version: 66.04
glider: 167
mission: 2
dive: 204
start: 6 23 109 12 9 40
data:
$ID,167
$MISSION,2
$DIVE,204
$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,-9111.9756
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,120237,2502.867,12327.242,42,1.3,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-66.1
$GPS2,120919,2502.919,12327.408,16,1.3,33,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,192.6,50242,-23.2,-12.000
$D_GRID,2060
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.88,0.000,2,0.000,0.000,143,2441,2266
$GC,43,-1.18,-121.7,3.1,-2.9,4,117,8.30,2.08,-58.20,0.000,4,0.243,0.058,2148,3774,3989
$GC,371,-0.51,-121.7,100.5,-28.9,61,378,0.82,2.00,0.00,0.000,6,0.182,0.024,2379,2380,3991
$GC,716,-0.94,-121.7,128.2,-6.9,122,722,0.35,2.15,0.00,0.000,4,0.053,0.046,2221,3765,3993
$GC,741,-1.03,-121.7,131.0,-11.6,126,747,0.00,1.92,0.00,0.000,6,0.000,0.025,2221,2408,3993
$GC,1085,-0.92,-121.7,194.2,-20.0,187,1090,0.00,2.10,0.00,0.000,4,0.000,0.046,2217,3768,3995
$GC,1257,-0.80,-121.7,224.4,-17.0,217,1267,0.22,1.88,0.00,0.000,6,0.158,0.025,2281,2443,3995
$GC,1607,-1.00,-121.7,260.0,-10.3,278,1614,0.17,2.05,0.00,0.000,4,0.068,0.046,2192,3773,3996
$GC,1729,-0.84,-121.7,278.0,-17.2,299,1735,0.28,1.85,0.00,0.000,6,0.160,0.025,2272,2465,3996
$GC,2071,-1.05,-121.7,316.4,-10.4,347,2075,0.17,2.00,0.00,0.000,4,0.065,0.047,2192,3760,3996
$GC,2239,-0.94,-121.7,340.8,-14.8,362,2243,0.17,1.83,0.00,0.000,6,0.162,0.026,2239,2476,3996
$GC,2570,-1.06,-121.7,380.4,-11.8,393,2574,0.12,2.00,0.00,0.000,4,0.076,0.048,2181,3768,3996
$GC,2687,-0.93,-121.7,397.5,-14.4,403,2693,0.22,1.83,0.00,0.000,6,0.163,0.026,2243,2489,3996
$GC,3012,-1.09,-121.7,427.6,-9.1,434,3016,0.15,1.98,0.00,0.000,4,0.075,0.048,2179,3761,3995
$GC,3136,-0.98,-121.7,443.6,-12.8,445,3141,0.12,1.83,0.00,0.000,6,0.164,0.028,2230,2513,3995
$GC,3467,-1.12,-121.7,481.6,-11.8,476,3471,0.12,1.95,0.00,0.000,4,0.081,0.050,2179,3763,3993
$GC,3546,-1.03,-121.7,493.0,-14.6,483,3550,0.08,1.83,0.00,0.000,6,0.171,0.028,2210,2517,3993
$GC,3870,-1.09,-121.7,535.4,-13.4,501,3874,0.00,1.95,0.00,0.000,4,0.000,0.051,2207,3770,3992
$GC,3983,-1.09,-121.7,551.1,-13.2,506,3986,0.00,1.80,0.00,0.000,6,0.000,0.028,2207,2542,3991
$GC,4316,-1.16,-121.7,592.1,-11.0,522,4319,0.00,1.90,0.00,0.000,4,0.000,0.052,2205,3757,3988
$GC,4417,-1.22,-121.7,603.1,-10.4,526,4421,0.15,1.73,0.00,0.000,6,0.080,0.029,2146,2567,3987
$GC,4738,-1.08,-121.7,644.2,-12.9,542,4742,0.20,1.85,0.00,0.000,4,0.176,0.050,2194,3761,3986
$GC,4799,-1.08,-121.7,651.7,-11.3,544,4807,0.00,1.75,0.00,0.000,6,0.000,0.030,2194,2562,3985
$GC,5116,-1.08,-121.7,687.0,-11.7,560,5119,0.00,1.90,0.00,0.000,4,0.000,0.054,2192,3751,3983
$GC,5161,-1.08,-121.7,692.6,-12.2,562,5164,0.00,1.75,0.00,0.000,6,0.000,0.029,2192,2575,3982
