version: 66.04
glider: 167
mission: 2
dive: 230
start: 6 28 109 12 22 39
data:
$ID,167
$MISSION,2
$DIVE,230
$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,-9609.6553
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,121236,2449.444,12343.522,36,1.6,37,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.4
$GPS2,122219,2449.501,12343.698,13,1.6,30,-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,326.5,107751,-23.2,-12.000
$D_GRID,1919
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,42,0.00,0.00,-24.27,0.000,2,0.000,0.000,142,2444,2430
$GC,45,-1.18,-121.7,3.2,-3.3,4,106,8.32,2.20,-46.67,0.000,4,0.242,0.038,2159,993,3989
$GC,215,-0.64,-121.7,40.1,-27.2,33,222,0.65,2.17,0.00,0.000,6,0.181,0.030,2332,2445,3990
$GC,560,-0.73,-121.7,102.0,-15.3,94,566,0.00,2.00,0.00,0.000,4,0.000,0.047,2328,3753,3992
$GC,668,-0.86,-121.7,118.3,-14.5,113,674,0.17,1.95,0.00,0.000,6,0.067,0.023,2252,2368,3992
$GC,1013,-0.86,-121.7,171.5,-13.1,174,1018,0.00,2.15,0.00,0.000,4,0.000,0.044,2245,3766,3993
$GC,1132,-0.79,-121.7,189.7,-14.6,195,1139,0.15,1.95,0.00,0.000,6,0.160,0.022,2286,2373,3994
$GC,1478,-0.94,-121.7,233.0,-11.3,256,1485,0.12,2.12,0.00,0.000,4,0.075,0.043,2221,3760,3994
$GC,1733,-0.90,-121.7,271.2,-13.6,301,1739,0.12,1.90,0.00,0.000,6,0.160,0.024,2252,2413,3995
$GC,2077,-1.03,-121.7,311.2,-10.6,354,2082,0.12,2.05,0.00,0.000,4,0.075,0.044,2192,3754,3995
$GC,2273,-0.93,-121.7,338.1,-13.0,371,2280,0.20,1.80,0.00,0.000,6,0.162,0.025,2246,2485,3995
$GC,2598,-1.08,-121.7,371.8,-10.3,402,2602,0.15,1.98,0.00,0.000,4,0.072,0.046,2179,3764,3995
$GC,2782,-0.97,-121.7,398.5,-14.7,418,2789,0.17,1.77,0.00,0.000,6,0.164,0.026,2224,2513,3995
$GC,3108,-1.08,-121.7,435.2,-11.2,449,3111,0.00,1.92,0.00,0.000,4,0.000,0.048,2220,3757,3995
$GC,3304,-1.14,-121.7,458.3,-12.2,466,3310,0.12,1.73,0.00,0.000,6,0.080,0.027,2168,2550,3994
$GC,3639,-1.02,-121.7,507.9,-15.8,496,3643,0.17,1.88,0.00,0.000,4,0.169,0.049,2218,3751,3993
$GC,3711,-1.08,-121.7,517.6,-12.2,499,3715,0.00,1.73,0.00,0.000,6,0.000,0.028,2218,2552,3992
$GC,4039,-1.19,-121.7,553.8,-10.3,515,4043,0.17,1.88,0.00,0.000,4,0.076,0.051,2139,3751,3990
$GC,4174,-0.93,-121.7,574.1,-15.5,521,4178,0.38,1.70,0.00,0.000,6,0.174,0.028,2242,2576,3989
$GC,4508,-1.14,-121.7,605.1,-9.1,537,4513,0.17,1.85,0.00,0.000,4,0.072,0.052,2166,3754,3986
$GC,4656,-1.04,-121.7,624.2,-12.1,543,4661,0.17,1.70,0.00,0.000,6,0.176,0.029,2210,2580,3984
$GC,4977,-1.13,-121.7,659.5,-12.0,559,4981,0.00,1.85,0.00,0.000,4,0.000,0.052,2205,3761,3981
$GC,5027,-1.19,-121.7,666.1,-13.1,561,5031,0.12,1.70,0.00,0.000,6,0.084,0.029,2156,2589,3981
$GC,5355,-1.08,-121.7,713.3,-14.1,577,5360,0.15,1.83,0.00,0.000,4,0.180,0.052,2192,3753,3979
$GC,5406,-1.08,-121.7,720.0,-12.4,579,5409,0.00,1.70,0.00,0.000,6,0.000,0.029,2192,2585,3978
