version: 66.04
glider: 167
mission: 2
dive: 406
start: 7 26 109 22 0 1
data:
$ID,167
$MISSION,2
$DIVE,406
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,-13696.728
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,62
$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
$GPS1,215304,2442.633,12425.101,11,99.0,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-68.0
$GPS2,215938,2442.706,12425.068,11,1.6,11,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2446.900,12428.200
$TGT_RADIUS,2000.000
$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,25.4,9384,-24.8,-13.043
$D_GRID,776
$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,-1.25,-121.7,0.0,0.0,0,64,0.00,0.00,-47.15,0.000,2,0.000,0.000,140,2508,2532
$GC,68,-1.25,-121.7,3.5,-4.0,8,127,7.97,2.12,-42.70,0.000,4,0.226,0.038,2134,1080,3989
$GC,292,-0.99,-121.7,42.8,-18.9,47,298,0.35,2.05,0.00,0.000,6,0.160,0.027,2224,2469,3991
$GC,638,-1.18,-121.7,93.1,-11.0,108,644,0.17,1.95,0.00,0.000,4,0.064,0.041,2139,3760,3992
$GC,758,-0.90,-121.7,110.8,-14.3,129,764,0.40,1.80,0.00,0.000,6,0.159,0.021,2253,2466,3992
$GC,1103,-1.29,-121.7,144.4,-10.6,190,1110,0.30,1.98,0.00,0.000,4,0.051,0.041,2115,3757,3994
$GC,1130,-1.34,-121.7,147.6,-12.5,194,1137,0.00,1.73,0.00,0.000,6,0.000,0.022,2115,2507,3994
$GC,1480,-1.18,-121.7,200.2,-13.4,255,1487,0.17,1.98,0.00,0.000,4,0.170,0.022,2160,1106,3995
$GC,1494,-1.04,-121.7,202.5,-13.6,257,1500,0.20,2.08,0.00,0.000,6,0.156,0.029,2210,2517,3995
$GC,1840,-1.34,-121.7,238.6,-12.6,318,1847,0.25,1.88,0.00,0.000,4,0.059,0.042,2098,3764,3996
$GC,1933,-1.02,-121.7,254.5,-18.7,334,1940,0.40,1.70,0.00,0.000,6,0.163,0.021,2210,2538,3996
$GC,2279,-1.38,-121.7,289.5,-9.4,395,2285,0.28,0.00,0.00,0.000,6,0.057,0.000,2092,2537,3996
$GC,2614,-1.20,-121.7,333.1,-14.5,434,2618,0.20,1.88,0.00,0.000,4,0.170,0.040,2143,3765,3996
$GC,2722,-1.12,-121.7,348.1,-13.6,443,2728,0.15,1.75,0.00,0.000,6,0.162,0.021,2181,2508,3995
$GC,3047,-1.42,-121.7,384.5,-9.7,474,3051,0.22,1.92,0.00,0.000,4,0.062,0.042,2081,3763,3996
$GC,3083,-1.20,-121.7,388.3,-11.8,477,3088,0.28,1.75,0.00,0.000,6,0.170,0.022,2155,2515,3996
$GC,3415,-1.41,-121.7,418.3,-10.2,508,3419,0.20,2.03,0.00,0.000,4,0.064,0.023,2071,1107,3996
$GC,3484,-1.22,-121.7,427.7,-14.3,514,3489,0.30,2.10,0.00,0.000,6,0.167,0.029,2145,2509,3995
$GC,3810,-1.34,-121.7,466.7,-10.4,544,3813,0.00,1.90,0.00,0.000,4,0.000,0.046,2139,3758,3994
$GC,3868,-1.40,-121.7,472.8,-11.1,549,3873,0.10,1.80,0.00,0.000,6,0.065,0.024,2088,2513,3994
$GC,4206,-1.28,-121.7,515.4,-13.6,576,4210,0.15,2.05,0.00,0.000,4,0.173,0.024,2126,1101,3993
