version: 66.04
glider: 167
mission: 2
dive: 235
start: 6 29 109 11 52 31
data:
$ID,167
$MISSION,2
$DIVE,235
$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,-9721.1748
$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,85
$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
$GPS1,114537,2458.984,12340.388,33,1.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.9
$GPS2,115208,2459.069,12340.495,13,1.1,13,-3.7
$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,341.7,89602,-23.2,-12.000
$D_GRID,2038
$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,-24.25,0.000,2,0.000,0.000,140,2445,2412
$GC,44,-1.18,-121.7,3.4,-3.7,4,104,8.35,2.12,-46.12,0.000,4,0.242,0.039,2158,1041,3989
$GC,234,-0.60,-121.7,45.8,-29.8,37,240,0.70,2.10,0.00,0.000,6,0.178,0.031,2346,2441,3991
$GC,579,-0.80,-121.7,100.1,-12.8,98,586,0.17,2.03,0.00,0.000,4,0.066,0.046,2271,3761,3992
$GC,823,-0.80,-121.7,142.0,-15.6,141,829,0.00,1.88,0.00,0.000,6,0.000,0.024,2271,2426,3993
$GC,1167,-0.85,-121.7,186.8,-11.0,202,1174,0.00,1.95,0.00,0.000,4,0.000,0.026,2271,1054,3994
$GC,1306,-1.01,-121.7,201.9,-11.1,226,1314,0.12,2.17,0.00,0.000,6,0.072,0.030,2205,2528,3994
$GC,1653,-0.91,-121.7,255.5,-11.1,287,1659,0.17,2.12,0.00,0.000,4,0.166,0.024,2257,1055,3995
$GC,1723,-1.05,-121.7,260.8,-6.4,299,1729,0.15,2.15,0.00,0.000,6,0.069,0.031,2194,2504,3996
$GC,2064,-0.97,-121.7,308.8,-12.3,354,2068,0.15,1.90,0.00,0.000,4,0.179,0.045,2224,3757,3997
$GC,2311,-0.97,-121.7,334.5,-10.4,376,2314,0.00,1.75,0.00,0.000,6,0.000,0.025,2224,2518,3997
$GC,2645,-1.03,-121.7,375.3,-12.5,407,2648,0.00,1.92,0.00,0.000,4,0.000,0.048,2218,3766,3997
$GC,2903,-1.03,-121.7,405.8,-10.9,430,2906,0.00,1.73,0.00,0.000,6,0.000,0.026,2218,2551,3997
$GC,3237,-1.10,-121.7,440.3,-11.0,461,3241,0.00,1.88,0.00,0.000,4,0.000,0.049,2218,3761,3996
$GC,3409,-1.16,-121.7,461.1,-11.9,476,3413,0.10,1.73,0.00,0.000,6,0.064,0.028,2166,2578,3995
$GC,3737,-1.05,-121.7,510.0,-15.2,504,3741,0.15,1.85,0.00,0.000,4,0.170,0.050,2204,3763,3993
$GC,3809,-1.05,-121.7,520.0,-13.5,507,3813,0.00,1.67,0.00,0.000,6,0.000,0.027,2204,2589,3993
$GC,4137,-1.12,-121.7,556.6,-11.1,523,4140,0.00,1.83,0.00,0.000,4,0.000,0.051,2204,3761,3991
$GC,4228,-1.17,-121.7,567.4,-12.2,527,4232,0.12,1.67,0.00,0.000,6,0.080,0.028,2154,2596,3991
$GC,4562,-1.05,-121.7,612.9,-13.8,543,4564,0.20,0.00,0.00,0.000,6,0.167,0.000,2206,2596,3988
$GC,4869,-1.15,-121.7,644.2,-10.2,558,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2597,3986
$GC,5179,-1.25,-121.7,677.6,-10.7,573,5183,0.17,1.83,0.00,0.000,4,0.074,0.052,2126,3757,3984
$GC,5338,-1.00,-121.7,702.0,-16.0,580,5342,0.28,1.70,0.00,0.000,6,0.176,0.030,2216,2617,3982
