version: 66.04
glider: 167
mission: 2
dive: 189
start: 6 20 109 14 27 54
data:
$ID,167
$MISSION,2
$DIVE,189
$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,-8779.2725
$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,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
$GPS1,142107,2458.470,12304.987,36,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-67.4
$GPS2,142731,2458.664,12305.302,11,1.1,16,-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,178.0,51579,-23.2,-12.000
$D_GRID,1733
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-23.98,0.000,2,0.000,0.000,143,2440,2407
$GC,43,-1.18,-121.7,3.2,-2.8,4,103,8.38,2.15,-44.80,0.000,4,0.248,0.058,2151,3770,3990
$GC,166,-0.22,-121.7,34.5,-42.7,25,173,1.12,2.00,0.00,0.000,6,0.189,0.024,2463,2382,3991
$GC,512,-1.19,-121.7,70.6,-8.4,86,518,0.80,0.00,0.00,0.000,6,0.068,0.000,2161,2381,3993
$GC,855,-0.84,-121.7,146.0,-20.2,147,863,0.38,2.15,0.00,0.000,4,0.180,0.044,2260,3776,3995
$GC,999,-0.84,-121.7,167.3,-14.5,172,1005,0.00,1.95,0.00,0.000,6,0.000,0.025,2260,2404,3996
$GC,1343,-0.90,-121.7,210.9,-12.3,233,1349,0.00,2.10,0.00,0.000,4,0.000,0.047,2258,3763,3997
$GC,1496,-0.90,-121.7,229.9,-13.1,260,1502,0.00,1.92,0.00,0.000,6,0.000,0.026,2257,2406,3997
$GC,1840,-1.04,-121.7,272.1,-11.9,321,1847,0.15,2.10,0.00,0.000,4,0.071,0.047,2192,3764,3997
$GC,2094,-0.90,-121.7,311.5,-15.0,359,2102,0.22,1.88,0.00,0.000,6,0.162,0.025,2255,2446,3997
$GC,2419,-1.06,-121.7,345.4,-9.9,390,2423,0.15,2.05,0.00,0.000,4,0.070,0.048,2192,3770,3998
$GC,2560,-0.95,-121.7,365.5,-14.3,402,2567,0.17,1.88,0.00,0.000,6,0.164,0.026,2238,2455,3997
$GC,2885,-1.07,-121.7,401.3,-10.4,433,2889,0.12,2.03,0.00,0.000,4,0.077,0.048,2188,3761,3997
$GC,2931,-0.95,-121.7,407.3,-14.1,437,2936,0.17,1.88,0.00,0.000,6,0.170,0.027,2234,2452,3997
$GC,3263,-1.07,-121.7,443.9,-10.0,468,3266,0.00,2.05,0.00,0.000,4,0.000,0.050,2232,3770,3996
$GC,3454,-1.19,-121.7,464.1,-10.9,485,3459,0.15,1.90,0.00,0.000,6,0.060,0.027,2150,2473,3995
$GC,3794,-1.02,-121.7,509.3,-13.0,514,3798,0.20,2.03,0.00,0.000,4,0.175,0.049,2205,3771,3993
$GC,3922,-1.02,-121.7,524.0,-11.5,519,3929,0.00,1.88,0.00,0.000,6,0.000,0.028,2205,2473,3993
$GC,4239,-1.06,-121.7,557.6,-11.2,535,4242,0.00,2.03,0.00,0.000,4,0.000,0.052,2205,3767,3992
$GC,4322,-1.06,-121.7,568.1,-12.2,538,4328,0.00,1.85,0.00,0.000,6,0.000,0.028,2205,2503,3991
$GC,4638,-1.12,-121.7,608.3,-12.9,554,4642,0.00,1.98,0.00,0.000,4,0.000,0.053,2205,3761,3989
$GC,4706,-1.18,-121.7,617.4,-12.9,557,4711,0.12,1.83,0.00,0.000,6,0.085,0.029,2158,2507,3988
$GC,5041,-1.07,-121.7,664.0,-13.0,573,5045,0.15,1.98,0.00,0.000,4,0.179,0.051,2192,3762,3985
$GC,5208,-1.07,-121.7,684.8,-12.0,580,5212,0.00,1.80,0.00,0.000,6,0.000,0.030,2192,2527,3984
