version: 66.04
glider: 167
mission: 2
dive: 236
start: 6 29 109 16 34 23
data:
$ID,167
$MISSION,2
$DIVE,236
$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,-9756.6309
$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,70
$R_STBD_OVSHOOT,44
$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
$GPS1,162136,2500.934,12340.395,35,1.9,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.0
$GPS2,163404,2500.955,12340.510,14,2.7,33,-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,333.4,86582,-23.2,-12.000
$D_GRID,2053
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.85,0.000,2,0.000,0.000,140,2441,2388
$GC,44,-1.18,-121.7,3.2,-3.0,4,108,8.43,2.10,-48.92,0.000,4,0.243,0.038,2157,1016,3988
$GC,311,-0.64,-121.7,73.2,-28.3,50,318,0.65,2.12,0.00,0.000,6,0.173,0.031,2333,2438,3990
$GC,656,-0.83,-121.7,116.6,-10.4,111,662,0.17,2.03,0.00,0.000,4,0.067,0.045,2246,3761,3991
$GC,776,-0.69,-121.7,137.4,-18.7,132,784,0.25,1.92,0.00,0.000,6,0.156,0.023,2318,2394,3992
$GC,1124,-0.94,-121.7,181.3,-10.2,193,1131,0.17,2.10,0.00,0.000,4,0.066,0.044,2232,3755,3992
$GC,1345,-0.88,-121.7,211.6,-13.8,232,1352,0.00,1.80,0.00,0.000,6,0.000,0.024,2232,2473,3993
$GC,1691,-0.88,-121.7,255.6,-9.6,293,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2473,3993
$GC,2035,-0.95,-121.7,296.6,-12.0,354,2041,0.00,1.98,0.00,0.000,4,0.000,0.045,2224,3760,3995
$GC,2149,-0.95,-121.7,309.9,-11.5,367,2153,0.00,1.80,0.00,0.000,6,0.000,0.025,2224,2480,3994
$GC,2483,-1.00,-121.7,346.1,-9.7,398,2487,0.00,1.98,0.00,0.000,4,0.000,0.047,2218,3758,3994
$GC,2591,-1.05,-121.7,358.5,-10.7,407,2596,0.00,1.77,0.00,0.000,6,0.000,0.026,2219,2507,3994
$GC,2918,-1.11,-121.7,396.4,-11.9,438,2922,0.00,1.92,0.00,0.000,4,0.000,0.048,2218,3753,3993
$GC,2953,-1.16,-121.7,401.0,-12.8,441,2957,0.15,1.75,0.00,0.000,6,0.071,0.026,2157,2518,3993
$GC,3284,-1.02,-121.7,451.1,-13.0,472,3288,0.20,1.92,0.00,0.000,4,0.164,0.045,2208,3764,3992
$GC,3378,-1.02,-121.7,461.7,-10.1,480,3385,0.00,1.75,0.00,0.000,6,0.000,0.025,2208,2531,3992
$GC,3705,-1.07,-121.7,496.8,-12.4,511,3709,0.00,1.90,0.00,0.000,4,0.000,0.049,2207,3754,3990
$GC,3760,-1.07,-121.7,504.8,-14.2,514,3764,0.00,1.75,0.00,0.000,6,0.000,0.026,2207,2551,3990
$GC,4082,-1.14,-121.7,544.9,-11.3,530,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2551,3988
$GC,4392,-1.23,-121.7,579.8,-10.6,545,4396,0.17,1.88,0.00,0.000,4,0.072,0.049,2126,3751,3986
$GC,4497,-0.97,-121.7,595.4,-14.2,549,4504,0.38,1.73,0.00,0.000,6,0.169,0.028,2230,2552,3984
$GC,4817,-1.16,-121.7,626.6,-9.9,565,4819,0.17,0.00,0.00,0.000,6,0.070,0.000,2163,2552,3982
$GC,5122,-1.09,-121.7,665.6,-12.9,580,5126,0.12,1.90,0.00,0.000,4,0.183,0.053,2191,3754,3980
$GC,5212,-1.09,-121.7,676.5,-11.7,584,5215,0.00,1.75,0.00,0.000,6,0.000,0.029,2191,2553,3979
