version: 66.04
glider: 167
mission: 2
dive: 160
start: 6 14 109 6 5 54
data:
$ID,167
$MISSION,2
$DIVE,160
$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,200
$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,-8101.5083
$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,62
$R_STBD_OVSHOOT,34
$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
$GPS1,055901,2449.220,12234.527,37,1.4,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-68.7
$GPS2,060532,2449.450,12234.468,16,1.6,16,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,264.5,45480,-18.3,-12.000
$D_GRID,1280
$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,-1.05,-194.7,0.0,0.0,0,61,0.00,0.00,-44.30,0.000,2,0.000,0.000,142,2470,2467
$GC,64,-1.05,-194.7,3.3,-2.3,7,125,8.60,2.08,-44.47,0.000,4,0.252,0.064,2185,3762,3989
$GC,244,-0.21,-194.7,50.4,-32.3,38,251,1.00,1.98,0.00,0.000,6,0.174,0.027,2472,2406,3990
$GC,590,-1.14,-194.7,77.7,-9.2,99,597,0.82,2.12,0.00,0.000,4,0.087,0.048,2175,3768,3992
$GC,764,-0.63,-194.7,110.9,-21.4,129,772,0.55,1.88,0.00,0.000,6,0.162,0.025,2337,2457,3992
$GC,1111,-0.76,-194.7,146.5,-9.3,190,1118,0.12,2.03,0.00,0.000,4,0.077,0.048,2275,3760,3994
$GC,1141,-0.70,-194.7,149.9,-12.2,195,1148,0.15,1.88,0.00,0.000,6,0.148,0.027,2317,2455,3995
$GC,1486,-0.79,-194.7,186.0,-9.5,256,1492,0.00,2.03,0.00,0.000,4,0.000,0.050,2316,3758,3995
$GC,1522,-0.88,-194.7,189.3,-9.9,262,1529,0.15,1.85,0.00,0.000,6,0.073,0.028,2250,2468,3995
$GC,1867,-0.71,-194.7,232.6,-13.2,323,1873,0.17,2.08,0.00,0.000,4,0.153,0.029,2307,1034,3995
$GC,1948,-0.83,-194.7,241.8,-11.3,337,1955,0.00,2.15,0.00,0.000,6,0.000,0.035,2305,2466,3995
$GC,2293,-0.92,-194.7,274.7,-8.1,398,2301,0.17,1.98,0.00,0.000,4,0.073,0.051,2219,3758,3995
$GC,2398,-0.67,-194.7,287.7,-13.2,416,2404,0.35,1.85,0.00,0.000,6,0.150,0.028,2324,2471,3995
$GC,2738,-0.88,-194.7,315.3,-8.5,461,2742,0.17,2.03,0.00,0.000,4,0.067,0.051,2245,3768,3995
$GC,2777,-0.79,-194.7,320.0,-12.5,464,2783,0.15,1.85,0.00,0.000,6,0.153,0.028,2286,2483,3995
$GC,3102,-0.88,-194.7,341.6,-5.3,495,3106,0.00,2.00,0.00,0.000,4,0.000,0.053,2286,3764,3995
$GC,3130,-0.99,-194.7,343.3,-6.2,497,3138,0.17,1.85,0.00,0.000,6,0.069,0.028,2212,2482,3995
$GC,3455,-0.78,-194.7,383.8,-15.0,528,3460,0.22,2.10,0.00,0.000,4,0.162,0.031,2281,1042,3994
$GC,3556,-0.92,-194.7,394.5,-9.9,536,3562,0.00,2.17,0.00,0.000,6,0.000,0.038,2279,2482,3994
$GC,3883,-1.02,-194.7,423.9,-8.9,567,3885,0.17,0.00,0.00,0.000,6,0.075,0.000,2207,2483,3993
$GC,4200,-0.83,-194.7,465.9,-13.9,597,4202,0.25,0.00,0.00,0.000,6,0.157,0.000,2279,2484,3991
$GC,4522,-0.94,-194.7,498.4,-10.5,627,4528,0.12,0.00,0.00,0.000,6,0.087,0.000,2230,2484,3989
$GC,4849,-0.86,-194.7,536.7,-11.1,644,4853,0.12,2.15,0.00,0.000,4,0.168,0.032,2261,1036,3987
$GC,4904,-0.96,-194.7,542.2,-9.4,646,4910,0.00,2.20,0.00,0.000,6,0.000,0.041,2262,2479,3987
$GC,5221,-1.01,-194.7,567.1,-7.6,662,5225,0.12,2.00,0.00,0.000,4,0.086,0.058,2207,3760,3985
$GC,5282,-0.85,-194.7,573.2,-10.3,664,5289,0.22,1.88,0.00,0.000,6,0.160,0.033,2271,2486,3984
