947,-1.08,-121.7,406.6,-11.8,447,2951,0.15,1.90,0.00,0.000,4,0.075,0.049,2179,3768,3997
$GC,3074,-0.95,-121.7,425.8,-15.6,458,3078,0.20,1.73,0.00,0.000,6,0.173,0.028,2231,2572,3997
$GC,3406,-1.08,-121.7,463.0,-10.9,489,3409,0.00,1.85,0.00,0.000,4,0.000,0.053,2231,3757,3995
$GC,3497,-1.22,-121.7,473.7,-11.8,497,3501,0.22,1.67,0.00,0.000,6,0.068,0.029,2143,2595,3995
$GC,3838,-1.01,-121.7,528.1,-16.7,521,3843,0.22,2.25,0.00,0.000,4,0.180,0.028,2208,1053,3993
$GC,3855,-0.89,-121.7,531.5,-16.4,522,3860,0.17,2.33,0.00,0.000,6,0.158,0.038,2255,2578,3993
$GC,4183,-1.13,-121.7,563.3,-9.2,538,4188,0.17,1.83,0.00,0.000,4,0.072,0.054,2179,3757,3992
$GC,4244,-1.06,-121.7,571.2,-12.7,540,4252,0.00,1.70,0.00,0.000,6,0.000,0.030,2179,2582,3991
$GC,4560,-1.01,-121.7,612.4,-13.5,556,4565,0.15,1.85,0.00,0.000,4,0.181,0.051,2208,3764,3988
$GC,4655,-1.01,-121.7,624.5,-12.1,560,4660,0.00,1.70,0.00,0.000,6,0.000,0.029,2208,2619,3988
$GC,4983,-1.08,-121.7,662.0,-11.8,576,4986,0.00,1.80,0.00,0.000,4,0.000,0.055,2205,3763,3986
$GC,5021,-1.08,-121.7,667.1,-12.6,577,5027,0.00,1.70,0.00,0.000,6,0.000,0.031,2205,2621,3985
$GC,5338,-1.15,-121.7,705.6,-11.9,593,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2621,3982
$GC,5647,-1.22,-121.7,739.7,-10.7,608,5649,0.15,0.00,0.00,0.000,6,0.083,0.000,2150,2621,3981
$GC,5956,-1.09,-121.7,782.7,-13.8,623,5960,0.17,1.80,0.00,0.000,4,0.194,0.054,2192,3758,3978
$GC,6011,-1.09,-121.7,790.0,-12.8,625,6015,0.00,1.70,0.00,0.000,6,0.000,0.032,2192,2626,3978
$GC,6335,-1.09,-121.7,826.2,-11.6,641,6339,0.00,1.80,0.00,0.000,4,0.000,0.058,2192,3758,3976
$GC,6380,-1.09,-121.7,832.4,-12.6,643,6384,0.00,1.65,0.00,0.000,6,0.000,0.033,2192,2636,3975
$GC,6714,-1.09,-121.7,875.6,-13.5,659,6718,0.00,2.33,0.00,0.000,4,0.000,0.032,2192,1061,3973
$GC,6776,-1.17,-121.7,884.5,-14.3,662,6780,0.00,2.38,0.00,0.000,6,0.000,0.043,2192,2605,3973
$GC,7108,-1.17,-121.7,930.0,-13.3,678,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2605,3971
$GC,7418,-1.22,-121.7,969.1,-12.3,693,7422,0.12,1.83,0.00,0.000,4,0.097,0.058,2139,3764,3969
$GC,7468,-1.02,-121.7,977.0,-16.3,695,7472,0.28,1.67,0.00,0.000,6,0.189,0.032,2210,2630,3969
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7593,-0.22,0.0,991.3,11.3,701,7691,0.85,0.00,88.97,1.420,6,0.156,0.000,2469,2542,3531
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7692,begin climb
$GC,7694,1.18,121.7,995.5,0.0,706,7803,1.25,2.15,101.32,1.377,4,0.058,0.054,2923,3761,3035
$GC,7939,0.42,121.7,980.7,16.2,717,7945,1.00,1.95,0.00,0.000,6,0.222,0.028,2683,2486,3031
$GC,8266,0.62,192.0,956.0,7.4,733,8331,0.17,2.17,56.47,1.353,4,0.082,0.058,2746,3765,2748
$GC,8401,0.51,192.0,939.8,14.3,739,8406,0.15,1.92,0.00,0.000,6,0.194,0.030,2715,2514,2745
$GC,8734,0.65,205.6,902.3,11.1,755,8755,0.12,2.20,11.77,1.226,4,0.091,0.035,2762,1113,2692
$GC,8851,0.65,205.6,886.9,13.0,760,8855,0.00,2.20,0.00,0.000,6,0.000,0.041,2762,2511,2691
$GC,9177,0.65,205.6,844.0,12.8,776,9181,0.00,2.15,0.00,0.000,4,0.000,0.035,2762,1102,2690
$GC,9294,0.65,205.6,829.0,12.7,781,9298,0.00,2.17,0.00,0.000,6,0.000,0.039,2762,2502,2689
$GC,9621,0.65,205.6,787.1,12.7,797,9624,0.00,1.98,0.00,0.000,4,0.000,0.056,2762,3760,2688
$GC,9644,0.57,205.6,784.1,13.3,798,9649,0.15,1.90,0.00,0.000,6,0.191,0.031,2735,2483,2688
$GC,9978,0.70,237.1,747.9,9.9,814,10008,0.10,0.00,25.85,1.249,6,0.097,0.000,2771,2481,2564
$GC,10330,0.70,237.1,706.2,12.2,831,10333,0.00,2.08,0.00,0.000,4,0.000,0.036,2772,1107,2559