$GC,5672,-1.15,-121.7,737.1,-10.1,596,5676,0.12,1.80,0.00,0.000,4,0.081,0.054,2166,3757,3980
$GC,5733,-1.09,-121.7,744.9,-12.7,598,5740,0.00,1.65,0.00,0.000,6,0.000,0.030,2166,2621,3979
$GC,6048,-1.09,-121.7,784.2,-12.2,614,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2621,3977
$GC,6357,-1.09,-121.7,822.1,-12.4,629,6361,0.00,1.80,0.00,0.000,4,0.000,0.056,2165,3760,3974
$GC,6458,-1.01,-121.7,835.5,-13.1,633,6462,0.20,1.62,0.00,0.000,6,0.175,0.031,2216,2650,3974
$GC,6780,-1.18,-121.7,867.5,-9.7,649,6784,0.15,1.75,0.00,0.000,4,0.077,0.054,2155,3753,3971
$GC,6813,-1.10,-121.7,871.7,-13.2,650,6817,0.15,1.62,0.00,0.000,6,0.179,0.031,2190,2647,3970
$GC,7136,-1.17,-121.7,906.4,-10.6,666,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2647,3969
$GC,7443,-1.25,-121.7,940.8,-11.4,681,7445,0.15,0.00,0.00,0.000,6,0.081,0.000,2137,2647,3967
$GC,7753,-1.12,-121.7,985.3,-14.6,696,7755,0.17,0.00,0.00,0.000,6,0.186,0.000,2179,2648,3966
$STATE,7791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7791,begin apogee
$GC,7797,-0.22,0.0,990.7,13.8,698,7896,0.98,0.00,88.90,1.417,6,0.162,0.000,2469,2561,3532
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7899,1.18,121.7,995.1,0.0,703,8008,1.25,2.10,101.57,1.377,4,0.058,0.053,2924,3751,3035
$GC,8183,0.42,121.7,977.7,14.0,715,8190,0.98,1.83,0.00,0.000,6,0.215,0.028,2686,2537,3031
$GC,8500,0.64,209.5,956.9,6.2,731,8577,0.17,2.25,70.95,1.359,4,0.081,0.034,2759,1117,2678
$GC,8700,0.65,217.2,935.7,11.5,739,8712,0.00,2.15,7.62,1.117,6,0.000,0.037,2759,2484,2646
$GC,9022,0.67,232.2,899.9,11.0,755,9043,0.00,2.15,13.55,1.248,4,0.000,0.033,2759,1119,2584
$GC,9134,0.76,241.6,887.3,11.4,760,9148,0.00,2.15,8.43,1.147,6,0.000,0.037,2759,2491,2548
$GC,9465,0.76,241.6,848.2,12.3,776,9469,0.00,2.10,0.00,0.000,4,0.000,0.033,2759,1110,2545
$GC,9549,0.85,246.3,838.3,11.7,779,9560,0.17,2.12,5.43,1.008,6,0.082,0.038,2825,2482,2527
$GC,9883,0.70,246.3,786.6,16.2,796,9888,0.17,2.08,0.00,0.000,4,0.181,0.032,2776,1116,2525
$GC,9923,0.70,246.3,780.6,14.6,798,9927,0.00,2.10,0.00,0.000,6,0.000,0.036,2776,2478,2524
$GC,10255,0.70,246.3,735.0,13.7,814,10259,0.00,2.05,0.00,0.000,4,0.000,0.032,2776,1116,2524
$GC,10462,0.76,246.3,708.3,12.4,823,10466,0.00,2.03,0.00,0.000,6,0.000,0.036,2776,2440,2523
$GC,10790,0.76,246.3,668.1,12.1,839,10793,0.00,2.00,0.00,0.000,4,0.000,0.032,2776,1106,2522
$GC,10829,0.83,249.7,663.3,11.8,840,10835,0.10,2.03,0.00,0.000,6,0.099,0.037,2814,2432,2522
$GC,11145,0.74,249.7,619.8,14.5,856,11147,0.12,0.00,0.00,0.000,6,0.189,0.000,2785,2434,2521
$GC,11454,0.77,278.4,584.4,10.1,871,11485,0.00,2.03,26.40,1.153,4,0.000,0.033,2791,1117,2395