$GC,5492,-1.08,-121.7,732.7,-12.4,578,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2575,3980
$GC,5803,-1.13,-121.7,772.6,-12.9,593,5807,0.00,1.88,0.00,0.000,4,0.000,0.056,2192,3761,3977
$GC,5926,-1.13,-121.7,789.8,-13.3,598,5930,0.00,1.75,0.00,0.000,6,0.000,0.031,2192,2589,3976
$GC,6248,-1.18,-121.7,830.6,-12.5,614,6252,0.00,2.25,0.00,0.000,4,0.000,0.031,2192,1053,3974
$GC,6287,-1.27,-121.7,835.8,-13.0,615,6293,0.17,2.33,0.00,0.000,6,0.083,0.041,2129,2569,3974
$GC,6602,-1.09,-121.7,886.7,-16.3,631,6606,0.20,1.88,0.00,0.000,4,0.195,0.054,2178,3768,3972
$GC,6629,-1.02,-121.7,891.1,-15.3,632,6634,0.15,1.75,0.00,0.000,6,0.183,0.031,2215,2581,3972
$GC,6958,-1.17,-121.7,928.9,-11.3,648,6960,0.15,0.00,0.00,0.000,6,0.084,0.000,2161,2581,3970
$GC,7266,-1.12,-121.7,971.3,-13.7,663,7269,0.00,1.88,0.00,0.000,4,0.000,0.058,2153,3763,3968
$GC,7327,-1.01,-121.7,980.5,-15.9,665,7334,0.25,1.73,0.00,0.000,6,0.180,0.031,2219,2592,3968
$STATE,7413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7413,begin apogee
$GC,7419,-0.22,0.0,990.5,11.2,670,7511,0.82,0.00,88.82,1.411,6,0.150,0.000,2472,2592,3532
$STATE,7512,end apogee,CONTROL_FINISHED_OK
$STATE,7512,begin climb
$GC,7515,1.18,121.7,993.7,0.0,674,7623,1.25,2.05,101.12,1.371,4,0.057,0.051,2924,3762,3034
$GC,7718,0.41,121.7,986.3,14.0,683,7724,1.00,1.90,0.00,0.000,6,0.219,0.028,2684,2522,3031
$GC,8040,0.62,200.4,963.3,6.8,699,8109,0.17,2.22,63.15,1.354,4,0.081,0.034,2750,1120,2713
$GC,8127,0.62,200.4,954.5,12.1,703,8131,0.00,2.25,0.00,0.000,6,0.000,0.038,2750,2513,2711
$GC,8454,0.63,216.1,917.6,11.0,719,8475,0.00,2.20,13.40,1.241,4,0.000,0.035,2750,1120,2650
$GC,8514,0.73,228.1,910.8,11.2,721,8531,0.00,2.15,11.57,1.207,6,0.000,0.038,2750,2491,2602
$GC,8847,0.80,236.5,873.0,11.4,738,8862,0.15,2.15,7.97,1.138,4,0.083,0.034,2813,1119,2566
$GC,8965,0.70,236.5,856.1,15.3,743,8970,0.17,2.12,0.00,0.000,6,0.190,0.039,2771,2484,2565
$GC,9285,0.70,236.5,811.4,13.8,759,9289,0.00,2.08,0.00,0.000,4,0.000,0.035,2775,1115,2563
$GC,9410,0.70,236.5,795.1,14.1,764,9413,0.00,2.10,0.00,0.000,6,0.000,0.038,2775,2476,2563
$GC,9730,0.70,236.5,750.9,13.3,780,9734,0.00,2.03,0.00,0.000,4,0.000,0.056,2775,3767,2561
$GC,9746,0.65,236.5,748.4,14.2,780,9754,0.00,1.92,0.00,0.000,6,0.000,0.031,2783,2469,2561
$GC,10063,0.61,236.5,706.3,12.4,796,10067,0.17,2.03,0.00,0.000,4,0.193,0.034,2741,1113,2561
$GC,10222,0.81,278.9,691.9,9.2,803,10266,0.17,2.08,33.85,1.225,6,0.081,0.040,2807,2455,2393
$GC,10575,0.81,278.9,644.1,13.9,820,10579,0.00,2.05,0.00,0.000,4,0.000,0.035,2815,1114,2389
$GC,10613,0.81,278.9,638.3,14.2,821,10620,0.00,2.08,0.00,0.000,6,0.000,0.040,2815,2444,2388
$GC,10930,0.75,278.9,595.2,13.5,837,10934,0.00,2.03,0.00,0.000,4,0.000,0.035,2818,1107,2388