$GC,10385,0.76,237.1,699.3,12.2,833,10389,0.00,2.20,0.00,0.000,6,0.000,0.041,2772,2516,2559
$GC,10701,0.76,237.1,660.2,12.5,848,10705,0.00,2.15,0.00,0.000,4,0.000,0.037,2772,1108,2558
$GC,10762,0.84,237.1,651.9,13.7,850,10769,0.12,2.17,0.00,0.000,6,0.093,0.041,2818,2512,2558
$GC,11079,0.72,237.1,605.4,14.4,866,11083,0.17,2.12,0.00,0.000,4,0.183,0.034,2777,1109,2557
$GC,11164,0.78,237.1,594.5,12.4,870,11168,0.00,2.15,0.00,0.000,6,0.000,0.041,2777,2496,2557
$GC,11497,0.78,237.4,552.9,12.0,886,11501,0.00,2.00,0.00,0.000,4,0.000,0.058,2777,3765,2557
$GC,11553,0.68,237.4,545.1,14.2,888,11556,0.00,1.88,0.00,0.000,6,0.000,0.030,2786,2495,2557
$GC,11874,0.68,237.4,505.6,12.1,904,11877,0.00,2.05,0.00,0.000,4,0.000,0.036,2791,1115,2556
$GC,11991,0.68,237.4,491.8,12.6,911,11997,0.00,2.10,0.00,0.000,6,0.000,0.039,2792,2481,2556
$GC,12318,0.71,262.6,454.6,10.3,942,12343,0.00,2.08,19.58,1.047,4,0.000,0.056,2792,3764,2461
$GC,12389,0.62,262.6,445.9,13.1,948,12395,0.20,1.90,0.00,0.000,6,0.191,0.031,2749,2495,2459
$GC,12714,0.85,305.6,415.2,9.2,979,12758,0.20,2.20,35.03,1.020,4,0.077,0.036,2833,1106,2285
$GC,12887,0.85,305.6,391.9,13.0,994,12894,0.00,2.22,0.00,0.000,6,0.000,0.040,2832,2518,2280
$GC,13214,0.85,305.6,345.3,14.8,1025,13217,0.00,2.15,0.00,0.000,4,0.000,0.035,2841,1106,2278
$GC,13282,0.85,305.6,335.2,13.9,1031,13286,0.00,2.15,0.00,0.000,6,0.000,0.040,2841,2490,2278
$GC,13611,0.81,305.6,287.7,14.6,1069,13619,0.15,2.08,0.00,0.000,4,0.183,0.032,2812,1114,2278
$GC,13648,0.92,305.6,283.0,12.0,1075,13654,0.00,2.10,0.00,0.000,6,0.000,0.038,2812,2475,2277
$GC,13992,1.00,305.6,240.4,13.8,1136,13998,0.15,2.03,0.00,0.000,4,0.082,0.054,2872,3767,2277
$GC,14089,0.79,305.6,221.9,18.7,1153,14096,0.30,1.92,0.00,0.000,6,0.189,0.028,2802,2453,2277
$GC,14435,0.94,305.6,180.3,12.8,1214,14441,0.12,1.98,0.00,0.000,4,0.090,0.032,2856,1098,2277
$GC,14537,0.94,305.6,166.7,12.4,1232,14543,0.00,2.05,0.00,0.000,6,0.000,0.035,2856,2452,2277
$GC,14881,1.02,334.5,123.3,10.1,1293,14912,0.00,2.03,22.45,0.749,4,0.000,0.032,2863,1106,2167
$GC,14954,1.16,350.6,115.3,10.9,1305,14974,0.15,2.03,13.70,0.706,6,0.084,0.036,2919,2432,2101
$GC,15314,1.08,350.6,70.0,12.7,1368,15320,0.00,2.08,0.00,0.000,4,0.000,0.051,2919,3761,2097
$GC,15373,0.95,350.6,62.3,13.5,1378,15380,0.28,1.95,0.00,0.000,6,0.187,0.026,2855,2423,2097
$GC,15718,1.29,419.5,32.8,7.5,1439,15777,0.25,2.17,52.20,0.648,4,0.070,0.050,2963,3772,1820
$GC,15801,1.17,419.5,22.7,13.4,1453,15809,0.20,2.00,0.00,0.000,6,0.189,0.025,2924,2419,1817
$STATE,16009,end climb,SURFACE_DEPTH_REACHED
$STATE,16009,begin surface coast
$FINISH,1.7,1.019055
$STATE,16038,end surface coast,CONTROL_FINISHED_OK
$STATE,16038,begin surface
$SM_CCo,16055,2.00,0.073,0,0,1798,425.10
$SM_GC,3.19,0.00,0.00,2.00,0.000,0.000,0.073,143,2417,1798,-7.51,-0.28,425.10
$IRIDIUM_FIX,2446.56,12259.24,140998,000056
$TT8_MAMPS,0.029146
$HUMID,1601
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.7,33.692
$10V_AH,10.8,19.262
$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,26.400,139.375,427.350,2.000,0.000,30.119,36.481,221.470,8.000,0.000,0.000,16.448,2671.514,9999.087,557.146,2662.453,583.219,0.000,1908.336,0.000,2593.533,0.000,54.431,0.000
$DEVICE_MAMPS,243.906,71.331,1419.717,72.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.840,1039.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78852,1495
$CAP_FILE_SIZE,169390,0
$CFSIZE,260165632,210825216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.447, 44.4,1
$GPS,200609,094937,2457.958,12301.456,34,1.5,35,-3.6