$GC,5545,-1.14,-121.7,713.4,-11.3,600,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2553,3976
$GC,5853,-1.20,-121.7,749.9,-12.1,615,5861,0.00,2.20,0.00,0.000,4,0.000,0.029,2191,1048,3974
$GC,5873,-1.27,-121.7,752.4,-11.9,615,5880,0.17,2.28,0.00,0.000,6,0.074,0.038,2126,2540,3974
$GC,6189,-1.09,-121.7,799.5,-15.1,631,6194,0.22,1.90,0.00,0.000,4,0.193,0.052,2181,3758,3972
$GC,6234,-1.09,-121.7,805.6,-13.2,633,6238,0.00,1.75,0.00,0.000,6,0.000,0.029,2181,2566,3971
$GC,6568,-1.09,-121.7,844.5,-11.3,649,6572,0.00,1.90,0.00,0.000,4,0.000,0.054,2179,3747,3969
$GC,6595,-1.09,-121.7,847.9,-12.0,650,6598,0.00,1.75,0.00,0.000,6,0.000,0.029,2179,2574,3968
$GC,6922,-1.09,-121.7,883.0,-10.7,666,6926,0.00,2.22,0.00,0.000,4,0.000,0.031,2179,1061,3966
$GC,6984,-1.14,-121.7,890.0,-11.5,668,6991,0.00,2.28,0.00,0.000,6,0.000,0.040,2179,2538,3966
$GC,7300,-1.14,-121.7,926.7,-12.3,684,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2538,3964
$GC,7609,-1.14,-121.7,966.7,-13.1,699,7612,0.00,1.92,0.00,0.000,4,0.000,0.058,2178,3761,3963
$GC,7647,-1.14,-121.7,972.1,-13.6,700,7654,0.00,1.77,0.00,0.000,6,0.000,0.031,2179,2579,3962
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7801,-0.22,0.0,992.2,13.4,708,7892,0.98,0.00,88.03,1.419,6,0.160,0.000,2467,2579,3532
$STATE,7893,end apogee,CONTROL_FINISHED_OK
$STATE,7893,begin climb
$GC,7896,1.18,121.7,997.0,0.0,712,8008,1.27,2.03,102.10,1.378,4,0.058,0.052,2927,3740,3034
$GC,8143,0.42,121.7,988.8,12.8,724,8149,1.00,1.83,0.00,0.000,6,0.217,0.028,2684,2531,3031
$GC,8471,0.65,213.6,969.2,5.9,740,8556,0.20,2.30,74.55,1.366,4,0.079,0.034,2763,1117,2660
$GC,8624,0.65,217.1,953.4,11.8,747,8633,0.00,2.20,4.25,0.861,6,0.000,0.037,2763,2500,2645
$GC,8955,0.66,224.5,914.4,11.5,763,8969,0.00,2.20,7.35,1.124,4,0.000,0.033,2763,1107,2615
$GC,9044,0.73,237.0,904.3,11.2,767,9065,0.00,2.17,11.65,1.222,6,0.000,0.038,2763,2497,2565
$GC,9374,0.74,248.8,866.4,11.2,783,9389,0.00,2.12,10.62,1.205,4,0.000,0.033,2769,1115,2517
$GC,9498,0.82,257.7,852.0,11.4,787,9513,0.12,2.12,8.98,1.160,6,0.090,0.038,2815,2482,2480
$GC,9837,0.70,257.7,803.3,14.8,804,9841,0.17,2.08,0.00,0.000,4,0.181,0.031,2773,1115,2477
$GC,9892,0.78,257.7,795.7,12.1,806,9898,0.00,2.10,0.00,0.000,6,0.000,0.037,2773,2475,2476
$GC,10207,0.78,258.7,756.9,11.9,822,10211,0.00,2.03,0.00,0.000,4,0.000,0.055,2773,3763,2474
$GC,10258,0.69,258.7,750.1,14.0,824,10262,0.00,1.90,0.00,0.000,6,0.000,0.028,2775,2487,2474
$GC,10584,0.69,258.7,712.2,12.1,840,10588,0.00,2.05,0.00,0.000,4,0.000,0.035,2775,1106,2474
$GC,10708,0.80,289.5,698.7,10.0,845,10741,0.00,2.10,26.70,1.220,6,0.000,0.038,2776,2477,2351
$GC,11049,0.86,289.5,657.5,12.4,862,11054,0.15,2.10,0.00,0.000,4,0.084,0.033,2831,1103,2345
$GC,11067,0.86,289.5,655.3,13.2,863,11071,0.00,2.15,0.00,0.000,6,0.000,0.038,2831,2486,2345
$GC,11400,0.77,289.5,600.3,17.4,879,11405,0.15,2.10,0.00,0.000,4,0.182,0.030,2802,1093,2344