$GC,11643,0.86,288.1,563.3,11.4,879,11658,0.00,2.03,9.30,1.029,6,0.000,0.037,2791,2423,2356
$GC,11981,0.92,288.1,517.3,14.3,896,11985,0.15,2.12,0.00,0.000,4,0.082,0.054,2847,3759,2353
$GC,12036,0.69,288.1,506.8,20.3,898,12044,0.32,1.98,0.00,0.000,6,0.186,0.028,2770,2439,2353
$GC,12362,0.88,320.4,469.1,9.9,927,12395,0.17,2.00,26.35,1.055,4,0.079,0.031,2841,1118,2225
$GC,12547,0.88,320.4,445.5,12.2,943,12553,0.00,2.03,0.00,0.000,6,0.000,0.035,2841,2423,2221
$GC,12873,0.88,320.4,400.0,15.1,974,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2423,2219
$GC,13190,0.88,320.4,353.2,13.0,1004,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2424,2219
$GC,13508,0.88,320.4,313.7,13.1,1034,13512,0.00,1.98,0.00,0.000,4,0.000,0.032,2841,1106,2219
$GC,13576,0.93,320.4,304.7,12.3,1040,13580,0.00,2.03,0.00,0.000,6,0.000,0.036,2841,2433,2219
$GC,13918,0.93,320.4,259.7,12.9,1097,13923,0.00,1.98,0.00,0.000,4,0.000,0.031,2841,1106,2219
$GC,13992,1.04,348.7,251.4,10.1,1110,14023,0.10,1.95,22.83,0.864,6,0.090,0.035,2880,2394,2110
$GC,14362,1.04,348.7,197.7,13.5,1175,14368,0.00,1.92,0.00,0.000,4,0.000,0.029,2886,1100,2106
$GC,14622,1.12,379.0,169.9,10.0,1221,14652,0.00,1.92,24.50,0.780,6,0.000,0.031,2885,2382,1986
$GC,14993,1.25,409.5,126.5,10.0,1286,15024,0.17,0.00,24.98,0.730,6,0.074,0.000,2963,2384,1861
$GC,15362,1.25,409.5,76.7,12.3,1351,15368,0.00,1.90,0.00,0.000,4,0.000,0.029,2969,1104,1856
$GC,15606,1.26,418.2,48.1,11.4,1394,15619,0.00,1.90,7.72,0.579,6,0.000,0.032,2968,2373,1826
$GC,15957,1.30,448.9,3.4,10.0,1456,15964,0.00,0.00,5.18,0.477,2,0.000,0.000,2968,2373,1801
$STATE,15965,end climb,SURFACE_DEPTH_REACHED
$STATE,15965,begin surface coast
$FINISH,1.8,1.021411
$STATE,15992,end surface coast,CONTROL_FINISHED_OK
$STATE,15992,begin surface
$SM_CCo,16070,0.00,0.000,0,0,1797,425.10
$SM_GC,2.71,7.50,0.00,0.00,0.051,0.000,0.000,140,2441,1797,-7.50,0.40,425.10
$IRIDIUM_FIX,2446.56,12342.06,230998,070757
$TT8_MAMPS,0.029146
$HUMID,1579
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,41.635
$10V_AH,10.8,23.636
$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,24.175,105.225,443.700,0.000,0.000,24.363,40.883,190.974,8.000,0.000,0.000,13.401,2609.185,10067.850,527.919,2682.527,565.630,0.000,1862.639,0.000,2621.244,0.000,55.992,0.000
$DEVICE_MAMPS,242.372,101.244,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,987.758,1011.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78854,1462
$CAP_FILE_SIZE,158749,0
$CFSIZE,260165632,206729216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.002,162.7,1
$GPS,290609,162136,2500.934,12340.395,35,1.9,41,-3.7