version: 66.04
glider: 167
mission: 2
dive: 228
start: 6 28 109 2 52 23
data:
$ID,167
$MISSION,2
$DIVE,228
$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,-9547.8857
$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,62
$R_STBD_OVSHOOT,60
$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
$GPS1,024529,2446.136,12344.312,37,1.7,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-65.9
$GPS2,025201,2446.165,12344.354,15,1.8,32,-3.6
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,308.8,113765,-23.2,-12.000
$D_GRID,1859
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.55,0.000,2,0.000,0.000,142,2473,2377
$GC,44,-1.18,-121.7,3.2,-3.0,4,111,8.35,2.20,-51.12,0.000,4,0.244,0.038,2159,1018,3990
$GC,215,-0.53,-121.7,40.5,-32.9,33,222,0.80,2.10,0.00,0.000,6,0.185,0.031,2373,2418,3990
$GC,559,-0.79,-121.7,92.4,-13.7,94,567,0.20,2.05,0.00,0.000,4,0.063,0.045,2275,3754,3992
$GC,719,-0.79,-121.7,120.2,-15.4,122,726,0.00,1.92,0.00,0.000,6,0.000,0.023,2275,2382,3992
$GC,1064,-0.79,-121.7,167.2,-12.0,183,1070,0.00,2.12,0.00,0.000,4,0.000,0.045,2275,3761,3994
$GC,1323,-0.86,-121.7,204.1,-14.1,229,1329,0.00,1.88,0.00,0.000,6,0.000,0.024,2275,2420,3995
$GC,1667,-0.98,-121.7,247.5,-12.8,290,1675,0.12,2.05,0.00,0.000,4,0.074,0.044,2207,3764,3996
$GC,1929,-0.86,-121.7,289.7,-15.1,336,1936,0.20,1.85,0.00,0.000,6,0.158,0.024,2262,2454,3996
$GC,2266,-1.05,-121.7,328.3,-11.1,375,2270,0.17,2.00,0.00,0.000,4,0.068,0.046,2188,3750,3996
$GC,2435,-0.92,-121.7,353.2,-14.8,390,2439,0.20,1.83,0.00,0.000,6,0.163,0.025,2243,2459,3997
$GC,2765,-1.07,-121.7,386.9,-10.5,421,2769,0.12,2.00,0.00,0.000,4,0.076,0.047,2189,3752,3996
$GC,2913,-0.98,-121.7,407.5,-15.0,434,2917,0.08,1.85,0.00,0.000,6,0.163,0.025,2226,2476,3997
$GC,3243,-1.09,-121.7,448.3,-11.7,465,3247,0.00,1.98,0.00,0.000,4,0.000,0.048,2221,3757,3996
$GC,3345,-1.18,-121.7,460.4,-11.3,474,3349,0.15,1.83,0.00,0.000,6,0.074,0.026,2161,2481,3996
$GC,3674,-1.06,-121.7,505.7,-13.7,503,3678,0.17,1.98,0.00,0.000,4,0.172,0.048,2205,3750,3993
$GC,3734,-1.06,-121.7,513.7,-12.1,505,3740,0.00,1.80,0.00,0.000,6,0.000,0.026,2205,2504,3993
$GC,4051,-1.11,-121.7,547.7,-10.2,521,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2504,3992
$GC,4360,-1.18,-121.7,580.7,-11.2,536,4364,0.12,1.95,0.00,0.000,4,0.081,0.051,2152,3747,3990
$GC,4507,-1.00,-121.7,603.4,-16.0,542,4511,0.25,1.77,0.00,0.000,6,0.173,0.027,2219,2516,3989
$GC,4827,-1.13,-121.7,642.7,-12.5,558,4829,0.12,0.00,0.00,0.000,6,0.082,0.000,2170,2516,3986
$GC,5137,-1.07,-121.7,686.4,-13.2,573,5141,0.12,1.95,0.00,0.000,4,0.180,0.051,2192,3754,3983
$GC,5251,-1.07,-121.7,700.5,-12.2,578,5255,0.00,1.80,0.00,0.000,6,0.000,0.028,2192,2518,3982
$GC,5584,-1.07,-121.7,738.1,-11.0,594,5588,0.00,1.95,0.00,0.000,4,0.000,0.054,2192,3752,3980