$GC,4233,-1.28,-121.7,519.3,-13.7,577,4237,0.00,2.15,0.00,0.000,6,0.000,0.031,2126,2520,3993
$GC,4562,-1.41,-121.7,556.6,-10.1,593,4565,0.00,2.08,0.00,0.000,4,0.000,0.025,2126,1091,3992
$GC,4585,-1.51,-121.7,559.1,-10.0,594,4590,0.20,2.15,0.00,0.000,6,0.070,0.031,2049,2528,3991
$GC,4915,-1.28,-121.7,597.5,-12.0,610,4920,0.28,1.88,0.00,0.000,4,0.185,0.044,2124,3753,3990
$GC,5007,-1.22,-121.7,608.3,-11.8,614,5010,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2520,3989
$GC,5341,-1.34,-121.7,644.9,-10.9,630,5345,0.00,2.05,0.00,0.000,4,0.000,0.025,2124,1086,3987
$GC,5442,-1.34,-121.7,656.5,-10.8,634,5446,0.00,2.12,0.00,0.000,6,0.000,0.032,2124,2501,3986
$GC,5765,-1.48,-121.7,685.8,-8.9,650,5769,0.15,2.05,0.00,0.000,4,0.078,0.024,2064,1112,3984
$GC,5821,-1.33,-121.7,692.6,-12.8,652,5825,0.22,2.10,0.00,0.000,6,0.175,0.033,2116,2491,3983
$GC,6139,-1.33,-121.7,729.3,-12.3,667,6143,0.00,1.95,0.00,0.000,4,0.000,0.048,2111,3770,3980
$GC,6397,-1.22,-121.7,763.2,-13.3,678,6401,0.15,1.80,0.00,0.000,6,0.170,0.025,2148,2524,3979
$STATE,6529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6529,begin apogee
$GC,6537,-0.22,0.0,777.8,10.6,685,6632,1.05,0.00,90.12,1.216,6,0.144,0.000,2471,2399,3532
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6636,1.25,121.7,783.8,0.0,690,6745,1.33,2.25,98.25,1.182,4,0.064,0.047,2948,3765,3034
$GC,6808,0.60,172.4,784.3,9.4,697,6858,0.85,2.05,40.85,1.151,6,0.215,0.022,2742,2378,2830
$GC,7170,0.84,259.9,757.3,6.8,715,7246,0.17,2.33,69.18,1.169,4,0.080,0.048,2814,3762,2471
$GC,7294,0.73,268.8,744.1,12.4,720,7310,0.17,2.05,8.68,0.983,6,0.195,0.024,2780,2381,2435
$GC,7634,0.93,321.9,713.5,9.2,737,7683,0.17,2.10,43.40,1.151,4,0.077,0.029,2855,1011,2218
$GC,7723,0.93,321.9,702.2,13.3,741,7727,0.00,2.17,0.00,0.000,6,0.000,0.031,2855,2417,2215
$GC,8044,0.93,321.9,658.7,13.8,757,8047,0.00,2.10,0.00,0.000,4,0.000,0.030,2862,1019,2210
$GC,8156,0.93,321.9,643.0,14.3,762,8160,0.00,2.05,0.00,0.000,6,0.000,0.033,2862,2375,2210
$GC,8490,0.93,322.2,597.9,13.0,778,8494,0.00,2.03,0.00,0.000,4,0.000,0.031,2868,1012,2207
$GC,8540,0.93,322.2,590.8,13.5,780,8544,0.00,2.03,0.00,0.000,6,0.000,0.031,2868,2354,2207
$GC,8868,0.94,331.0,548.3,12.4,796,8882,0.00,2.25,6.90,0.918,4,0.000,0.049,2868,3763,2181
$GC,8900,0.86,331.0,543.8,14.4,797,8905,0.20,2.08,0.00,0.000,6,0.193,0.025,2827,2356,2181
$GC,9216,1.02,366.3,510.9,10.5,812,9251,0.12,2.28,29.92,1.047,4,0.087,0.050,2876,3762,2037
$GC,9292,0.94,366.3,500.9,14.1,815,9297,0.15,2.10,0.00,0.000,6,0.190,0.025,2847,2353,2034
$GC,9617,1.13,403.2,465.1,10.4,844,9654,0.17,2.08,30.48,1.006,4,0.078,0.030,2924,1006,1887
