version: 66.04
glider: 167
mission: 2
dive: 229
start: 6 28 109 7 40 53
data:
$ID,167
$MISSION,2
$DIVE,229
$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,-9578.2861
$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,68
$R_STBD_OVSHOOT,66
$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
$GPS1,072431,2447.787,12343.904,40,1.7,41,-3.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-68.9
$GPS2,074031,2447.926,12344.015,12,1.5,29,-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,318.5,110592,-23.2,-12.000
$D_GRID,1917
$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,-23.30,0.000,2,0.000,0.000,141,2469,2267
$GC,43,-1.18,-121.7,3.1,-2.5,4,118,8.40,2.17,-57.40,0.000,4,0.245,0.039,2154,1023,3989
$GC,327,-0.58,-121.7,73.2,-28.6,53,334,0.75,2.08,0.00,0.000,6,0.186,0.031,2353,2418,3990
$GC,672,-0.81,-121.7,121.3,-11.9,114,679,0.17,2.05,0.00,0.000,4,0.067,0.045,2271,3760,3991
$GC,798,-0.69,-121.7,143.5,-16.7,136,806,0.17,1.92,0.00,0.000,6,0.156,0.024,2319,2394,3992
$GC,1145,-0.88,-121.7,184.7,-9.5,197,1151,0.17,2.10,0.00,0.000,4,0.067,0.044,2231,3760,3992
$GC,1404,-0.77,-121.7,229.8,-15.6,243,1411,0.22,1.80,0.00,0.000,6,0.162,0.025,2294,2486,3992
$GC,1750,-0.98,-121.7,264.7,-9.2,304,1758,0.17,1.95,0.00,0.000,4,0.067,0.044,2218,3755,3993
$GC,1992,-0.98,-121.7,302.0,-14.5,346,1999,0.00,1.83,0.00,0.000,6,0.000,0.025,2218,2487,3992
$GC,2320,-0.98,-121.7,341.2,-12.2,377,2323,0.00,1.95,0.00,0.000,4,0.000,0.046,2216,3755,3993
$GC,2421,-0.98,-121.7,355.6,-14.5,386,2425,0.00,1.77,0.00,0.000,6,0.000,0.025,2216,2497,3993
$GC,2754,-0.98,-121.7,395.2,-11.3,417,2758,0.00,1.92,0.00,0.000,4,0.000,0.047,2206,3748,3993
$GC,2845,-0.98,-121.7,405.9,-11.7,425,2849,0.00,1.77,0.00,0.000,6,0.000,0.025,2206,2510,3993
$GC,3177,-0.98,-121.7,443.1,-11.7,456,3181,0.00,2.10,0.00,0.000,4,0.000,0.027,2206,1044,3992
$GC,3212,-0.98,-121.7,447.5,-11.5,459,3216,0.00,2.17,0.00,0.000,6,0.000,0.033,2205,2502,3992
$GC,3537,-0.98,-121.7,489.4,-13.3,489,3540,0.00,1.90,0.00,0.000,4,0.000,0.049,2205,3749,3990
$GC,3598,-0.98,-121.7,498.0,-13.2,494,3604,0.00,1.75,0.00,0.000,6,0.000,0.026,2205,2518,3990
$GC,3914,-0.98,-121.7,537.2,-12.8,511,3918,0.00,1.92,0.00,0.000,4,0.000,0.050,2205,3758,3987
$GC,3964,-0.98,-121.7,543.9,-13.9,513,3967,0.00,1.77,0.00,0.000,6,0.000,0.027,2205,2543,3987
$GC,4292,-1.04,-121.7,583.5,-11.7,529,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2543,3984
$GC,4601,-1.12,-121.7,619.4,-10.7,544,4604,0.00,1.90,0.00,0.000,4,0.000,0.051,2205,3758,3981
$GC,4738,-1.17,-121.7,634.0,-10.5,550,4743,0.10,1.75,0.00,0.000,6,0.091,0.029,2164,2557,3980
$GC,5071,-1.09,-121.7,674.1,-12.6,566,5075,0.12,2.20,0.00,0.000,4,0.178,0.028,2194,1050,3977
$GC,5160,-1.17,-121.7,684.5,-11.2,570,5164,0.00,2.22,0.00,0.000,6,0.000,0.038,2192,2512,3976
$GC,5482,-1.17,-121.7,720.6,-10.9,586,5485,0.00,1.92,0.00,0.000,4,0.000,0.054,2192,3751,3974