$GC,11484,0.82,289.5,586.5,15.2,883,11488,0.00,2.10,0.00,0.000,6,0.000,0.036,2802,2457,2344
$GC,11817,0.82,289.5,540.6,12.1,899,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2457,2343
$GC,12126,0.82,289.5,501.1,12.8,914,12129,0.00,2.05,0.00,0.000,4,0.000,0.031,2802,1094,2343
$GC,12228,0.90,290.3,488.5,12.0,922,12233,0.10,2.08,0.00,0.000,6,0.092,0.035,2840,2453,2343
$GC,12559,0.83,290.3,444.5,12.8,953,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2453,2342
$GC,12879,0.77,290.3,402.2,13.4,983,12884,0.17,2.03,0.00,0.000,4,0.177,0.030,2798,1097,2343
$GC,13028,0.89,307.8,385.3,10.8,996,13052,0.10,2.03,14.73,0.956,6,0.094,0.035,2836,2440,2276
$GC,13369,0.89,307.8,338.4,12.4,1028,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2440,2274
$GC,13690,0.90,314.8,301.0,11.5,1058,13702,0.00,2.08,7.07,0.795,4,0.000,0.030,2844,1088,2248
$GC,13789,0.90,314.8,288.0,13.6,1074,13795,0.00,2.05,0.00,0.000,6,0.000,0.034,2843,2440,2247
$GC,14133,0.93,335.0,241.9,10.7,1135,14157,0.00,2.03,17.23,0.838,4,0.000,0.028,2849,1089,2165
$GC,14298,1.06,363.6,224.4,10.1,1164,14330,0.10,2.03,23.62,0.825,6,0.091,0.033,2888,2424,2049
$GC,14668,1.06,363.6,175.1,12.7,1229,14674,0.00,2.10,0.00,0.000,4,0.000,0.051,2888,3764,2044
$GC,14732,0.98,363.6,167.2,12.4,1240,14740,0.15,2.00,0.00,0.000,6,0.180,0.025,2858,2397,2043
$GC,15079,1.18,378.2,128.2,11.0,1301,15097,0.17,1.98,12.15,0.695,4,0.072,0.028,2938,1088,1989
$GC,15238,1.19,392.0,109.6,11.1,1329,15256,0.00,2.05,12.43,0.673,6,0.000,0.033,2938,2442,1933
$GC,15595,1.19,392.0,68.3,12.9,1392,15602,0.00,2.05,0.00,0.000,4,0.000,0.049,2937,3768,1930
$GC,15688,1.13,392.0,56.1,12.8,1408,15696,0.15,1.95,0.00,0.000,6,0.177,0.023,2910,2409,1930
$GC,16034,1.39,448.5,23.4,8.3,1469,16087,0.20,1.98,44.67,0.619,4,0.067,0.028,3003,1095,1701
$STATE,16193,end climb,SURFACE_DEPTH_REACHED
$STATE,16193,begin surface coast
$FINISH,1.8,0.997978
$STATE,16216,end surface coast,CONTROL_FINISHED_OK
$STATE,16216,begin surface
$SM_CCo,16295,0.00,0.000,0,0,1694,450.62
$SM_GC,2.85,7.72,0.00,0.00,0.054,0.000,0.000,140,2450,1694,-7.51,0.65,450.62
$IRIDIUM_FIX,2451.31,12341.40,230998,161622
$TT8_MAMPS,0.028379
$HUMID,1558
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.6,41.813
$10V_AH,10.8,23.730
$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,24.200,128.025,466.125,0.000,0.000,88.426,195.558,185.915,8.000,0.000,0.000,34.828,2647.035,10360.396,587.594,2649.507,787.602,0.000,1920.932,0.000,2569.173,0.000,54.446,0.000
$DEVICE_MAMPS,243.139,58.292,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.787,1035.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81827,1501
$CAP_FILE_SIZE,164107,0
$CFSIZE,260165632,206630912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,350.9,1
$GPS,290609,210706,2502.808,12339.709,33,1.2,34,-3.7