version: 66.04
glider: 167
mission: 2
dive: 224
start: 6 27 109 8 33 44
data:
$ID,167
$MISSION,2
$DIVE,224
$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,-9463.6006
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,082707,2441.634,12343.396,26,1.3,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.2
$GPS2,083320,2441.670,12343.422,13,1.8,13,-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,140.3,2931,-28.0,-12.000
$D_GRID,1778
$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,-1.35,-82.8,0.0,0.0,0,40,0.00,0.00,-22.80,0.000,2,0.000,0.000,139,2446,2360
$GC,43,-1.40,-121.7,3.1,-1.9,4,108,8.12,2.10,-51.15,0.000,4,0.244,0.055,2081,3772,3989
$GC,215,-0.51,-121.7,53.7,-43.7,33,222,1.12,2.00,0.00,0.000,6,0.209,0.021,2376,2357,3990
$GC,560,-0.97,-121.7,106.5,-12.7,94,566,0.35,2.17,0.00,0.000,4,0.054,0.044,2218,3761,3992
$GC,741,-0.79,-121.7,144.3,-21.4,126,748,0.25,1.95,0.00,0.000,6,0.173,0.023,2286,2377,3992
$GC,1086,-1.09,-121.7,192.3,-13.0,187,1093,0.22,2.12,0.00,0.000,4,0.061,0.044,2179,3760,3994
$GC,1346,-0.93,-121.7,244.2,-22.3,233,1352,0.22,1.77,0.00,0.000,6,0.173,0.024,2239,2496,3995
$GC,1693,-1.18,-121.7,286.5,-8.7,294,1699,0.17,1.95,0.00,0.000,4,0.063,0.044,2152,3765,3996
$GC,1717,-1.18,-121.7,289.6,-12.1,298,1723,0.00,1.75,0.00,0.000,6,0.000,0.024,2152,2506,3996
$GC,2045,-1.18,-121.7,345.0,-17.6,334,2049,0.00,1.92,0.00,0.000,4,0.000,0.045,2145,3764,3996
$GC,2210,-1.07,-121.7,375.1,-18.1,348,2218,0.20,1.73,0.00,0.000,6,0.176,0.025,2195,2543,3996
$GC,2535,-1.26,-121.7,417.1,-12.0,379,2539,0.17,1.88,0.00,0.000,4,0.071,0.047,2127,3757,3997
$GC,2631,-1.12,-121.7,433.8,-18.8,387,2637,0.20,1.67,0.00,0.000,6,0.183,0.025,2176,2573,3997
$GC,2955,-1.27,-121.7,482.6,-14.2,418,2960,0.12,1.85,0.00,0.000,4,0.084,0.048,2125,3767,3997
$GC,3115,-1.16,-121.7,509.8,-17.6,430,3120,0.12,1.73,0.00,0.000,6,0.182,0.026,2162,2586,3996
$GC,3450,-1.25,-121.7,558.4,-14.7,446,3453,0.00,1.83,0.00,0.000,4,0.000,0.050,2156,3763,3994
$GC,3540,-1.25,-121.7,572.9,-16.5,450,3543,0.00,1.65,0.00,0.000,6,0.000,0.028,2156,2607,3993
$GC,3872,-1.34,-121.7,621.0,-14.4,466,3876,0.12,1.80,0.00,0.000,4,0.088,0.050,2098,3763,3991
$GC,3956,-1.19,-121.7,635.5,-17.5,469,3963,0.22,1.62,0.00,0.000,6,0.193,0.028,2154,2636,3990
$GC,4272,-1.27,-121.7,682.6,-15.1,485,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2636,3988
$GC,4583,-1.37,-121.7,727.6,-14.9,500,4587,0.15,1.77,0.00,0.000,4,0.081,0.053,2097,3765,3985
$GC,4678,-1.21,-121.7,746.5,-19.4,504,4682,0.22,1.62,0.00,0.000,6,0.195,0.029,2152,2643,3984
$GC,5006,-1.31,-121.7,794.4,-14.5,520,5010,0.00,2.33,0.00,0.000,4,0.000,0.029,2153,1054,3981
