version: 66.04
glider: 167
mission: 2
dive: 161
start: 6 14 109 10 54 17
data:
$ID,167
$MISSION,2
$DIVE,161
$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,-8118.27
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,104737,2449.362,12232.104,36,1.2,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-66.3
$GPS2,105355,2449.483,12231.997,10,1.5,16,-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,295.7,41745,-18.3,-12.000
$D_GRID,1256
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,57,0.00,0.00,-40.22,0.000,2,0.000,0.000,144,2476,2410
$GC,60,-1.05,-194.7,3.2,-2.0,7,127,8.52,2.08,-49.03,0.000,4,0.249,0.061,2191,3764,3990
$GC,352,-0.44,-194.7,87.1,-24.1,58,358,0.73,1.98,0.00,0.000,6,0.170,0.026,2400,2400,3992
$GC,697,-0.76,-194.7,112.1,-5.9,119,704,0.25,2.15,0.00,0.000,4,0.060,0.050,2289,3768,3994
$GC,874,-0.76,-194.7,134.2,-12.5,150,880,0.00,1.90,0.00,0.000,6,0.000,0.027,2289,2439,3995
$GC,1219,-0.72,-194.7,176.2,-11.3,211,1225,0.00,2.03,0.00,0.000,4,0.000,0.029,2289,1038,3996
$GC,1260,-0.72,-194.7,180.9,-11.1,218,1265,0.00,2.17,0.00,0.000,6,0.000,0.035,2288,2481,3997
$GC,1603,-0.72,-194.7,220.2,-13.3,279,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2481,3997
$GC,1945,-0.72,-194.7,259.1,-8.9,340,1952,0.00,2.10,0.00,0.000,4,0.000,0.029,2288,1048,3997
$GC,2054,-0.80,-194.7,269.0,-9.2,359,2060,0.00,2.12,0.00,0.000,6,0.000,0.036,2284,2461,3996
$GC,2402,-0.80,-194.7,305.4,-9.4,416,2405,0.00,2.00,0.00,0.000,4,0.000,0.052,2275,3763,3997
$GC,2584,-0.80,-194.7,323.1,-9.7,432,2587,0.00,1.88,0.00,0.000,6,0.000,0.029,2275,2489,3997
$GC,2916,-0.86,-194.7,358.2,-11.8,463,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2488,3997
$GC,3235,-0.92,-194.7,389.3,-7.3,493,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2489,3997
$GC,3562,-1.00,-194.7,422.2,-11.8,524,3566,0.15,2.00,0.00,0.000,4,0.075,0.054,2207,3761,3995
$GC,3600,-0.81,-194.7,427.8,-14.5,527,3607,0.25,1.85,0.00,0.000,6,0.156,0.032,2280,2496,3995
$GC,3925,-0.91,-194.7,456.7,-7.9,558,3929,0.00,2.12,0.00,0.000,4,0.000,0.033,2280,1044,3994
$GC,3987,-1.04,-194.7,461.9,-8.0,563,3994,0.20,2.17,0.00,0.000,6,0.071,0.038,2198,2479,3993
$GC,4312,-0.82,-194.7,503.5,-14.2,593,4317,0.25,2.12,0.00,0.000,4,0.169,0.031,2274,1046,3992
$GC,4368,-0.93,-194.7,509.7,-9.8,595,4374,0.00,2.17,0.00,0.000,6,0.000,0.039,2274,2476,3992
$GC,4684,-1.02,-194.7,536.3,-7.8,611,4688,0.17,2.00,0.00,0.000,4,0.074,0.056,2192,3761,3990
$GC,4774,-0.79,-194.7,546.7,-12.5,615,4778,0.32,1.85,0.00,0.000,6,0.161,0.032,2286,2506,3989
$GC,5109,-0.95,-194.7,571.8,-7.5,631,5110,0.15,0.00,0.00,0.000,6,0.077,0.000,2228,2506,3987
$GC,5416,-0.87,-194.7,603.7,-10.7,646,5418,0.12,0.00,0.00,0.000,6,0.171,0.000,2259,2506,3985
$GC,5726,-0.93,-194.7,634.2,-10.0,661,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2506,3983
$GC,6035,-0.99,-194.7,663.8,-9.3,676,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2506,3981
$GC,6344,-1.06,-194.7,690.4,-8.4,691,6346,0.17,0.00,0.00,0.000,6,0.080,0.000,2194,2506,3979
