version: 66.04
glider: 167
mission: 2
dive: 205
start: 6 23 109 16 41 21
data:
$ID,167
$MISSION,2
$DIVE,205
$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,-9127.2314
$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,66
$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
$GPS1,163337,2503.089,12327.149,30,1.4,31,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-65.2
$GPS2,164100,2503.223,12327.253,10,1.8,14,-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,192.7,50850,-23.2,-12.000
$D_GRID,2057
$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,-23.17,0.000,2,0.000,0.000,142,2386,2393
$GC,43,-1.18,-121.7,3.1,-3.3,4,105,8.25,2.08,-48.08,0.000,4,0.240,0.041,2160,1014,3989
$GC,140,-0.60,-121.7,20.5,-33.8,20,148,0.70,2.15,0.00,0.000,6,0.176,0.032,2349,2438,3991
$GC,486,-0.74,-121.7,75.8,-12.8,81,492,0.12,2.03,0.00,0.000,4,0.076,0.046,2289,3760,3992
$GC,679,-0.80,-121.7,103.0,-12.3,115,685,0.00,1.90,0.00,0.000,6,0.000,0.025,2289,2419,3992
$GC,1022,-0.88,-121.7,148.0,-13.1,176,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2419,3994
$GC,1367,-1.00,-121.7,190.3,-12.1,237,1374,0.17,2.08,0.00,0.000,4,0.068,0.045,2205,3767,3995
$GC,1465,-0.86,-121.7,206.2,-16.9,254,1472,0.22,1.85,0.00,0.000,6,0.158,0.024,2269,2455,3995
$GC,1811,-1.01,-121.7,248.1,-11.2,315,1816,0.15,0.00,0.00,0.000,6,0.070,0.000,2204,2455,3997
$GC,2154,-0.96,-121.7,294.1,-13.9,376,2162,0.12,2.00,0.00,0.000,4,0.166,0.045,2227,3758,3997
$GC,2213,-0.96,-121.7,302.0,-13.4,385,2217,0.00,1.83,0.00,0.000,6,0.000,0.026,2227,2472,3997
$GC,2544,-1.01,-121.7,342.1,-11.7,416,2548,0.00,1.98,0.00,0.000,4,0.000,0.047,2220,3754,3997
$GC,2670,-1.01,-121.7,357.5,-12.4,427,2673,0.00,1.80,0.00,0.000,6,0.000,0.027,2220,2493,3996
$GC,3004,-1.07,-121.7,397.6,-12.0,458,3008,0.00,1.95,0.00,0.000,4,0.000,0.049,2218,3754,3997
$GC,3076,-1.07,-121.7,407.1,-12.6,464,3084,0.00,1.80,0.00,0.000,6,0.000,0.028,2218,2518,3997
$GC,3404,-1.13,-121.7,444.9,-11.6,495,3410,0.12,0.00,0.00,0.000,6,0.081,0.000,2165,2518,3996
$GC,3729,-1.03,-121.7,495.2,-16.2,526,3733,0.17,1.92,0.00,0.000,4,0.176,0.049,2207,3757,3994
$GC,3807,-1.03,-121.7,506.3,-13.6,531,3810,0.00,1.80,0.00,0.000,6,0.000,0.029,2207,2506,3994
$GC,4128,-1.09,-121.7,548.1,-12.7,547,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2506,3993
$GC,4437,-1.16,-121.7,586.0,-12.2,562,4441,0.00,2.12,0.00,0.000,4,0.000,0.031,2207,1046,3991
$GC,4471,-1.24,-121.7,590.1,-11.9,563,4476,0.17,2.20,0.00,0.000,6,0.074,0.038,2139,2500,3990
$GC,4787,-1.07,-121.7,638.7,-15.7,578,4791,0.20,1.95,0.00,0.000,4,0.186,0.052,2192,3760,3988
$GC,4837,-1.07,-121.7,645.7,-12.7,580,4840,0.00,1.83,0.00,0.000,6,0.000,0.031,2192,2508,3987
$GC,5163,-1.07,-121.7,686.6,-12.0,596,5167,0.00,1.98,0.00,0.000,4,0.000,0.055,2192,3763,3986