$GC,5633,-1.17,-121.7,737.5,-11.3,592,5640,0.00,1.75,0.00,0.000,6,0.000,0.030,2192,2552,3972
$GC,5949,-1.22,-121.7,773.3,-11.8,608,5953,0.12,2.20,0.00,0.000,4,0.087,0.028,2144,1047,3969
$GC,5976,-1.16,-121.7,777.1,-14.0,609,5981,0.12,2.25,0.00,0.000,6,0.185,0.038,2167,2523,3969
$GC,6291,-1.16,-121.7,819.3,-13.1,624,6295,0.00,1.90,0.00,0.000,4,0.000,0.054,2165,3744,3967
$GC,6324,-1.10,-121.7,823.8,-12.9,625,6328,0.00,1.75,0.00,0.000,6,0.000,0.029,2165,2544,3967
$GC,6646,-1.10,-121.7,862.9,-12.2,641,6650,0.00,1.90,0.00,0.000,4,0.000,0.054,2165,3744,3965
$GC,6708,-1.03,-121.7,871.3,-13.0,643,6714,0.17,1.73,0.00,0.000,6,0.176,0.029,2209,2565,3964
$GC,7024,-1.17,-121.7,903.2,-9.9,659,7025,0.12,0.00,0.00,0.000,6,0.086,0.000,2164,2565,3963
$GC,7332,-1.17,-121.7,943.2,-13.0,674,7336,0.00,2.22,0.00,0.000,4,0.000,0.031,2163,1049,3961
$GC,7365,-1.17,-121.7,947.8,-12.8,675,7369,0.00,2.28,0.00,0.000,6,0.000,0.040,2162,2525,3960
$GC,7687,-1.17,-121.7,987.2,-11.7,691,7691,0.00,1.95,0.00,0.000,4,0.000,0.057,2162,3747,3958
$STATE,7712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7712,begin apogee
$GC,7720,-0.22,0.0,990.6,12.5,692,7810,0.98,0.00,87.03,1.415,6,0.165,0.000,2455,2526,3532
$STATE,7811,end apogee,CONTROL_FINISHED_OK
$STATE,7811,begin climb
$GC,7813,1.18,121.7,993.3,0.0,696,7922,1.27,2.28,101.28,1.371,4,0.052,0.030,2930,1092,3035
$GC,8175,0.61,121.7,965.5,13.6,712,8180,0.73,2.20,0.00,0.000,6,0.212,0.038,2745,2496,3031
$GC,8496,0.59,185.1,939.6,7.8,728,8552,0.00,2.25,50.92,1.345,4,0.000,0.034,2745,1087,2775
$GC,8603,0.67,207.0,929.3,10.6,732,8629,0.00,2.28,19.17,1.269,6,0.000,0.038,2745,2514,2688
$GC,8952,0.67,207.0,888.3,12.0,749,8955,0.00,2.17,0.00,0.000,4,0.000,0.034,2745,1095,2682
$GC,9036,0.76,213.6,878.3,11.6,752,9048,0.12,2.20,6.35,1.065,6,0.090,0.038,2790,2509,2661
$GC,9378,0.66,213.6,830.5,14.6,769,9380,0.12,0.00,0.00,0.000,6,0.195,0.000,2762,2511,2658
$GC,9684,0.66,213.6,789.1,12.7,784,9688,0.00,2.15,0.00,0.000,4,0.000,0.033,2769,1087,2657
$GC,9784,0.66,213.6,776.7,12.9,788,9788,0.00,2.17,0.00,0.000,6,0.000,0.038,2769,2496,2656
$GC,10106,0.66,213.6,738.5,12.1,804,10110,0.00,2.12,0.00,0.000,4,0.000,0.033,2775,1084,2656
$GC,10178,0.66,217.1,729.6,11.8,807,10182,0.00,2.15,0.00,0.000,6,0.000,0.039,2775,2480,2655
$GC,10505,0.66,217.1,687.9,12.7,823,10509,0.00,2.00,0.00,0.000,4,0.000,0.054,2775,3765,2654
$GC,10551,0.50,217.1,681.6,14.3,825,10556,0.28,1.95,0.00,0.000,6,0.192,0.029,2711,2436,2654
$GC,10884,0.75,259.8,649.4,9.2,841,10927,0.17,2.12,36.62,1.199,4,0.079,0.034,2789,1087,2471
$GC,11056,0.75,259.8,627.7,13.5,848,11063,0.00,2.17,0.00,0.000,6,0.000,0.038,2789,2475,2466
$GC,11372,0.75,260.7,589.4,11.9,864,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2475,2465
$GC,11681,0.75,260.7,550.7,13.3,879,11684,0.00,2.10,0.00,0.000,4,0.000,0.034,2794,1089,2464