$GC,6653,-0.86,-194.7,729.2,-13.2,706,6658,0.22,2.15,0.00,0.000,4,0.173,0.035,2261,1057,3977
$GC,6725,-0.94,-194.7,736.1,-8.9,709,6729,0.00,2.20,0.00,0.000,6,0.000,0.043,2261,2487,3977
$GC,7041,-1.02,-194.7,760.2,-7.4,724,7046,0.12,2.15,0.00,0.000,4,0.089,0.033,2212,1050,3975
$GC,7097,-0.92,-194.7,765.6,-10.1,726,7104,0.15,2.20,0.00,0.000,6,0.165,0.042,2249,2481,3975
$GC,7412,-0.92,-194.7,790.6,-7.9,742,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2481,3974
$GC,7722,-0.92,-194.7,816.9,-9.0,757,7726,0.00,2.15,0.00,0.000,4,0.000,0.035,2249,1047,3973
$GC,7750,-0.97,-194.7,819.5,-9.8,758,7754,0.00,2.22,0.00,0.000,6,0.000,0.043,2249,2489,3973
$GC,8073,-1.02,-194.7,850.3,-9.4,774,8077,0.00,2.00,0.00,0.000,4,0.000,0.062,2247,3755,3971
$GC,8119,-1.02,-194.7,855.2,-10.2,776,8122,0.00,1.88,0.00,0.000,6,0.000,0.034,2247,2496,3971
$GC,8452,-1.07,-194.7,886.4,-9.1,792,8456,0.12,2.00,0.00,0.000,4,0.091,0.058,2193,3756,3970
$GC,8529,-0.88,-194.7,896.0,-12.1,795,8534,0.25,1.85,0.00,0.000,6,0.167,0.034,2261,2513,3970
$GC,8851,-0.98,-194.7,923.2,-8.4,811,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2513,3969
$GC,9161,-1.10,-194.7,951.4,-9.6,826,9166,0.20,2.17,0.00,0.000,4,0.076,0.035,2183,1051,3968
$GC,9201,-0.89,-194.7,956.5,-13.1,828,9205,0.28,2.22,0.00,0.000,6,0.171,0.045,2255,2481,3967
$GC,9529,-0.98,-194.7,989.0,-9.2,844,9533,0.00,2.12,0.00,0.000,4,0.000,0.034,2255,1057,3966
$STATE,9537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9537,begin apogee
$GC,9545,-0.22,0.0,990.2,9.0,844,9638,0.65,0.00,88.03,1.434,6,0.145,0.000,2464,2513,3532
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9641,1.05,194.7,994.2,0.0,849,9812,1.17,2.35,161.38,1.386,4,0.064,0.034,2890,1130,2738
$GC,10017,0.47,194.7,954.4,16.1,866,10022,0.73,2.22,0.00,0.000,6,0.202,0.044,2702,2515,2732
$GC,10344,0.43,218.5,919.1,11.0,882,10369,0.00,2.05,20.02,1.299,4,0.000,0.061,2702,3760,2641
$GC,10415,0.31,218.5,910.1,13.4,885,10419,0.22,1.88,0.00,0.000,6,0.178,0.032,2646,2535,2639
$GC,10742,0.56,298.4,882.4,8.7,901,10814,0.20,2.10,66.18,1.332,4,0.079,0.059,2724,3763,2313
$GC,10914,0.49,298.4,858.9,15.3,909,10919,0.08,1.95,0.00,0.000,6,0.181,0.033,2711,2524,2308
$GC,11241,0.51,319.2,819.9,11.1,925,11263,0.00,2.10,16.73,1.239,4,0.000,0.058,2711,3761,2230
$GC,11309,0.51,319.2,810.5,13.9,928,11313,0.00,1.90,0.00,0.000,6,0.000,0.035,2716,2528,2227
$GC,11642,0.56,319.2,768.9,12.3,944,11645,0.00,2.15,0.00,0.000,4,0.000,0.038,2719,1109,2226
$GC,11737,0.66,319.2,757.3,13.0,948,11741,0.12,2.22,0.00,0.000,6,0.087,0.043,2767,2529,2225
$GC,12058,0.55,319.2,708.0,15.3,964,12062,0.17,2.17,0.00,0.000,4,0.178,0.037,2720,1096,2224
$GC,12097,0.65,325.2,702.8,11.8,966,12108,0.10,2.22,5.50,0.976,6,0.095,0.041,2759,2529,2206
$GC,12426,0.57,325.2,652.8,15.6,982,12430,0.00,1.95,0.00,0.000,4,0.000,0.059,2759,3765,2205
$GC,12459,0.41,325.2,646.7,17.7,983,12464,0.32,1.88,0.00,0.000,6,0.177,0.034,2677,2512,2204