$GC,5733,-1.08,-121.7,753.7,-10.0,595,5736,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3757,3975
$GC,5879,-1.08,-121.7,769.2,-10.5,601,5882,0.00,1.70,0.00,0.000,6,0.000,0.030,2192,2592,3974
$GC,6200,-1.13,-121.7,803.6,-11.2,617,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2592,3972
$GC,6510,-1.18,-121.7,840.2,-12.1,632,6513,0.00,1.85,0.00,0.000,4,0.000,0.056,2192,3757,3970
$GC,6627,-1.23,-121.7,855.1,-13.1,637,6631,0.12,1.67,0.00,0.000,6,0.087,0.031,2145,2615,3969
$GC,6956,-1.11,-121.7,901.8,-14.5,653,6958,0.17,0.00,0.00,0.000,6,0.183,0.000,2188,2615,3967
$GC,7263,-1.16,-121.7,939.8,-12.2,668,7267,0.00,1.83,0.00,0.000,4,0.000,0.058,2181,3741,3965
$GC,7295,-1.16,-121.7,944.2,-13.4,669,7299,0.00,1.70,0.00,0.000,6,0.000,0.032,2182,2614,3965
$GC,7617,-1.16,-121.7,985.1,-12.6,685,7621,0.00,1.83,0.00,0.000,4,0.000,0.057,2179,3741,3963
$STATE,7653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7661,-0.22,0.0,990.5,14.2,686,7752,0.95,0.00,88.50,1.415,6,0.161,0.000,2463,2525,3532
$STATE,7753,end apogee,CONTROL_FINISHED_OK
$STATE,7753,begin climb
$GC,7756,1.18,121.7,994.5,0.0,691,7866,1.27,2.38,101.62,1.371,4,0.056,0.032,2933,1081,3035
$GC,7939,0.59,121.7,991.9,12.3,699,7945,0.77,2.28,0.00,0.000,6,0.212,0.038,2739,2499,3032
$GC,8261,0.59,178.5,965.7,8.3,715,8312,0.00,2.28,45.95,1.351,4,0.000,0.034,2745,1096,2804
$GC,8363,0.61,193.4,955.3,11.0,719,8382,0.00,2.25,13.35,1.236,6,0.000,0.038,2745,2511,2743
$GC,8698,0.61,195.2,916.4,11.9,736,8701,0.00,2.17,0.00,0.000,4,0.000,0.034,2745,1090,2738
$GC,8811,0.70,210.5,903.5,11.0,741,8833,0.00,2.20,14.98,1.266,6,0.000,0.039,2745,2498,2673
$GC,9142,0.70,212.2,863.5,11.9,757,9146,0.00,2.15,0.00,0.000,4,0.000,0.035,2745,1092,2670
$GC,9255,0.79,212.2,850.6,12.1,762,9260,0.15,2.17,0.00,0.000,6,0.085,0.039,2799,2489,2669
$GC,9582,0.67,212.2,806.7,13.9,778,9586,0.15,2.12,0.00,0.000,4,0.194,0.031,2772,1080,2667
$GC,9693,0.67,212.2,792.4,13.2,783,9697,0.00,2.15,0.00,0.000,6,0.000,0.038,2772,2479,2667
$GC,10019,0.67,212.2,749.1,13.3,799,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2479,2667
$GC,10328,0.67,212.2,708.3,13.0,814,10332,0.00,2.10,0.00,0.000,4,0.000,0.034,2776,1086,2666
$GC,10419,0.67,213.9,697.2,11.9,818,10423,0.00,2.12,0.00,0.000,6,0.000,0.038,2775,2469,2665
$GC,10751,0.68,215.3,657.1,11.9,834,10760,0.00,2.12,4.05,0.825,4,0.000,0.034,2775,1086,2654
$GC,10881,0.70,236.3,642.7,10.6,839,10904,0.00,2.10,18.42,1.175,6,0.000,0.038,2775,2455,2568
$GC,11214,0.70,239.0,603.5,11.8,855,11217,0.00,2.08,0.00,0.000,4,0.000,0.055,2775,3767,2564
$GC,11247,0.61,239.0,599.2,13.0,856,11251,0.12,2.00,0.00,0.000,6,0.199,0.028,2747,2437,2564
$GC,11569,0.77,255.4,565.4,10.9,872,11591,0.12,2.05,15.95,1.109,4,0.085,0.033,2802,1079,2490
$GC,11660,0.77,255.4,553.5,12.6,876,11664,0.00,2.15,0.00,0.000,6,0.000,0.037,2802,2459,2487