$GC,10998,0.75,278.9,585.9,14.0,840,11002,0.12,2.05,0.00,0.000,6,0.184,0.038,2790,2435,2387
$GC,11329,0.75,278.9,543.2,13.2,856,11333,0.00,2.00,0.00,0.000,4,0.000,0.035,2797,1112,2386
$GC,11458,0.81,278.9,525.4,13.6,861,11465,0.00,2.00,0.00,0.000,6,0.000,0.039,2797,2416,2386
$GC,11777,0.81,278.9,482.7,12.5,883,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2416,2386
$GC,12098,0.82,287.2,443.4,11.5,913,12110,0.00,2.03,6.93,0.907,4,0.000,0.035,2802,1108,2361
$GC,12230,0.90,298.7,428.4,11.2,924,12249,0.00,1.98,11.02,0.966,6,0.000,0.038,2802,2401,2313
$GC,12567,0.96,298.7,387.1,13.7,956,12569,0.15,0.00,0.00,0.000,6,0.078,0.000,2861,2401,2311
$GC,12888,0.85,298.7,335.4,14.4,986,12892,0.17,1.95,0.00,0.000,4,0.187,0.033,2818,1101,2311
$GC,13051,0.92,311.1,315.0,11.2,1000,13069,0.00,2.00,11.10,0.874,6,0.000,0.036,2818,2419,2262
$GC,13400,0.98,318.5,273.6,11.5,1051,13414,0.12,2.03,7.18,0.774,4,0.085,0.033,2874,1107,2232
$GC,13507,0.91,318.5,259.2,13.7,1069,13514,0.15,1.95,0.00,0.000,6,0.186,0.038,2838,2384,2231
$GC,13852,0.98,331.1,218.5,11.2,1130,13870,0.00,1.92,11.35,0.785,4,0.000,0.032,2845,1103,2182
$GC,13950,1.08,331.1,207.0,12.0,1147,13956,0.12,1.95,0.00,0.000,6,0.085,0.037,2891,2381,2181
$GC,14294,1.03,331.1,160.0,12.7,1208,14301,0.00,2.15,0.00,0.000,4,0.000,0.053,2892,3761,2181
$GC,14336,0.84,331.1,153.9,14.8,1215,14342,0.30,2.00,0.00,0.000,6,0.179,0.028,2820,2405,2180
$GC,14680,1.15,403.3,122.3,7.2,1276,14746,0.22,2.00,56.12,0.732,4,0.068,0.032,2922,1108,1885
$GC,14999,1.22,403.3,84.9,12.0,1332,15006,0.00,1.95,0.00,0.000,6,0.000,0.035,2922,2389,1880
$GC,15344,1.33,415.0,43.8,11.2,1393,15362,0.15,2.15,9.35,0.590,4,0.077,0.048,2981,3756,1839
$GC,15414,1.11,415.0,33.8,16.8,1405,15421,0.32,2.00,0.00,0.000,6,0.180,0.025,2904,2391,1838
$STATE,15716,end climb,SURFACE_DEPTH_REACHED
$STATE,15717,begin surface coast
$FINISH,1.7,1.010867
$STATE,15746,end surface coast,CONTROL_FINISHED_OK
$STATE,15746,begin surface
$SM_CCo,15763,6.30,0.512,0,0,1798,425.10
$SM_GC,3.42,0.00,0.00,6.30,0.000,0.000,0.512,141,2385,1798,-7.51,-1.16,425.10
$IRIDIUM_FIX,2453.69,12327.55,170998,070721
$TT8_MAMPS,0.029146
$HUMID,1578
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.7,36.484
$10V_AH,10.8,20.815
$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,25.675,130.825,432.950,6.300,0.000,31.323,36.136,183.019,8.000,0.000,0.000,35.076,2612.683,9765.729,565.778,2663.932,556.211,0.000,1904.876,0.000,2582.007,0.000,54.432,0.000
$DEVICE_MAMPS,243.139,57.525,1411.280,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.827,1003.928,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78803,1464
$CAP_FILE_SIZE,165760,0
$CFSIZE,260165632,209375232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240, 20.5,1
$GPS,230609,163337,2503.089,12327.149,30,1.4,31,-3.7