$GC,5598,-0.97,-194.7,596.4,-7.8,680,5600,0.12,0.00,0.00,0.000,6,0.081,0.000,2222,2486,3982
$GC,5908,-0.87,-194.7,629.4,-10.5,695,5909,0.15,0.00,0.00,0.000,6,0.171,0.000,2261,2486,3980
$GC,6217,-0.93,-194.7,657.3,-9.4,710,6221,0.00,2.12,0.00,0.000,4,0.000,0.035,2261,1045,3978
$GC,6263,-1.03,-194.7,661.8,-9.5,712,6267,0.15,2.22,0.00,0.000,6,0.082,0.042,2205,2491,3977
$GC,6591,-0.88,-194.7,704.0,-12.9,728,6593,0.20,0.00,0.00,0.000,6,0.173,0.000,2258,2492,3975
$GC,6898,-0.95,-194.7,733.7,-9.3,743,6902,0.00,2.00,0.00,0.000,4,0.000,0.061,2258,3760,3974
$GC,6955,-1.03,-194.7,738.8,-8.6,745,6959,0.12,1.88,0.00,0.000,6,0.085,0.035,2207,2496,3973
$GC,7276,-0.89,-194.7,773.7,-10.2,761,7281,0.17,2.15,0.00,0.000,4,0.166,0.035,2255,1043,3972
$GC,7320,-0.97,-194.7,777.7,-8.3,763,7324,0.00,2.20,0.00,0.000,6,0.000,0.041,2254,2474,3971
$GC,7641,-1.03,-194.7,805.7,-9.1,779,7643,0.12,0.00,0.00,0.000,6,0.087,0.000,2205,2476,3970
$GC,7951,-0.90,-194.7,841.7,-11.9,794,7956,0.17,2.15,0.00,0.000,4,0.168,0.034,2257,1044,3969
$GC,8013,-1.01,-194.7,848.1,-9.7,797,8018,0.12,2.20,0.00,0.000,6,0.087,0.043,2212,2471,3968
$GC,8341,-0.92,-194.7,884.7,-11.1,813,8346,0.12,2.03,0.00,0.000,4,0.176,0.061,2243,3763,3967
$GC,8403,-0.92,-194.7,891.2,-9.4,815,8409,0.00,1.90,0.00,0.000,6,0.000,0.034,2242,2485,3967
$GC,8719,-0.97,-194.7,920.9,-9.5,831,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2485,3966
$GC,9028,-0.97,-194.7,948.5,-8.6,846,9032,0.00,2.15,0.00,0.000,4,0.000,0.036,2243,1036,3965
$GC,9074,-1.02,-194.7,952.8,-9.3,848,9078,0.00,2.25,0.00,0.000,6,0.000,0.044,2242,2485,3965
$GC,9401,-1.07,-194.7,981.7,-8.7,864,9405,0.12,2.17,0.00,0.000,4,0.087,0.034,2194,1040,3964
$GC,9467,-0.95,-194.7,989.4,-12.2,867,9472,0.17,2.20,0.00,0.000,6,0.167,0.044,2238,2467,3964
$STATE,9475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9475,begin apogee
$GC,9481,-0.22,0.0,990.5,11.7,867,9571,0.70,0.00,87.40,1.433,6,0.153,0.000,2460,2515,3532
$STATE,9572,end apogee,CONTROL_FINISHED_OK
$STATE,9572,begin climb
$GC,9575,1.05,194.7,993.7,0.0,872,9745,1.17,0.00,161.05,1.384,6,0.056,0.000,2886,2517,2737
$GC,10054,0.42,194.7,934.7,18.2,895,10059,0.75,2.15,0.00,0.000,4,0.205,0.035,2692,1128,2731
$GC,10121,0.48,243.6,927.0,10.0,898,10166,0.00,2.20,39.95,1.326,6,0.000,0.043,2692,2518,2539
$GC,10490,0.49,252.1,885.8,11.6,916,10504,0.00,2.08,7.60,1.124,4,0.000,0.061,2692,3763,2504
$GC,10649,0.44,252.1,864.8,14.1,923,10653,0.00,1.88,0.00,0.000,6,0.000,0.031,2693,2520,2503
$GC,10981,0.44,252.1,824.0,12.3,939,10984,0.00,2.00,0.00,0.000,4,0.000,0.058,2694,3764,2501
$GC,11030,0.44,252.1,817.0,14.3,941,11034,0.00,1.90,0.00,0.000,6,0.000,0.033,2693,2521,2500
$GC,11358,0.44,252.1,775.4,12.7,957,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2520,2499
$GC,11667,0.49,252.1,736.8,12.1,972,11670,0.00,1.98,0.00,0.000,4,0.000,0.058,2693,3758,2499
$GC,11713,0.49,252.1,730.8,14.1,974,11716,0.00,1.85,0.00,0.000,6,0.000,0.035,2694,2522,2499
$GC,12046,0.58,285.7,693.7,10.6,990,12077,0.12,0.00,28.05,1.226,6,0.089,0.000,2740,2521,2367