$GC,11993,0.77,255.4,509.0,13.0,892,11997,0.00,2.05,0.00,0.000,4,0.000,0.053,2801,3762,2485
$GC,12016,0.68,255.4,505.7,13.9,893,12020,0.17,2.03,0.00,0.000,6,0.192,0.030,2768,2407,2485
$GC,12346,0.81,274.1,469.9,10.8,921,12368,0.12,2.00,15.85,1.034,4,0.089,0.034,2821,1077,2413
$GC,12504,0.81,274.1,450.0,12.4,935,12507,0.00,2.12,0.00,0.000,6,0.000,0.037,2821,2447,2411
$GC,12836,0.81,274.1,408.8,12.6,966,12839,0.00,2.08,0.00,0.000,4,0.000,0.055,2821,3764,2410
$GC,12919,0.66,274.1,396.9,13.7,973,12926,0.25,2.00,0.00,0.000,6,0.185,0.028,2762,2426,2410
$GC,13245,0.87,299.1,366.5,10.3,1004,13272,0.17,2.03,21.27,0.964,4,0.074,0.033,2841,1080,2311
$GC,13351,0.87,299.1,351.8,14.3,1013,13355,0.00,2.15,0.00,0.000,6,0.000,0.037,2842,2462,2308
$GC,13684,0.89,320.3,311.5,10.6,1044,13706,0.00,2.15,17.20,0.898,4,0.000,0.031,2845,1090,2225
$GC,13960,0.94,320.3,280.3,12.6,1083,13967,0.00,2.08,0.00,0.000,6,0.000,0.035,2845,2446,2222
$GC,14305,1.00,331.3,238.7,11.3,1144,14323,0.00,2.10,9.90,0.786,4,0.000,0.054,2845,3757,2181
$GC,14426,0.97,341.0,224.9,11.4,1165,14445,0.00,1.95,9.32,0.755,6,0.000,0.027,2845,2437,2141
$GC,14784,1.09,341.0,185.1,12.3,1228,14791,0.15,2.00,0.00,0.000,4,0.078,0.030,2913,1079,2139
$GC,14825,1.04,341.0,178.9,14.5,1235,14834,0.12,2.12,0.00,0.000,6,0.178,0.035,2883,2478,2140
$GC,15174,1.16,378.7,138.2,9.5,1296,15210,0.10,2.17,30.25,0.734,4,0.088,0.029,2930,1074,1987
$GC,15256,1.16,382.1,128.8,11.8,1310,15269,0.00,2.10,3.65,0.455,6,0.000,0.033,2930,2444,1976
$GC,15607,1.19,402.8,89.6,10.6,1372,15632,0.00,2.10,18.20,0.666,4,0.000,0.030,2937,1085,1887
$GC,15773,1.29,415.0,71.6,11.2,1401,15791,0.00,2.03,10.65,0.613,6,0.000,0.034,2937,2421,1840
$GC,16129,1.42,434.4,30.9,10.7,1464,16153,0.17,0.00,16.42,0.601,6,0.067,0.000,3009,2422,1759
$STATE,16325,end climb,SURFACE_DEPTH_REACHED
$STATE,16326,begin surface coast
$FINISH,1.7,1.009980
$STATE,16344,end surface coast,CONTROL_FINISHED_OK
$STATE,16344,begin surface
$SM_CCo,16421,0.00,0.000,0,0,1755,435.65
$SM_GC,2.65,7.72,0.00,0.00,0.057,0.000,0.000,140,2428,1755,-7.50,0.03,435.65
$IRIDIUM_FIX,2439.44,12346.01,220998,121231
$TT8_MAMPS,0.028379
$HUMID,1557
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.7,40.817
$10V_AH,10.8,23.181
$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,24.525,135.875,455.550,0.000,0.000,57.647,64.730,245.364,8.000,0.000,0.000,30.740,2693.542,10257.099,548.788,2805.134,688.638,0.000,1953.837,0.000,2723.420,0.000,54.436,0.000
$DEVICE_MAMPS,242.372,57.525,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.901,1025.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78961,1502
$CAP_FILE_SIZE,171952,0
$CFSIZE,260165632,207142912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,353.6,1
$GPS,280609,165754,2451.991,12342.845,42,1.4,60,-3.6