version: 66.04
glider: 167
mission: 2
dive: 162
start: 6 14 109 15 48 28
data:
$ID,167
$MISSION,2
$DIVE,162
$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,-8148.7041
$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,66
$R_STBD_OVSHOOT,36
$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
$GPS1,154125,2450.856,12229.338,43,1.5,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.4
$GPS2,154806,2451.000,12229.295,18,1.4,28,-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,296.5,36424,-18.3,-12.000
$D_GRID,1273
$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,-194.7,0.0,0.0,0,35,0.00,0.00,-18.00,0.000,2,0.000,0.000,140,2500,2231
$GC,38,-1.05,-194.7,3.0,-2.6,3,117,8.57,2.20,-62.62,0.000,4,0.252,0.044,2196,1021,3989
$GC,275,-0.52,-194.7,47.9,-20.0,44,283,0.62,2.15,0.00,0.000,6,0.166,0.036,2370,2431,3991
$GC,621,-0.70,-194.7,82.0,-8.5,105,628,0.15,2.05,0.00,0.000,4,0.072,0.051,2303,3754,3993
$GC,870,-0.70,-194.7,114.9,-12.3,149,876,0.00,1.92,0.00,0.000,6,0.000,0.028,2303,2416,3994
$GC,1214,-0.70,-194.7,153.8,-10.2,210,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2415,3995
$GC,1557,-0.70,-194.7,187.3,-11.5,271,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2416,3996
$GC,1900,-0.77,-194.7,222.8,-8.0,332,1907,0.00,2.10,0.00,0.000,4,0.000,0.051,2302,3763,3996
$GC,1977,-0.86,-194.7,228.6,-8.0,345,1983,0.10,1.90,0.00,0.000,6,0.087,0.029,2258,2443,3996
$GC,2322,-0.77,-194.7,270.7,-14.1,406,2328,0.15,2.05,0.00,0.000,4,0.152,0.031,2300,1030,3996
$GC,2397,-0.89,-194.7,279.3,-10.6,419,2403,0.12,2.12,0.00,0.000,6,0.078,0.038,2248,2444,3996
$GC,2739,-0.79,-194.7,314.5,-10.8,467,2741,0.15,0.00,0.00,0.000,6,0.162,0.000,2288,2444,3996
$GC,3059,-0.88,-194.7,348.7,-10.6,497,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2444,3996
$GC,3386,-0.99,-194.7,378.5,-7.9,528,3390,0.17,2.03,0.00,0.000,4,0.071,0.053,2212,3754,3996
$GC,3459,-0.80,-194.7,386.6,-11.7,534,3466,0.25,1.92,0.00,0.000,6,0.157,0.030,2284,2426,3996
$GC,3785,-0.90,-194.7,411.8,-9.0,565,3789,0.00,2.10,0.00,0.000,4,0.000,0.054,2276,3765,3995
$GC,3832,-0.99,-194.7,416.4,-10.0,569,3836,0.15,1.95,0.00,0.000,6,0.079,0.030,2213,2422,3995
$GC,4162,-0.82,-194.7,458.5,-12.4,600,4164,0.22,0.00,0.00,0.000,6,0.156,0.000,2278,2421,3993
$GC,4482,-0.91,-194.7,489.7,-9.9,630,4486,0.00,2.10,0.00,0.000,4,0.000,0.057,2275,3752,3993
$GC,4528,-1.01,-194.7,494.5,-10.3,634,4533,0.15,1.95,0.00,0.000,6,0.079,0.031,2213,2416,3993
$GC,4852,-0.85,-194.7,534.2,-12.2,652,4854,0.20,0.00,0.00,0.000,6,0.155,0.000,2270,2415,3991
$GC,5160,-0.93,-194.7,560.4,-7.6,667,5163,0.00,2.12,0.00,0.000,4,0.000,0.057,2262,3759,3989
$GC,5278,-0.99,-194.7,569.7,-7.5,672,5282,0.10,1.98,0.00,0.000,6,0.095,0.032,2221,2418,3988
$GC,5607,-0.88,-194.7,600.6,-9.6,688,5611,0.15,2.12,0.00,0.000,4,0.160,0.057,2261,3757,3986
$GC,5669,-0.96,-194.7,606.2,-7.9,691,5673,0.00,1.98,0.00,0.000,6,0.000,0.031,2261,2418,3986
$GC,6002,-1.02,-194.7,635.1,-9.3,707,6006,0.12,2.10,0.00,0.000,4,0.087,0.056,2207,3753,3984