$GC,12375,0.52,285.7,649.7,13.1,1006,12379,0.00,2.00,0.00,0.000,4,0.000,0.058,2741,3761,2362
$GC,12449,0.37,285.7,638.8,14.3,1009,12454,0.30,1.85,0.00,0.000,6,0.176,0.035,2664,2538,2361
$GC,12776,0.70,387.3,610.8,7.8,1025,12865,0.28,2.33,81.45,1.169,4,0.073,0.039,2773,1109,1952
$GC,12894,0.70,387.3,595.0,14.5,1030,12898,0.00,2.33,0.00,0.000,6,0.000,0.042,2773,2540,1948
$GC,13210,0.65,387.3,544.4,16.7,1045,13213,0.00,1.98,0.00,0.000,4,0.000,0.061,2773,3766,1941
$GC,13260,0.56,387.3,535.0,19.9,1047,13264,0.17,1.88,0.00,0.000,6,0.176,0.033,2728,2528,1941
$GC,13579,0.68,387.3,490.3,13.4,1065,13584,0.10,2.15,0.00,0.000,4,0.095,0.037,2773,1097,1940
$GC,13612,0.68,387.3,485.2,14.8,1068,13617,0.00,2.25,0.00,0.000,6,0.000,0.041,2772,2540,1940
$GC,13937,0.68,387.3,435.1,14.8,1098,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2541,1939
$GC,14255,0.68,387.3,386.6,16.3,1128,14259,0.00,2.20,0.00,0.000,4,0.000,0.038,2773,1098,1938
$GC,14305,0.68,387.3,378.6,15.9,1132,14311,0.00,2.22,0.00,0.000,6,0.000,0.041,2773,2539,1938
$GC,14631,0.68,387.3,328.2,15.4,1163,14635,0.00,1.92,0.00,0.000,4,0.000,0.060,2773,3759,1938
$GC,14760,0.61,387.3,306.6,16.8,1174,14767,0.12,1.77,0.00,0.000,6,0.182,0.033,2742,2561,1937
$GC,15101,0.88,473.5,266.7,8.4,1230,15173,0.20,2.33,66.10,0.915,4,0.074,0.035,2829,1108,1600
$GC,15226,0.88,473.5,250.6,12.7,1251,15232,0.00,2.30,0.00,0.000,6,0.000,0.040,2829,2549,1595
$GC,15569,0.82,473.5,186.6,19.8,1312,15575,0.00,2.22,0.00,0.000,4,0.000,0.036,2830,1098,1590
$GC,15672,0.82,473.5,168.1,15.5,1330,15678,0.00,2.22,0.00,0.000,6,0.000,0.038,2830,2539,1589
$GC,16017,0.87,473.5,114.3,14.8,1391,16023,0.00,2.15,0.00,0.000,4,0.000,0.035,2830,1107,1588
$GC,16091,1.01,473.5,103.5,14.5,1404,16098,0.12,2.17,0.00,0.000,6,0.081,0.038,2881,2529,1588
$GC,16436,1.01,473.5,42.8,13.6,1465,16443,0.00,2.15,0.00,0.000,4,0.000,0.034,2881,1098,1588
$GC,16540,1.17,517.2,31.4,10.2,1483,16582,0.12,2.08,33.20,0.676,6,0.084,0.035,2930,2470,1421
$STATE,16737,end climb,SURFACE_DEPTH_REACHED
$STATE,16737,begin surface coast
$FINISH,1.8,1.008323
$STATE,16755,end surface coast,CONTROL_FINISHED_OK
$STATE,16755,begin surface
$SM_CCo,16832,0.00,0.000,0,0,1414,519.55
$SM_GC,2.58,7.53,0.00,0.00,0.056,0.000,0.000,143,2475,1414,-7.49,1.36,519.55
$IRIDIUM_FIX,2437.06,12237.55,080998,010146
$TT8_MAMPS,0.029146
$HUMID,1659
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.6,28.784
$10V_AH,10.7,16.482
$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,27.325,132.300,504.800,0.000,0.000,31.070,35.783,188.833,8.000,0.000,0.000,16.908,2695.728,10729.035,620.461,2614.697,553.758,0.000,1962.756,0.000,2546.614,0.000,56.262,0.000
$DEVICE_MAMPS,251.576,119.652,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.745,1031.282,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82079,1521
$CAP_FILE_SIZE,171200,0
$CFSIZE,260165632,213356544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 57.8,1
$GPS,140609,104737,2449.362,12232.104,36,1.2,37,-3.5