$GC,9679,1.08,403.7,457.4,13.0,849,9685,0.12,2.15,0.00,0.000,6,0.185,0.031,2895,2407,1884
$GC,10004,1.08,405.4,416.1,12.9,880,10007,0.00,2.10,0.00,0.000,4,0.000,0.049,2895,3751,1881
$GC,10027,1.08,405.4,413.1,13.6,882,10031,0.00,2.00,0.00,0.000,6,0.000,0.025,2902,2386,1880
$GC,10361,1.09,413.1,371.0,12.5,913,10376,0.00,2.08,8.70,0.846,4,0.000,0.030,2913,1011,1847
$GC,10463,1.14,413.1,355.9,15.3,922,10466,0.00,2.05,0.00,0.000,6,0.000,0.031,2913,2373,1845
$GC,10795,1.14,413.1,308.1,13.5,953,10799,0.00,2.12,0.00,0.000,4,0.000,0.047,2913,3754,1844
$GC,10846,1.08,413.1,300.7,14.2,957,10853,0.00,1.98,0.00,0.000,6,0.000,0.024,2921,2381,1843
$GC,11189,1.08,413.1,260.6,13.4,1018,11196,0.00,2.00,0.00,0.000,4,0.000,0.031,2931,1015,1843
$GC,11272,1.14,414.2,250.2,13.0,1032,11278,0.00,2.05,0.00,0.000,6,0.000,0.031,2930,2385,1843
$GC,11618,1.17,438.5,208.1,11.3,1093,11647,0.00,2.08,21.70,0.783,4,0.000,0.029,2938,1024,1743
$GC,11699,1.27,441.2,198.4,12.9,1107,11705,0.00,2.05,0.00,0.000,6,0.000,0.030,2937,2386,1740
$GC,12044,1.38,444.9,159.1,12.8,1168,12057,0.15,2.03,5.75,0.604,4,0.071,0.028,3004,1012,1721
$GC,12082,1.33,444.9,154.0,13.7,1174,12090,0.12,1.98,0.00,0.000,6,0.184,0.028,2976,2338,1720
$GC,12428,1.39,490.8,119.4,9.8,1235,12475,0.00,2.22,38.17,0.701,4,0.000,0.046,2976,3757,1530
$GC,12585,1.39,490.8,97.1,14.6,1262,12592,0.00,2.15,0.00,0.000,6,0.000,0.021,2983,2287,1527
$GC,12933,1.66,529.0,56.7,10.3,1323,12970,0.22,2.38,31.35,0.630,4,0.063,0.043,3082,3759,1374
$GC,13054,1.46,529.0,39.0,16.4,1343,13060,0.30,2.10,0.00,0.000,6,0.190,0.021,3013,2305,1371
$STATE,13338,end climb,SURFACE_DEPTH_REACHED
$STATE,13338,begin surface coast
$FINISH,1.6,1.019999
$STATE,13362,end surface coast,CONTROL_FINISHED_OK
$STATE,13362,begin surface
$SM_CCo,13442,0.00,0.000,0,0,1369,530.58
$SM_GC,2.55,7.57,0.00,0.00,0.046,0.000,0.000,140,2502,1369,-7.50,0.54,530.58
$IRIDIUM_FIX,2434.69,12344.69,201098,181814
$TT8_MAMPS,0.029146
$HUMID,1688
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.80
$XPDR_PINGS,1
$24V_AH,23.8,68.576
$10V_AH,10.8,37.499
$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,26.000,126.300,523.450,0.000,0.000,25.813,35.217,190.870,6.500,0.000,0.000,12.059,2451.742,7705.803,616.702,2436.978,619.070,0.000,1880.021,0.000,2379.958,0.000,44.075,0.000
$DEVICE_MAMPS,226.265,54.457,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.944,993.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75814,1398
$CAP_FILE_SIZE,152559,0
$CFSIZE,260165632,193925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,328.1,1
$GPS,270709,014507,2444.560,12425.310,29,1.9,29,-3.7