$GC,5530,-1.07,-121.7,722.9,-12.4,596,5534,0.00,1.95,0.00,0.000,4,0.000,0.055,2192,3763,3981
$GC,5621,-1.07,-121.7,734.6,-12.8,600,5624,0.00,1.77,0.00,0.000,6,0.000,0.031,2192,2551,3981
$GC,5954,-1.07,-121.7,776.2,-12.5,616,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2551,3979
$GC,6262,-1.07,-121.7,816.1,-12.8,631,6266,0.00,1.92,0.00,0.000,4,0.000,0.058,2192,3764,3976
$GC,6340,-1.07,-121.7,826.7,-13.3,634,6344,0.00,1.77,0.00,0.000,6,0.000,0.031,2192,2562,3976
$GC,6662,-1.12,-121.7,867.9,-12.4,650,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2561,3974
$GC,6971,-1.17,-121.7,906.7,-12.1,665,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2561,3972
$GC,7281,-1.23,-121.7,943.0,-12.1,680,7285,0.12,1.92,0.00,0.000,4,0.094,0.057,2139,3768,3970
$GC,7341,-1.03,-121.7,952.6,-15.9,682,7348,0.28,1.77,0.00,0.000,6,0.184,0.031,2211,2566,3969
$GC,7658,-1.17,-121.7,985.7,-10.0,698,7662,0.12,2.25,0.00,0.000,4,0.089,0.031,2166,1046,3968
$GC,7690,-1.17,-121.7,989.7,-12.3,699,7698,0.00,2.33,0.00,0.000,6,0.000,0.042,2165,2552,3968
$STATE,7714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7714,begin apogee
$GC,7720,-0.22,0.0,992.9,12.3,701,7816,1.02,0.00,88.85,1.421,6,0.170,0.000,2466,2552,3532
$STATE,7817,end apogee,CONTROL_FINISHED_OK
$STATE,7817,begin climb
$GC,7820,1.18,121.7,996.0,0.0,706,7929,1.27,2.10,101.38,1.377,4,0.061,0.051,2925,3767,3035
$GC,7986,0.40,121.7,991.9,14.6,713,7992,1.02,1.95,0.00,0.000,6,0.220,0.028,2681,2511,3032
$GC,8303,0.61,192.4,966.1,7.3,728,8367,0.17,2.28,57.15,1.354,4,0.083,0.035,2745,1114,2746
$GC,8451,0.69,200.5,949.8,11.5,734,8466,0.00,2.20,7.75,1.121,6,0.000,0.040,2745,2493,2714
$GC,8788,0.70,213.2,911.2,11.2,751,8810,0.00,2.20,11.82,1.230,4,0.000,0.036,2746,1116,2662
$GC,8856,0.80,214.5,903.3,11.9,754,8861,0.17,2.15,0.00,0.000,6,0.084,0.039,2807,2481,2661
$GC,9184,0.66,214.5,858.9,13.6,770,9188,0.17,2.10,0.00,0.000,4,0.198,0.035,2762,1106,2659
$GC,9315,0.73,232.5,844.0,10.8,776,9337,0.00,2.12,16.42,1.258,6,0.000,0.039,2762,2473,2584
$GC,9646,0.73,232.5,801.5,13.1,792,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2473,2581
$GC,9955,0.73,232.5,761.0,12.3,807,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2474,2580
$GC,10264,0.73,239.7,726.0,11.5,822,10277,0.00,2.15,6.80,1.065,4,0.000,0.037,2762,1105,2553
$GC,10358,0.85,263.9,715.7,10.4,826,10384,0.17,2.12,20.48,1.213,6,0.085,0.041,2827,2473,2456
$GC,10701,0.72,263.9,662.7,15.9,843,10703,0.20,0.00,0.00,0.000,6,0.185,0.000,2777,2474,2452
$GC,11009,0.72,263.9,623.5,12.3,858,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2474,2451
$GC,11318,0.72,263.9,585.7,12.5,873,11321,0.00,2.05,0.00,0.000,4,0.000,0.037,2784,1114,2449
$GC,11412,0.78,263.9,573.6,13.2,877,11416,0.00,2.10,0.00,0.000,6,0.000,0.041,2784,2474,2449