$GC,5712,-1.07,-121.7,753.7,-11.5,599,5718,0.00,1.80,0.00,0.000,6,0.000,0.029,2192,2518,3978
$GC,6029,-1.07,-121.7,788.7,-11.2,615,6033,0.00,1.98,0.00,0.000,4,0.000,0.054,2192,3766,3976
$GC,6061,-1.07,-121.7,792.7,-12.1,616,6065,0.00,1.83,0.00,0.000,6,0.000,0.030,2192,2544,3976
$GC,6384,-1.13,-121.7,830.3,-11.4,632,6388,0.00,1.92,0.00,0.000,4,0.000,0.055,2192,3740,3973
$GC,6497,-1.13,-121.7,844.1,-12.6,637,6500,0.00,1.75,0.00,0.000,6,0.000,0.031,2192,2550,3973
$GC,6830,-1.19,-121.7,880.4,-11.0,653,6834,0.00,1.92,0.00,0.000,4,0.000,0.056,2192,3757,3970
$GC,6898,-1.19,-121.7,888.1,-11.2,656,6902,0.00,1.80,0.00,0.000,6,0.000,0.031,2192,2561,3970
$GC,7231,-1.26,-121.7,921.9,-10.0,672,7235,0.15,1.90,0.00,0.000,4,0.084,0.056,2136,3750,3968
$GC,7304,-1.08,-121.7,931.6,-14.1,675,7308,0.17,1.75,0.00,0.000,6,0.179,0.031,2186,2582,3968
$GC,7633,-1.13,-121.7,967.4,-11.1,691,7637,0.00,1.85,0.00,0.000,4,0.000,0.055,2180,3747,3966
$GC,7683,-1.13,-121.7,974.0,-12.8,693,7686,0.00,1.75,0.00,0.000,6,0.000,0.031,2180,2580,3965
$STATE,7821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7821,begin apogee
$GC,7827,-0.22,0.0,990.7,12.0,700,7923,0.98,0.00,88.80,1.417,6,0.162,0.000,2467,2580,3531
$STATE,7924,end apogee,CONTROL_FINISHED_OK
$STATE,7924,begin climb
$GC,7927,1.18,121.7,995.1,0.0,705,8036,1.27,2.40,101.35,1.375,4,0.059,0.031,2936,1120,3035
$GC,8120,0.59,121.7,991.6,12.0,713,8127,0.77,2.20,0.00,0.000,6,0.213,0.037,2743,2497,3033
$GC,8436,0.59,182.2,966.1,8.0,729,8492,0.00,2.25,48.97,1.350,4,0.000,0.034,2746,1125,2788
$GC,8570,0.67,210.7,953.1,10.1,735,8599,0.00,2.20,24.70,1.299,6,0.000,0.038,2746,2507,2672
$GC,8924,0.69,221.2,913.0,11.3,752,8935,0.00,0.00,9.52,1.184,6,0.000,0.000,2746,2507,2630
$GC,9232,0.75,234.3,878.2,11.1,767,9253,0.12,2.17,11.90,1.225,4,0.086,0.032,2799,1129,2576
$GC,9327,0.70,234.3,865.1,14.0,771,9330,0.00,2.15,0.00,0.000,6,0.000,0.039,2800,2503,2575
$GC,9654,0.61,234.3,817.0,14.6,787,9659,0.20,2.10,0.00,0.000,4,0.189,0.033,2750,1123,2573
$GC,9732,0.73,242.3,807.2,11.5,790,9744,0.00,2.12,7.53,1.113,6,0.000,0.038,2749,2500,2544
$GC,10066,0.82,242.3,766.2,12.1,807,10071,0.17,2.08,0.00,0.000,4,0.079,0.033,2828,1134,2541
$GC,10234,0.70,242.3,742.0,14.9,814,10242,0.22,2.10,0.00,0.000,6,0.189,0.039,2771,2491,2541
$GC,10549,0.70,242.3,701.6,12.4,830,10553,0.00,1.98,0.00,0.000,4,0.000,0.055,2771,3758,2540
$GC,10588,0.62,242.3,696.2,13.9,831,10595,0.12,1.88,0.00,0.000,6,0.195,0.029,2747,2486,2539
$GC,10905,0.75,257.5,660.2,11.0,847,10927,0.12,2.10,12.82,1.149,4,0.088,0.034,2801,1110,2481
$GC,11073,0.75,257.5,638.2,13.0,854,11077,0.00,2.10,0.00,0.000,6,0.000,0.040,2801,2462,2480
$GC,11394,0.75,259.7,599.2,11.9,870,11398,0.00,2.05,0.00,0.000,4,0.000,0.034,2806,1104,2479
$GC,11440,0.77,273.7,593.9,11.1,872,11461,0.00,2.08,14.38,1.112,6,0.000,0.037,2806,2453,2415