$GC,6047,-0.86,-194.7,640.4,-13.0,709,6052,0.20,1.98,0.00,0.000,6,0.164,0.031,2261,2414,3984
$GC,6382,-0.93,-194.7,672.4,-9.5,725,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2414,3982
$GC,6691,-1.00,-194.7,702.0,-9.6,740,6695,0.12,2.05,0.00,0.000,4,0.086,0.034,2214,1029,3980
$GC,6719,-0.94,-194.7,705.4,-12.4,741,6724,0.12,2.15,0.00,0.000,6,0.169,0.041,2239,2436,3980
$GC,7046,-0.94,-194.7,742.2,-11.4,757,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2436,3978
$GC,7357,-0.94,-194.7,775.3,-10.4,772,7360,0.00,2.10,0.00,0.000,4,0.000,0.034,2239,1029,3977
$GC,7390,-0.94,-194.7,779.0,-10.1,773,7394,0.00,2.15,0.00,0.000,6,0.000,0.041,2235,2436,3977
$GC,7712,-0.94,-194.7,811.1,-10.2,789,7716,0.00,2.10,0.00,0.000,4,0.000,0.059,2233,3768,3975
$GC,7767,-0.94,-194.7,817.1,-10.7,791,7771,0.00,1.98,0.00,0.000,6,0.000,0.031,2233,2430,3975
$GC,8089,-0.94,-194.7,849.6,-10.2,807,8093,0.00,2.12,0.00,0.000,4,0.000,0.058,2233,3763,3974
$GC,8149,-0.94,-194.7,856.2,-10.7,809,8155,0.00,1.95,0.00,0.000,6,0.000,0.032,2233,2442,3973
$GC,8466,-0.94,-194.7,887.7,-9.9,825,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2442,3972
$GC,8774,-0.94,-194.7,917.1,-9.1,840,8778,0.00,2.10,0.00,0.000,4,0.000,0.059,2232,3758,3971
$GC,8813,-0.94,-194.7,920.8,-9.5,841,8819,0.00,1.95,0.00,0.000,6,0.000,0.033,2232,2442,3971
$GC,9129,-0.94,-194.7,949.5,-9.2,857,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2442,3970
$GC,9438,-0.94,-194.7,980.1,-10.1,872,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2442,3969
$STATE,9539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9539,begin apogee
$GC,9545,-0.22,0.0,990.5,10.3,877,9644,0.77,0.00,88.72,1.431,6,0.153,0.000,2468,2516,3531
$STATE,9644,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9647,1.05,194.7,994.7,0.0,882,9818,1.15,2.20,161.27,1.383,4,0.058,0.055,2885,3752,2737
$GC,9843,0.34,194.7,987.8,19.0,891,9848,0.95,2.00,0.00,0.000,6,0.209,0.030,2659,2498,2735
$GC,10170,0.54,300.0,960.7,7.6,907,10260,0.17,0.00,87.57,1.352,6,0.082,0.000,2722,2498,2309
$GC,10559,0.54,300.0,911.8,13.2,926,10563,0.00,2.08,0.00,0.000,4,0.000,0.058,2722,3765,2300
$GC,10621,0.46,300.0,902.5,15.0,928,10627,0.00,1.90,0.00,0.000,6,0.000,0.031,2722,2511,2300
$GC,10936,0.46,300.0,859.9,13.5,944,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2510,2298
$GC,11245,0.46,300.0,818.7,13.0,959,11249,0.00,2.03,0.00,0.000,4,0.000,0.058,2723,3767,2298
$GC,11337,0.40,300.0,806.0,14.9,963,11341,0.17,1.88,0.00,0.000,6,0.177,0.031,2678,2513,2297
$GC,11669,0.64,344.7,771.5,10.2,979,11712,0.20,2.17,35.72,1.268,4,0.077,0.037,2762,1117,2125
$GC,11735,0.64,344.7,761.9,15.3,982,11740,0.00,2.25,0.00,0.000,6,0.000,0.041,2762,2521,2122
$GC,12063,0.57,344.7,709.3,16.2,998,12067,0.12,2.17,0.00,0.000,4,0.180,0.036,2733,1109,2118
$GC,12095,0.65,344.7,704.2,13.5,999,12101,0.00,2.20,0.00,0.000,6,0.000,0.041,2733,2515,2118
$GC,12411,0.65,344.7,659.3,14.7,1015,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2516,2117
$GC,12721,0.70,344.7,616.5,13.3,1030,12725,0.12,2.15,0.00,0.000,4,0.085,0.037,2788,1107,2116