$GC,11749,0.75,260.7,541.5,13.5,882,11752,0.00,2.12,0.00,0.000,6,0.000,0.038,2794,2462,2464
$GC,12071,0.75,260.7,497.2,13.4,898,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2462,2463
$GC,12390,0.75,260.7,453.4,13.2,928,12393,0.00,2.08,0.00,0.000,4,0.000,0.032,2802,1083,2463
$GC,12507,0.75,262.2,438.5,11.9,938,12513,0.00,2.08,0.00,0.000,6,0.000,0.038,2802,2439,2462
$GC,12834,0.75,264.8,400.4,11.8,969,12843,0.00,2.12,4.18,0.713,4,0.000,0.052,2802,3765,2452
$GC,12878,0.65,264.8,394.2,14.5,973,12883,0.20,2.03,0.00,0.000,6,0.185,0.028,2757,2385,2451
$GC,13204,0.87,288.9,359.0,10.4,1003,13231,0.17,2.25,20.83,0.956,4,0.077,0.051,2829,3763,2353
$GC,13294,0.74,288.9,346.5,14.3,1011,13298,0.20,1.98,0.00,0.000,6,0.189,0.028,2782,2448,2351
$GC,13624,0.92,308.6,314.1,10.7,1042,13647,0.17,2.10,16.70,0.896,4,0.074,0.033,2856,1087,2272
$GC,13750,0.92,308.6,298.3,12.9,1054,13756,0.00,2.12,0.00,0.000,6,0.000,0.036,2856,2462,2270
$GC,14094,0.93,314.6,254.0,11.6,1115,14107,0.00,2.08,6.05,0.718,4,0.000,0.030,2863,1083,2247
$GC,14137,0.93,315.0,248.7,12.0,1122,14143,0.00,2.15,0.00,0.000,6,0.000,0.036,2863,2484,2247
$GC,14481,0.96,341.9,211.3,10.2,1183,14510,0.00,2.03,22.38,0.803,4,0.000,0.051,2863,3764,2137
$GC,14645,0.89,341.9,190.9,14.6,1212,14653,0.15,1.95,0.00,0.000,6,0.182,0.026,2835,2449,2134
$GC,14993,1.16,396.5,153.1,8.4,1273,15041,0.20,2.12,42.97,0.745,4,0.067,0.032,2925,1087,1914
$GC,15077,1.22,404.4,143.9,11.5,1287,15090,0.00,2.17,7.50,0.625,6,0.000,0.034,2925,2490,1882
$GC,15429,1.27,404.4,95.9,13.8,1349,15435,0.00,2.10,0.00,0.000,4,0.000,0.031,2925,1089,1878
$GC,15576,1.39,404.4,76.8,12.1,1375,15583,0.20,2.10,0.00,0.000,6,0.069,0.033,3001,2471,1878
$GC,15920,1.25,404.4,30.6,13.5,1436,15928,0.17,2.05,0.00,0.000,4,0.189,0.027,2960,1073,1879
$STATE,16167,end climb,SURFACE_DEPTH_REACHED
$STATE,16167,begin surface coast
$FINISH,1.7,1.008763
$STATE,16196,end surface coast,CONTROL_FINISHED_OK
$STATE,16196,begin surface
$SM_CCo,16215,13.75,0.576,0,0,1798,425.10
$SM_GC,3.87,0.00,0.00,13.75,0.000,0.000,0.576,141,2444,1798,-7.51,0.48,425.10
$IRIDIUM_FIX,2439.44,12342.72,220998,070756
$TT8_MAMPS,0.029146
$HUMID,1571
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,40.648
$10V_AH,10.8,23.087
$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,23.550,138.750,421.975,13.750,0.000,120.377,185.839,312.871,8.000,0.000,0.000,29.772,2633.261,10381.457,552.496,2688.624,927.703,0.000,1899.385,0.000,2609.092,0.000,54.429,0.000
$DEVICE_MAMPS,244.673,56.758,1415.115,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.268,1014.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78888,1485
$CAP_FILE_SIZE,167101,0
$CFSIZE,260165632,207233024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,105.0,1
$GPS,280609,121236,2449.444,12343.522,36,1.6,37,-3.6