$GC,12780,0.69,369.3,612.3,10.2,999,12822,0.25,0.00,37.30,1.178,6,0.075,0.000,2772,2511,2026
$GC,13129,0.62,369.3,555.1,17.0,1016,13133,0.00,2.03,0.00,0.000,4,0.000,0.061,2772,3756,2019
$GC,13213,0.49,369.3,539.5,18.7,1019,13219,0.25,1.88,0.00,0.000,6,0.174,0.034,2708,2515,2018
$GC,13529,0.71,395.8,501.6,10.9,1035,13561,0.17,2.20,21.77,1.085,4,0.080,0.039,2776,1113,1916
$GC,13577,0.71,395.8,494.8,14.8,1038,13583,0.00,2.22,0.00,0.000,6,0.000,0.042,2775,2518,1915
$GC,13906,0.71,395.8,446.4,14.6,1069,13909,0.00,1.98,0.00,0.000,4,0.000,0.060,2775,3758,1911
$GC,13929,0.64,395.8,442.1,15.8,1071,13933,0.12,1.90,0.00,0.000,6,0.177,0.032,2751,2496,1911
$GC,14258,0.71,395.8,398.1,12.4,1102,14262,0.00,2.10,0.00,0.000,4,0.000,0.038,2758,1101,1910
$GC,14320,0.86,420.7,390.6,11.0,1107,14350,0.17,2.20,20.73,1.002,6,0.081,0.041,2826,2520,1814
$GC,14668,0.72,420.7,327.1,17.7,1140,14672,0.17,1.98,0.00,0.000,4,0.166,0.057,2775,3767,1809
$GC,14695,0.66,420.7,322.1,17.5,1142,14701,0.00,1.92,0.00,0.000,6,0.000,0.032,2775,2490,1808
$GC,15030,0.73,420.7,276.4,14.5,1188,15038,0.00,2.08,0.00,0.000,4,0.000,0.036,2775,1106,1807
$GC,15072,0.86,420.7,270.8,13.4,1195,15079,0.12,2.15,0.00,0.000,6,0.087,0.039,2824,2503,1807
$GC,15416,0.75,420.7,207.2,17.7,1256,15424,0.15,2.12,0.00,0.000,4,0.160,0.035,2790,1095,1806
$GC,15458,0.84,420.7,200.9,14.2,1263,15465,0.00,2.15,0.00,0.000,6,0.000,0.037,2791,2500,1806
$GC,15802,0.93,420.7,157.8,12.4,1324,15810,0.15,2.10,0.00,0.000,4,0.080,0.034,2855,1101,1806
$GC,15856,0.86,420.7,150.3,14.4,1333,15863,0.12,2.10,0.00,0.000,6,0.173,0.038,2825,2483,1806
$GC,16200,0.86,420.7,97.7,13.2,1394,16206,0.00,2.08,0.00,0.000,4,0.000,0.034,2828,1098,1806
$GC,16303,0.92,420.7,84.6,12.4,1412,16310,0.00,2.12,0.00,0.000,6,0.000,0.037,2828,2497,1806
$GC,16648,1.01,426.7,40.3,11.8,1473,16660,0.12,1.95,5.38,0.568,4,0.077,0.054,2882,3754,1791
$GC,16707,0.84,426.7,30.2,17.6,1483,16713,0.25,1.83,0.00,0.000,6,0.168,0.028,2819,2501,1791
$STATE,17025,end climb,SURFACE_DEPTH_REACHED
$STATE,17026,begin surface coast
$FINISH,1.8,1.006427
$STATE,17074,end surface coast,CONTROL_FINISHED_OK
$STATE,17074,begin surface
$SM_CCo,17150,0.00,0.000,0,0,1789,427.56
$SM_GC,2.60,7.18,0.00,0.00,0.061,0.000,0.000,140,2499,1789,-7.50,2.06,427.56
$IRIDIUM_FIX,2439.44,12232.28,080998,060659
$TT8_MAMPS,0.028379
$HUMID,1630
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,28.963
$10V_AH,10.7,16.575
$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,25.675,136.525,443.000,0.000,0.000,24.206,32.240,188.098,8.000,0.000,0.000,16.132,2760.650,10940.729,583.938,2687.056,546.313,0.000,1945.742,0.000,2620.676,0.000,54.395,0.000
$DEVICE_MAMPS,249.275,62.127,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.096,1063.038,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82020,1548
$CAP_FILE_SIZE,173576,0
$CFSIZE,260165632,213266432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,335.1,1
$GPS,140609,154125,2450.856,12229.338,43,1.5,44,-3.5