$GC,5052,-1.46,-121.7,800.9,-13.5,522,5057,0.22,2.38,0.00,0.000,6,0.078,0.038,2070,2607,3981
$GC,5380,-1.28,-121.7,857.8,-17.6,538,5382,0.25,0.00,0.00,0.000,6,0.211,0.000,2131,2608,3977
$GC,5690,-1.32,-121.7,900.7,-13.2,553,5693,0.00,1.80,0.00,0.000,4,0.000,0.055,2124,3764,3975
$GC,5735,-1.32,-121.7,907.5,-14.9,555,5738,0.00,1.65,0.00,0.000,6,0.000,0.030,2124,2633,3974
$GC,6067,-1.32,-121.7,953.0,-13.7,571,6071,0.00,2.33,0.00,0.000,4,0.000,0.030,2124,1053,3972
$GC,6100,-1.38,-121.7,957.4,-13.4,572,6104,0.00,2.40,0.00,0.000,6,0.000,0.041,2123,2609,3972
$STATE,6350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6351,begin apogee
$GC,6356,-0.22,0.0,991.1,13.4,584,6454,1.20,0.00,89.35,1.404,6,0.181,0.000,2464,2609,3532
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6458,1.40,121.7,993.7,0.0,589,6567,1.45,2.42,100.78,1.361,4,0.054,0.030,3003,1143,3034
$GC,6602,0.84,121.7,992.0,12.2,595,6607,0.77,2.20,0.00,0.000,6,0.226,0.037,2819,2508,3033
$GC,6918,0.76,137.7,957.4,10.4,610,6940,0.00,2.15,13.38,1.243,4,0.000,0.031,2827,1136,2970
$GC,7013,0.71,143.1,946.6,11.5,614,7024,0.20,2.12,5.85,1.025,6,0.197,0.038,2779,2493,2948
$GC,7336,0.79,161.5,913.8,10.2,629,7358,0.00,2.08,16.23,1.269,4,0.000,0.032,2786,1135,2873
$GC,7496,0.90,165.2,895.6,11.6,636,7505,0.15,2.12,4.45,0.903,6,0.084,0.038,2840,2494,2858
$GC,7829,0.81,165.2,850.1,13.3,652,7833,0.15,2.05,0.00,0.000,4,0.204,0.031,2813,1146,2856
$GC,7896,0.81,165.2,841.6,12.2,655,7899,0.00,2.08,0.00,0.000,6,0.000,0.039,2813,2479,2856
$GC,8228,0.81,165.2,801.3,12.2,671,8231,0.00,2.03,0.00,0.000,4,0.000,0.034,2818,1136,2854
$GC,8386,0.81,165.6,782.7,12.0,678,8390,0.00,2.03,0.00,0.000,6,0.000,0.038,2818,2450,2854
$GC,8718,0.81,165.6,741.1,12.8,694,8722,0.00,1.98,0.00,0.000,4,0.000,0.033,2826,1129,2852
$GC,8971,0.81,165.6,708.6,12.8,705,8975,0.00,2.00,0.00,0.000,6,0.000,0.040,2826,2432,2851
$GC,9298,0.81,165.6,667.4,12.1,721,9302,0.00,2.10,0.00,0.000,4,0.000,0.057,2826,3770,2850
$GC,9427,0.62,165.6,650.8,12.6,726,9434,0.32,1.92,0.00,0.000,6,0.202,0.027,2751,2452,2850
$GC,9743,0.89,210.9,625.1,7.6,742,9786,0.20,2.00,35.05,1.176,4,0.081,0.034,2836,1139,2672
$GC,9867,0.96,214.7,611.2,11.6,747,9878,0.00,2.00,4.70,0.838,6,0.000,0.038,2836,2420,2655
$GC,10187,0.96,214.7,570.0,12.3,763,10190,0.00,1.92,0.00,0.000,4,0.000,0.032,2844,1142,2653
$GC,10226,1.01,214.7,565.0,12.4,764,10233,0.00,1.95,0.00,0.000,6,0.000,0.038,2843,2411,2652
$GC,10541,1.01,214.7,524.3,13.2,780,10545,0.00,1.92,0.00,0.000,4,0.000,0.034,2851,1133,2652
