version: 66.04
glider: 167
mission: 2
dive: 223
start: 6 27 109 3 58 48
data:
$ID,167
$MISSION,2
$DIVE,223
$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,-9449.5498
$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,54
$R_STBD_OVSHOOT,39
$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
$GPS1,034806,2443.042,12341.940,37,1.2,43,-3.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-66.4
$GPS2,035826,2443.094,12341.945,12,1.5,12,-3.6
$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,149.6,6439,-23.2,-12.000
$D_GRID,1802
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-30.75,0.000,2,0.000,0.000,140,2436,2587
$GC,50,-1.18,-121.7,3.3,-2.2,5,104,8.55,2.05,-38.38,0.000,4,0.250,0.057,2150,3758,3988
$GC,173,-0.27,-121.7,34.3,-40.1,26,180,1.10,1.98,0.00,0.000,6,0.187,0.023,2454,2381,3989
$GC,518,-1.14,-121.7,65.8,-9.2,87,524,0.70,2.15,0.00,0.000,4,0.050,0.044,2172,3767,3990
$GC,715,-0.62,-121.7,121.2,-27.6,122,722,0.57,1.85,0.00,0.000,6,0.170,0.023,2337,2455,3990
$GC,1060,-0.90,-121.7,167.3,-8.8,183,1067,0.20,2.00,0.00,0.000,4,0.061,0.044,2245,3756,3992
$GC,1276,-0.85,-121.7,196.8,-14.6,221,1282,0.00,1.77,0.00,0.000,6,0.000,0.024,2245,2486,3992
$GC,1620,-0.85,-121.7,252.3,-16.3,282,1626,0.00,1.95,0.00,0.000,4,0.000,0.044,2238,3763,3993
$GC,1739,-0.85,-121.7,271.2,-13.3,303,1746,0.12,1.75,0.00,0.000,6,0.156,0.025,2271,2520,3993
$GC,2082,-1.01,-121.7,305.7,-10.9,359,2086,0.15,1.90,0.00,0.000,4,0.069,0.045,2205,3758,3994
$GC,2165,-0.94,-121.7,318.6,-16.1,366,2172,0.12,1.70,0.00,0.000,6,0.164,0.025,2237,2550,3994
$GC,2491,-1.03,-121.7,358.6,-10.8,397,2495,0.00,1.88,0.00,0.000,4,0.000,0.047,2233,3767,3994
$GC,2694,-1.09,-121.7,380.0,-9.9,415,2698,0.12,1.70,0.00,0.000,6,0.078,0.025,2178,2568,3993
$GC,3024,-0.98,-121.7,423.9,-14.8,446,3028,0.17,1.85,0.00,0.000,4,0.165,0.046,2218,3765,3994
$GC,3176,-0.98,-121.7,444.7,-13.1,459,3182,0.00,1.65,0.00,0.000,6,0.000,0.026,2218,2601,3993
$GC,3501,-1.05,-121.7,484.0,-11.4,490,3505,0.00,1.80,0.00,0.000,4,0.000,0.050,2219,3764,3993
$GC,3642,-1.11,-121.7,499.7,-10.1,502,3652,0.00,1.60,0.00,0.000,6,0.000,0.028,2218,2639,3992
$GC,3958,-1.20,-121.7,531.2,-10.8,518,3963,0.17,1.77,0.00,0.000,4,0.074,0.050,2149,3758,3990
$GC,4027,-0.96,-121.7,541.5,-17.0,521,4031,0.30,1.62,0.00,0.000,6,0.173,0.028,2231,2629,3989
$GC,4362,-1.11,-121.7,581.8,-11.6,537,4366,0.12,1.77,0.00,0.000,4,0.081,0.051,2179,3747,3987
$GC,4551,-1.05,-121.7,608.0,-13.5,545,4555,0.00,1.55,0.00,0.000,6,0.000,0.028,2179,2686,3985
$GC,4873,-1.05,-121.7,645.8,-12.1,561,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2685,3982
$GC,5182,-1.05,-121.7,685.7,-12.8,576,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2685,3980