$GC,5263,-1.07,-121.7,699.3,-12.1,600,5267,0.00,1.85,0.00,0.000,6,0.000,0.031,2192,2523,3984
$GC,5585,-1.07,-121.7,736.7,-11.6,616,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2523,3982
$GC,5894,-1.12,-121.7,773.5,-12.4,631,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2523,3980
$GC,6204,-1.17,-121.7,813.8,-13.2,646,6207,0.00,1.95,0.00,0.000,4,0.000,0.057,2192,3755,3977
$GC,6236,-1.17,-121.7,818.5,-14.4,647,6240,0.00,1.85,0.00,0.000,6,0.000,0.031,2192,2516,3977
$GC,6558,-1.24,-121.7,859.9,-12.8,663,6560,0.15,0.00,0.00,0.000,6,0.084,0.000,2136,2515,3975
$GC,6868,-1.10,-121.7,906.6,-14.9,678,6869,0.20,0.00,0.00,0.000,6,0.184,0.000,2186,2516,3972
$GC,7177,-1.16,-121.7,942.0,-10.9,693,7181,0.00,2.15,0.00,0.000,4,0.000,0.033,2186,1058,3971
$GC,7228,-1.25,-121.7,947.7,-10.6,695,7233,0.10,2.20,0.00,0.000,6,0.094,0.041,2143,2493,3970
$GC,7549,-1.15,-121.7,989.0,-12.9,711,7553,0.12,1.98,0.00,0.000,4,0.199,0.057,2165,3749,3969
$STATE,7556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7557,begin apogee
$GC,7564,-0.22,0.0,990.5,12.7,711,7656,1.00,0.00,88.78,1.411,6,0.168,0.000,2464,2535,3532
$STATE,7657,end apogee,CONTROL_FINISHED_OK
$STATE,7657,begin climb
$GC,7660,1.18,121.7,993.6,0.0,716,7770,1.27,2.38,100.70,1.366,4,0.054,0.033,2938,1092,3034
$GC,8023,0.58,121.7,961.9,13.8,732,8028,0.80,2.22,0.00,0.000,6,0.213,0.040,2733,2506,3031
$GC,8344,0.59,178.2,934.4,8.3,748,8392,0.00,0.00,45.10,1.338,6,0.000,0.000,2733,2506,2805
$GC,8713,0.64,218.1,898.6,9.4,766,8755,0.00,2.30,32.60,1.312,4,0.000,0.035,2733,1093,2642
$GC,8783,0.81,236.8,891.4,10.8,769,8807,0.20,2.25,16.77,1.239,6,0.075,0.038,2803,2509,2565
$GC,9131,0.70,236.8,843.0,14.5,786,9136,0.12,2.17,0.00,0.000,4,0.194,0.033,2783,1086,2560
$GC,9203,0.70,236.8,832.9,13.3,789,9206,0.00,2.22,0.00,0.000,6,0.000,0.040,2782,2512,2559
$GC,9524,0.70,236.8,788.3,14.3,805,9528,0.00,2.15,0.00,0.000,4,0.000,0.035,2789,1099,2557
$GC,9557,0.70,236.8,783.2,15.2,806,9561,0.00,2.15,0.00,0.000,6,0.000,0.038,2789,2496,2557
$GC,9879,0.65,236.8,734.4,15.2,822,9883,0.15,2.12,0.00,0.000,4,0.189,0.034,2760,1094,2556
$GC,9967,0.74,236.8,722.8,12.1,826,9971,0.00,2.12,0.00,0.000,6,0.000,0.040,2760,2472,2556
$GC,10295,0.82,267.1,686.8,10.0,842,10321,0.15,0.00,23.42,1.205,6,0.087,0.000,2815,2473,2443
$GC,10623,0.74,267.1,643.6,13.5,858,10628,0.12,2.10,0.00,0.000,4,0.190,0.035,2790,1103,2439
$GC,10650,0.74,267.1,639.8,13.6,859,10654,0.00,2.15,0.00,0.000,6,0.000,0.039,2789,2485,2438
$GC,10971,0.74,267.1,593.9,14.6,875,10975,0.00,2.00,0.00,0.000,4,0.000,0.054,2790,3762,2437
$GC,11021,0.61,267.1,585.8,16.6,877,11025,0.17,1.95,0.00,0.000,6,0.194,0.030,2746,2450,2437
$GC,11349,0.77,267.1,544.0,13.0,893,11353,0.12,2.03,0.00,0.000,4,0.085,0.035,2801,1094,2437