$GC,12782,0.62,344.7,606.7,15.3,1033,12787,0.17,2.20,0.00,0.000,6,0.174,0.042,2743,2519,2116
$GC,13114,0.62,344.7,562.8,12.4,1049,13118,0.00,1.98,0.00,0.000,4,0.000,0.061,2743,3765,2115
$GC,13164,0.55,344.7,555.2,16.3,1051,13168,0.00,1.88,0.00,0.000,6,0.000,0.033,2746,2502,2115
$GC,13491,0.55,344.7,510.1,14.0,1067,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2500,2115
$GC,13806,0.55,344.7,466.5,13.8,1093,13810,0.00,2.00,0.00,0.000,4,0.000,0.057,2746,3758,2115
$GC,13867,0.55,344.7,456.8,15.4,1098,13873,0.00,1.90,0.00,0.000,6,0.000,0.033,2746,2504,2115
$GC,14194,0.55,344.7,415.6,12.3,1129,14198,0.00,2.08,0.00,0.000,4,0.000,0.036,2746,1110,2115
$GC,14244,0.65,344.7,409.2,12.1,1133,14251,0.00,2.15,0.00,0.000,6,0.000,0.040,2746,2512,2115
$GC,14570,0.65,344.7,369.3,12.7,1164,14574,0.00,1.98,0.00,0.000,4,0.000,0.059,2746,3768,2114
$GC,14643,0.61,344.7,357.5,16.9,1170,14649,0.00,1.88,0.00,0.000,6,0.000,0.031,2750,2496,2114
$GC,14969,0.61,344.7,312.7,12.4,1201,14973,0.00,2.05,0.00,0.000,4,0.000,0.036,2750,1109,2114
$GC,15008,0.73,366.6,307.8,11.1,1204,15029,0.00,2.12,16.92,0.932,6,0.000,0.039,2750,2500,2036
$GC,15367,0.83,366.6,266.8,12.9,1262,15373,0.17,2.08,0.00,0.000,4,0.074,0.034,2828,1117,2033
$GC,15408,0.71,366.6,260.5,16.1,1269,15416,0.20,2.15,0.00,0.000,6,0.170,0.038,2775,2517,2033
$GC,15754,0.71,366.6,214.0,12.8,1330,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2517,2033
$GC,16096,0.71,366.6,168.1,13.5,1391,16102,0.00,2.12,0.00,0.000,4,0.000,0.036,2775,1104,2032
$GC,16170,0.82,366.6,158.2,12.7,1404,16176,0.10,2.12,0.00,0.000,6,0.093,0.038,2815,2497,2033
$GC,16514,0.74,366.6,103.8,13.6,1465,16522,0.12,2.08,0.00,0.000,4,0.164,0.033,2790,1111,2033
$GC,16569,0.85,386.8,97.2,11.2,1474,16593,0.00,2.12,16.33,0.742,6,0.000,0.038,2790,2508,1955
$GC,16933,1.07,440.0,62.3,9.8,1538,16982,0.22,2.20,41.90,0.715,4,0.067,0.033,2894,1113,1737
$GC,17057,0.96,440.0,43.5,15.4,1559,17064,0.15,2.15,0.00,0.000,6,0.172,0.038,2857,2494,1732
$STATE,17370,end climb,SURFACE_DEPTH_REACHED
$STATE,17370,begin surface coast
$FINISH,1.8,1.010763
$STATE,17406,end surface coast,CONTROL_FINISHED_OK
$STATE,17407,begin surface
$SM_CCo,17484,0.00,0.000,0,0,1728,442.52
$SM_GC,2.66,7.30,0.00,0.00,0.055,0.000,0.000,140,2500,1728,-7.50,2.04,442.52
$IRIDIUM_FIX,2439.44,12232.28,080998,101025
$TT8_MAMPS,0.028379
$HUMID,1634
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.5,29.139
$10V_AH,10.7,16.670
$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,23.975,123.825,448.450,0.000,0.000,29.173,33.531,190.746,8.000,0.000,0.000,29.807,2838.722,11177.358,592.473,2709.182,556.862,0.000,1946.259,0.000,2635.417,0.000,55.954,0.000
$DEVICE_MAMPS,251.576,87.438,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.832,1115.462,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85280,1621
$CAP_FILE_SIZE,168926,0
$CFSIZE,260165632,213184512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,229.0,1
$GPS,140609,204107,2451.705,12226.254,40,1.1,41,-3.5