$GC,5490,-1.05,-121.7,729.1,-14.5,591,5494,0.00,1.67,0.00,0.000,4,0.000,0.055,2179,3752,3977
$GC,5581,-0.99,-121.7,742.9,-15.8,595,5585,0.12,1.55,0.00,0.000,6,0.170,0.031,2226,2713,3977
$GC,5915,-1.16,-121.7,780.7,-10.7,611,5919,0.17,2.45,0.00,0.000,4,0.077,0.029,2161,1062,3974
$GC,5992,-1.16,-121.7,792.2,-15.5,614,5996,0.00,2.50,0.00,0.000,6,0.000,0.040,2153,2674,3973
$GC,6314,-1.05,-121.7,841.4,-14.9,630,6316,0.20,0.00,0.00,0.000,6,0.185,0.000,2203,2674,3971
$GC,6623,-1.15,-121.7,878.3,-12.1,645,6627,0.00,2.42,0.00,0.000,4,0.000,0.031,2203,1053,3968
$GC,6656,-1.28,-121.7,882.5,-12.5,646,6663,0.22,2.50,0.00,0.000,6,0.075,0.041,2122,2672,3968
$GC,6972,-1.08,-121.7,932.5,-15.6,662,6976,0.25,1.70,0.00,0.000,4,0.189,0.056,2192,3755,3966
$GC,7004,-1.08,-121.7,937.4,-13.5,663,7008,0.00,1.60,0.00,0.000,6,0.000,0.031,2191,2689,3966
$GC,7326,-1.14,-121.7,973.2,-11.3,679,7331,0.00,2.40,0.00,0.000,4,0.000,0.031,2191,1063,3964
$GC,7371,-1.25,-121.7,978.6,-11.9,681,7376,0.15,2.45,0.00,0.000,6,0.084,0.041,2138,2649,3964
$STATE,7464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7464,begin apogee
$GC,7470,-0.22,0.0,991.6,14.5,686,7565,1.17,0.00,88.00,1.407,6,0.180,0.000,2470,2547,3533
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7568,1.18,121.7,996.1,0.0,691,7677,1.25,2.38,101.30,1.367,4,0.056,0.031,2935,1093,3035
$GC,7931,0.59,122.9,970.4,11.9,707,7936,0.77,2.22,0.00,0.000,6,0.214,0.038,2738,2514,3031
$GC,8252,0.60,179.1,944.1,8.3,723,8304,0.00,2.28,46.00,1.341,4,0.000,0.032,2745,1101,2801
$GC,8374,0.66,185.0,931.6,11.6,728,8387,0.00,2.22,5.93,1.025,6,0.000,0.038,2745,2506,2777
$GC,8694,0.68,197.9,895.9,11.2,744,8710,0.00,2.25,11.55,1.217,4,0.000,0.034,2747,1086,2725
$GC,8735,0.75,208.3,891.6,11.3,745,8751,0.12,2.22,10.50,1.184,6,0.091,0.038,2791,2500,2682
$GC,9062,0.65,208.3,848.1,13.2,760,9067,0.15,2.15,0.00,0.000,4,0.191,0.033,2759,1093,2678
$GC,9147,0.71,217.4,837.6,11.4,764,9161,0.00,2.15,8.75,1.151,6,0.000,0.038,2759,2477,2645
$GC,9478,0.71,217.4,795.9,12.9,780,9482,0.00,2.10,0.00,0.000,4,0.000,0.035,2759,1096,2642
$GC,9534,0.78,217.4,788.6,13.2,782,9538,0.10,2.12,0.00,0.000,6,0.101,0.038,2795,2472,2642
$GC,9850,0.70,217.4,744.9,13.3,797,9854,0.00,2.10,0.00,0.000,4,0.000,0.034,2802,1084,2641
$GC,9968,0.63,218.2,730.0,11.9,802,9973,0.20,2.08,0.00,0.000,6,0.185,0.038,2750,2436,2641
$GC,10289,0.74,254.9,698.4,9.6,818,10321,0.00,0.00,29.95,1.220,6,0.000,0.000,2751,2436,2492
$GC,10618,0.86,262.3,662.7,11.5,834,10628,0.20,0.00,7.20,1.025,6,0.071,0.000,2824,2437,2462
$GC,10928,0.76,262.3,620.9,12.2,849,10932,0.15,2.05,0.00,0.000,4,0.186,0.033,2795,1090,2459
$GC,11050,0.78,283.3,607.1,10.6,854,11075,0.00,2.10,18.45,1.131,6,0.000,0.038,2795,2448,2376
$GC,11392,0.78,283.3,564.0,13.4,871,11396,0.00,2.08,0.00,0.000,4,0.000,0.055,2795,3761,2372