$GC,10703,1.01,214.7,502.1,14.3,787,10707,0.00,1.95,0.00,0.000,6,0.000,0.039,2851,2399,2651
$GC,11033,1.01,214.7,459.7,12.7,817,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2400,2651
$GC,11357,1.01,214.7,418.1,12.5,848,11361,0.00,2.15,0.00,0.000,4,0.000,0.055,2851,3767,2651
$GC,11425,0.88,214.7,408.9,14.3,854,11430,0.12,2.03,0.00,0.000,6,0.211,0.028,2832,2402,2651
$GC,11757,0.98,224.4,371.0,11.1,885,11771,0.00,2.20,8.65,0.888,4,0.000,0.052,2832,3763,2616
$GC,11803,0.93,226.8,365.5,11.8,889,11814,0.00,2.03,3.80,0.630,6,0.000,0.028,2841,2386,2606
$GC,12133,1.03,226.8,324.6,12.2,920,12137,0.10,1.83,0.00,0.000,4,0.099,0.034,2885,1143,2606
$GC,12324,1.05,249.0,301.8,9.8,937,12346,0.00,1.83,18.00,0.892,6,0.000,0.037,2885,2351,2516
$GC,12684,1.05,249.0,260.1,13.4,999,12690,0.00,2.22,0.00,0.000,4,0.000,0.051,2885,3771,2513
$GC,12707,0.98,249.0,256.7,15.0,1003,12714,0.12,2.03,0.00,0.000,6,0.204,0.027,2866,2395,2513
$GC,13053,1.10,278.2,218.2,9.2,1064,13083,0.00,1.88,23.67,0.823,4,0.000,0.030,2873,1129,2396
$GC,13337,1.33,309.7,191.0,8.9,1114,13368,0.28,1.90,25.17,0.787,6,0.071,0.035,2977,2381,2268
$GC,13708,1.24,309.7,136.4,12.5,1179,13714,0.15,2.17,0.00,0.000,4,0.202,0.050,2944,3767,2265
$GC,13830,1.17,324.0,121.1,10.6,1200,13848,0.00,1.98,11.50,0.684,6,0.000,0.025,2952,2418,2212
$GC,14189,1.30,368.3,87.3,7.7,1263,14230,0.00,1.90,35.25,0.685,4,0.000,0.030,2959,1127,2030
$GC,14416,1.52,388.3,66.0,10.1,1303,14441,0.22,2.00,15.50,0.631,6,0.077,0.033,3038,2445,1950
$GC,14780,1.45,388.3,10.4,15.0,1367,14786,0.00,1.92,0.00,0.000,4,0.000,0.028,3047,1134,1949
$STATE,14831,end climb,SURFACE_DEPTH_REACHED
$STATE,14831,begin surface coast
$FINISH,1.8,1.021474
$STATE,14852,end surface coast,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$SM_CCo,14872,27.77,0.601,0,0,1799,425.10
$SM_GC,2.48,0.00,0.00,27.77,0.000,0.000,0.601,142,2448,1799,-7.51,0.59,425.10
$IRIDIUM_FIX,2432.32,12418.91,210998,040417
$TT8_MAMPS,0.029146
$HUMID,1569
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.8,39.791
$10V_AH,10.8,22.624
$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,25.650,122.875,411.325,27.775,0.000,30.228,32.336,176.001,8.000,0.000,0.000,13.422,2475.765,9157.314,549.084,2551.049,535.278,0.000,1831.320,0.000,2489.097,0.000,54.435,0.000
$DEVICE_MAMPS,243.906,56.758,1403.610,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,930.697,948.418,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72721,1380
$CAP_FILE_SIZE,155108,0
$CFSIZE,260165632,207675392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 70.7,1
$GPS,270609,124327,2440.642,12344.999,25,2.2,45,-3.6