$GC,11770,0.77,273.7,551.3,12.9,888,11774,0.00,2.03,0.00,0.000,4,0.000,0.033,2813,1113,2413
$GC,11887,0.77,273.7,536.0,12.9,893,11891,0.00,2.03,0.00,0.000,6,0.000,0.038,2813,2429,2412
$GC,12205,0.77,273.7,494.6,12.7,910,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2429,2411
$GC,12525,0.77,275.7,455.1,11.9,940,12529,0.00,1.98,0.00,0.000,4,0.000,0.033,2817,1110,2411
$GC,12615,0.79,288.5,444.8,11.2,948,12637,0.00,1.98,13.12,0.996,6,0.000,0.037,2818,2404,2355
$GC,12955,0.82,311.2,407.8,10.5,980,12981,0.00,2.03,19.27,0.983,4,0.000,0.033,2822,1113,2262
$GC,13016,0.89,321.3,400.8,11.3,985,13034,0.00,2.00,9.38,0.892,6,0.000,0.037,2822,2402,2222
$GC,13351,0.95,321.3,359.2,13.4,1017,13355,0.00,1.95,0.00,0.000,4,0.000,0.031,2828,1109,2219
$GC,13408,1.02,321.3,351.7,13.3,1022,13412,0.12,1.98,0.00,0.000,6,0.081,0.036,2876,2396,2219
$GC,13738,0.93,321.3,299.9,13.8,1053,13744,0.12,1.90,0.00,0.000,4,0.190,0.029,2854,1109,2219
$GC,13888,0.95,334.0,282.1,11.2,1079,13906,0.00,1.90,11.45,0.835,6,0.000,0.035,2854,2364,2169
$GC,14246,1.01,347.3,241.1,11.1,1142,14264,0.00,2.20,11.95,0.791,4,0.000,0.050,2854,3765,2115
$GC,14390,1.01,347.3,221.8,14.3,1167,14396,0.00,2.08,0.00,0.000,6,0.000,0.028,2859,2357,2113
$GC,14735,1.17,388.4,181.0,9.3,1228,14777,0.17,1.90,32.85,0.772,4,0.074,0.031,2939,1106,1946
$GC,14924,1.17,388.4,156.3,12.3,1261,14931,0.00,1.92,0.00,0.000,6,0.000,0.033,2939,2369,1944
$GC,15269,1.17,388.4,112.1,12.2,1322,15276,0.00,2.17,0.00,0.000,4,0.000,0.047,2939,3774,1942
$GC,15345,1.03,388.4,100.9,14.5,1335,15352,0.25,2.12,0.00,0.000,6,0.176,0.024,2881,2318,1943
$GC,15690,1.36,454.5,68.1,7.6,1396,15748,0.25,1.77,51.58,0.657,4,0.064,0.031,2991,1110,1678
$GC,15939,1.36,454.5,34.0,13.7,1440,15945,0.00,1.83,0.00,0.000,6,0.000,0.031,2990,2321,1673
$STATE,16150,end climb,SURFACE_DEPTH_REACHED
$STATE,16150,begin surface coast
$FINISH,1.7,1.005231
$STATE,16174,end surface coast,CONTROL_FINISHED_OK
$STATE,16174,begin surface
$SM_CCo,16253,0.00,0.000,0,0,1670,456.75
$SM_GC,2.87,7.62,0.00,0.00,0.054,0.000,0.000,141,2469,1670,-7.49,1.19,456.75
$IRIDIUM_FIX,2434.69,12344.69,210998,222233
$TT8_MAMPS,0.028379
$HUMID,1563
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,1
$24V_AH,23.7,40.472
$10V_AH,10.8,22.991
$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,24.075,130.950,469.575,0.000,0.000,27.715,32.610,177.543,8.250,0.000,0.000,32.389,2645.703,10133.868,574.886,2732.526,548.652,0.000,1950.500,0.000,2647.675,0.000,54.427,0.000
$DEVICE_MAMPS,243.906,62.894,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.556,1016.623,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78998,1482
$CAP_FILE_SIZE,165181,0
$CFSIZE,260165632,207319040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 84.5,1
$GPS,280609,072431,2447.787,12343.904,40,1.7,41,-3.6