$GC,11477,0.77,267.1,524.8,14.4,898,11483,0.00,2.10,0.00,0.000,6,0.000,0.039,2801,2455,2436
$GC,11796,0.77,267.1,481.9,12.7,920,11800,0.00,2.05,0.00,0.000,4,0.000,0.054,2801,3767,2437
$GC,11812,0.72,267.1,479.5,13.1,921,11819,0.12,1.98,0.00,0.000,6,0.200,0.029,2780,2430,2436
$GC,12138,0.80,274.5,444.2,11.5,952,12151,0.00,2.03,6.62,0.900,4,0.000,0.034,2787,1099,2412
$GC,12293,0.89,274.5,425.3,12.3,965,12299,0.12,2.05,0.00,0.000,6,0.086,0.036,2834,2443,2411
$GC,12618,0.81,274.5,378.7,13.7,996,12621,0.00,2.08,0.00,0.000,4,0.000,0.054,2834,3772,2411
$GC,12663,0.59,274.5,371.4,16.6,1000,12668,0.38,2.00,0.00,0.000,6,0.186,0.029,2741,2424,2411
$GC,12988,0.88,307.0,337.0,9.9,1030,13023,0.22,2.05,26.85,0.947,4,0.073,0.034,2840,1094,2279
$GC,13046,0.88,307.0,329.3,13.7,1035,13049,0.00,2.08,0.00,0.000,6,0.000,0.038,2840,2430,2277
$GC,13376,0.88,307.0,284.1,12.1,1076,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2430,2275
$GC,13721,0.89,307.7,241.1,12.0,1137,13727,0.00,2.03,0.00,0.000,4,0.000,0.035,2848,1084,2274
$GC,13913,0.89,309.4,216.0,11.9,1171,13919,0.00,2.05,0.00,0.000,6,0.000,0.038,2848,2432,2274
$GC,14256,0.89,309.4,171.5,12.6,1232,14263,0.00,2.08,0.00,0.000,4,0.000,0.054,2848,3762,2274
$GC,14292,0.81,309.4,166.6,14.3,1238,14299,0.20,2.00,0.00,0.000,6,0.176,0.029,2804,2407,2274
$GC,14638,1.12,366.1,136.1,8.3,1299,14691,0.25,2.00,45.38,0.755,4,0.068,0.035,2916,1085,2038
$GC,14748,1.12,366.1,122.1,13.6,1318,14754,0.00,2.10,0.00,0.000,6,0.000,0.037,2916,2444,2034
$GC,15091,1.12,366.1,75.9,12.9,1379,15097,0.00,2.03,0.00,0.000,4,0.000,0.031,2924,1089,2033
$GC,15352,1.24,394.5,47.1,10.1,1425,15381,0.00,2.03,22.25,0.649,6,0.000,0.035,2925,2429,1922
$GC,15721,1.36,431.7,8.6,9.5,1490,15757,0.15,2.03,28.90,0.610,4,0.073,0.030,2992,1080,1771
$STATE,15761,end climb,SURFACE_DEPTH_REACHED
$STATE,15761,begin surface coast
$FINISH,1.8,1.000726
$STATE,15785,end surface coast,CONTROL_FINISHED_OK
$STATE,15785,begin surface
$SM_CCo,15864,0.00,0.000,0,0,1766,433.20
$SM_GC,2.65,7.65,0.00,0.00,0.051,0.000,0.000,141,2460,1766,-7.50,0.93,433.20
$IRIDIUM_FIX,2451.31,12324.26,170998,121235
$TT8_MAMPS,0.028379
$HUMID,1570
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,36.647
$10V_AH,10.8,20.904
$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,24.225,122.200,437.375,0.000,0.000,29.106,41.522,235.134,8.000,0.000,0.000,14.627,2633.751,9934.802,545.563,2587.099,595.709,0.000,1851.722,0.000,2526.126,0.000,54.423,0.000
$DEVICE_MAMPS,240.071,56.758,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.880,1050.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79016,1501
$CAP_FILE_SIZE,159724,0
$CFSIZE,260165632,209297408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242, 24.4,1
$GPS,230609,210700,2503.332,12327.404,35,1.1,41,-3.7