$GC,11448,0.69,283.3,555.6,14.7,873,11452,0.15,2.00,0.00,0.000,6,0.198,0.030,2767,2432,2372
$GC,11769,0.82,283.3,515.0,12.5,889,11773,0.12,2.00,0.00,0.000,4,0.090,0.035,2815,1094,2371
$GC,11842,0.82,283.3,504.8,14.0,892,11846,0.00,2.05,0.00,0.000,6,0.000,0.038,2815,2432,2371
$GC,12169,0.82,283.3,460.5,12.8,921,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2432,2371
$GC,12485,0.82,283.3,417.8,14.5,951,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2432,2370
$GC,12806,0.83,292.4,376.1,11.4,981,12820,0.00,2.15,8.20,0.882,4,0.000,0.055,2814,3765,2339
$GC,12862,0.75,292.4,368.3,15.0,986,12866,0.15,2.00,0.00,0.000,6,0.186,0.029,2787,2412,2338
$GC,13193,0.91,310.6,332.8,10.8,1017,13216,0.15,1.95,15.65,0.910,4,0.081,0.032,2850,1091,2264
$GC,13251,0.91,310.6,325.2,13.5,1022,13254,0.00,2.10,0.00,0.000,6,0.000,0.036,2850,2453,2263
$GC,13581,0.91,310.6,284.5,12.7,1063,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2453,2262
$GC,13924,0.94,337.7,245.7,10.2,1124,13954,0.00,2.10,22.08,0.837,4,0.000,0.033,2855,1097,2154
$GC,14196,1.06,343.7,214.4,11.6,1172,14209,0.00,2.08,6.18,0.675,6,0.000,0.035,2855,2455,2130
$GC,14549,1.19,368.1,173.4,10.4,1234,14575,0.17,2.10,20.35,0.752,4,0.074,0.050,2929,3759,2030
$GC,14618,0.95,368.1,163.9,16.6,1245,14624,0.32,1.98,0.00,0.000,6,0.179,0.025,2851,2431,2029
$GC,14963,1.22,387.3,125.7,10.7,1306,14988,0.20,2.05,15.77,0.691,4,0.069,0.031,2939,1076,1952
$GC,15241,1.27,427.4,94.2,9.3,1355,15278,0.00,2.05,32.15,0.678,6,0.000,0.032,2939,2436,1789
$GC,15617,1.37,427.4,46.4,12.6,1421,15624,0.12,2.00,0.00,0.000,4,0.075,0.028,2998,1085,1784
$GC,15752,1.31,427.4,27.7,13.9,1444,15759,0.12,2.03,0.00,0.000,6,0.189,0.031,2970,2441,1784
$STATE,15938,end climb,SURFACE_DEPTH_REACHED
$STATE,15938,begin surface coast
$FINISH,1.7,0.997826
$STATE,15961,end surface coast,CONTROL_FINISHED_OK
$STATE,15961,begin surface
$SM_CCo,16038,0.00,0.000,0,0,1783,429.03
$SM_GC,2.57,7.50,0.00,0.00,0.051,0.000,0.000,139,2446,1783,-7.51,0.54,429.03
$IRIDIUM_FIX,2434.69,12422.20,210998,040406
$TT8_MAMPS,0.028379
$HUMID,1551
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.8,39.642
$10V_AH,10.8,22.539
$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,26.700,120.800,448.000,0.000,0.000,57.612,72.266,287.973,8.000,0.000,0.000,14.392,2647.622,10069.959,546.652,2652.544,731.199,0.000,1880.251,0.000,2595.062,0.000,54.437,0.000
$DEVICE_MAMPS,250.042,56.758,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.509,1020.050,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79080,1481
$CAP_FILE_SIZE,165837,0
$CFSIZE,260165632,207745024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118, 74.5,1
$GPS,270609,082707,2441.634,12343.396,26,1.3,27,-3.6