$GC,11739,0.78,263.9,529.2,13.6,893,11743,0.00,2.03,0.00,0.000,4,0.000,0.058,2784,3761,2449
$GC,11857,0.71,263.9,511.0,16.6,898,11860,0.00,1.90,0.00,0.000,6,0.000,0.031,2791,2487,2449
$GC,12183,0.71,263.9,465.3,14.1,925,12187,0.00,2.08,0.00,0.000,4,0.000,0.036,2791,1096,2448
$GC,12324,0.77,263.9,446.2,12.9,937,12330,0.00,2.08,0.00,0.000,6,0.000,0.038,2790,2458,2447
$GC,12651,0.77,264.6,405.7,12.0,968,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2458,2448
$GC,12968,0.83,264.6,366.4,12.8,998,12972,0.00,2.03,0.00,0.000,4,0.000,0.035,2792,1106,2448
$GC,13139,0.95,285.3,346.5,10.6,1013,13162,0.17,2.03,17.35,0.954,6,0.077,0.038,2856,2440,2368
$GC,13483,0.84,285.3,293.0,16.0,1049,13489,0.15,2.03,0.00,0.000,4,0.185,0.031,2828,1096,2365
$GC,13546,0.84,285.3,283.6,14.4,1060,13552,0.00,2.05,0.00,0.000,6,0.000,0.037,2828,2433,2364
$GC,13890,0.84,285.7,238.3,12.0,1121,13896,0.00,2.00,0.00,0.000,4,0.000,0.034,2830,1097,2364
$GC,13936,0.91,294.5,233.0,11.4,1129,13954,0.00,2.05,8.52,0.796,6,0.000,0.038,2830,2438,2330
$GC,14292,0.92,307.0,196.0,11.2,1192,14310,0.00,2.08,11.25,0.789,4,0.000,0.052,2831,3761,2279
$GC,14552,0.87,307.0,162.2,13.5,1238,14558,0.00,1.95,0.00,0.000,6,0.000,0.028,2840,2433,2278
$GC,14897,0.97,307.0,124.0,12.0,1299,14904,0.00,2.10,0.00,0.000,4,0.000,0.052,2841,3764,2278
$GC,14995,0.97,307.0,110.6,13.8,1316,15001,0.00,1.95,0.00,0.000,6,0.000,0.028,2848,2433,2277
$GC,15339,1.21,387.6,82.2,6.7,1377,15406,0.20,2.08,61.03,0.703,4,0.073,0.032,2938,1098,1949
$GC,15448,1.21,387.6,70.3,13.6,1395,15455,0.00,2.15,0.00,0.000,6,0.000,0.035,2938,2485,1946
$GC,15793,1.27,437.7,29.5,8.7,1456,15840,0.00,2.03,38.38,0.637,4,0.000,0.050,2938,3761,1745
$GC,15956,1.27,437.7,10.0,14.8,1484,15962,0.00,1.95,0.00,0.000,6,0.000,0.025,2948,2431,1742
$STATE,16000,end climb,SURFACE_DEPTH_REACHED
$STATE,16000,begin surface coast
$FINISH,1.7,0.999491
$STATE,16024,end surface coast,CONTROL_FINISHED_OK
$STATE,16024,begin surface
$SM_CCo,16101,0.00,0.000,0,0,1739,440.07
$SM_GC,2.57,7.68,0.00,0.00,0.063,0.000,0.000,142,2428,1739,-7.49,0.03,440.07
$IRIDIUM_FIX,2448.93,12300.54,140998,101042
$TT8_MAMPS,0.029146
$HUMID,1571
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.8,34.019
$10V_AH,10.8,19.441
$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,25.250,121.125,447.175,0.000,0.000,29.558,38.461,180.629,8.000,0.000,0.000,16.330,2642.480,10053.463,560.404,2675.377,546.354,0.000,1902.320,0.000,2607.247,0.000,54.424,0.000
$DEVICE_MAMPS,247.741,58.292,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.683,1034.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78983,1496
$CAP_FILE_SIZE,161086,0
$CFSIZE,260165632,210665472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.385, 57.0,1
$GPS,200609,185731,2458.676,12308.108,41,1.5,42,-3.6