version: 66.04
glider: 167
mission: 2
dive: 163
start: 6 14 109 20 47 53
data:
$ID,167
$MISSION,2
$DIVE,163
$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,330
$T_MISSION,396
$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,175
$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,-8165.2256
$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,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
$GPS1,204107,2451.705,12226.254,40,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.5
$GPS2,204732,2451.744,12226.273,15,1.2,15,-3.5
$SPEED_LIMITS,0.173,0.279
$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,315.9,31303,-16.8,-10.000
$D_GRID,1241
$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,-0.96,-170.3,0.0,0.0,0,40,0.00,0.00,-23.33,0.000,2,0.000,0.000,141,2500,2300
$GC,43,-0.96,-170.3,3.1,-2.5,4,118,8.80,2.22,-58.12,0.000,4,0.252,0.043,2227,1024,3989
$GC,281,-0.52,-170.3,46.4,-18.4,45,288,0.52,2.15,0.00,0.000,6,0.165,0.035,2372,2437,3991
$GC,626,-0.64,-170.3,79.4,-8.2,106,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2437,3992
$GC,969,-0.85,-170.3,111.1,-9.2,167,975,0.25,2.05,0.00,0.000,4,0.061,0.051,2261,3762,3994
$GC,1095,-0.63,-170.3,129.0,-14.3,189,1101,0.28,1.95,0.00,0.000,6,0.144,0.028,2344,2407,3995
$GC,1439,-0.76,-170.3,157.2,-7.5,250,1446,0.15,1.98,0.00,0.000,4,0.071,0.030,2280,1044,3996
$GC,1460,-0.81,-170.3,158.8,-8.3,253,1465,0.00,2.10,0.00,0.000,6,0.000,0.035,2275,2445,3996
$GC,1804,-0.68,-170.3,199.1,-12.0,314,1810,0.17,2.03,0.00,0.000,4,0.150,0.050,2331,3764,3997
$GC,1879,-0.83,-170.3,206.0,-8.2,327,1886,0.15,1.90,0.00,0.000,6,0.073,0.028,2265,2440,3996
$GC,2224,-0.69,-170.3,248.4,-11.7,388,2231,0.17,2.05,0.00,0.000,4,0.146,0.050,2318,3757,3997
$GC,2305,-0.81,-170.3,255.6,-8.3,402,2312,0.10,1.88,0.00,0.000,6,0.088,0.028,2273,2445,3997
$GC,2650,-0.75,-170.3,285.4,-9.3,463,2657,0.12,2.05,0.00,0.000,4,0.148,0.051,2303,3758,3997
$GC,2742,-0.83,-170.3,293.4,-8.0,479,2748,0.00,1.88,0.00,0.000,6,0.000,0.029,2303,2458,3997
$GC,3072,-0.90,-170.3,322.9,-8.4,516,3076,0.15,2.08,0.00,0.000,4,0.078,0.030,2239,1042,3997
$GC,3099,-0.82,-170.3,325.9,-11.4,518,3106,0.17,2.17,0.00,0.000,6,0.153,0.038,2283,2469,3996
$GC,3424,-0.82,-170.3,358.2,-9.8,549,3428,0.00,2.00,0.00,0.000,4,0.000,0.054,2276,3765,3997
$GC,3474,-0.82,-170.3,363.3,-9.6,553,3480,0.00,1.90,0.00,0.000,6,0.000,0.029,2277,2454,3997
$GC,3801,-0.82,-170.3,388.8,-8.0,584,3804,0.00,2.05,0.00,0.000,4,0.000,0.054,2276,3758,3996
$GC,3891,-0.82,-170.3,397.3,-9.7,592,3895,0.00,1.88,0.00,0.000,6,0.000,0.030,2276,2467,3996
$GC,4222,-0.82,-170.3,428.9,-9.2,623,4225,0.00,2.05,0.00,0.000,4,0.000,0.056,2275,3767,3994
$GC,4261,-0.82,-170.3,432.5,-8.8,626,4267,0.00,1.88,0.00,0.000,6,0.000,0.030,2276,2477,3993
$GC,4588,-0.82,-170.3,456.9,-6.8,657,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2477,3993
$GC,4906,-0.82,-170.3,481.8,-9.5,687,4909,0.00,2.03,0.00,0.000,4,0.000,0.056,2276,3761,3991
$GC,4997,-0.87,-170.3,490.8,-9.7,695,5000,0.00,1.88,0.00,0.000,6,0.000,0.032,2276,2480,3991
$GC,5320,-0.87,-170.3,520.5,-8.6,715,5324,0.00,2.12,0.00,0.000,4,0.000,0.033,2276,1026,3990
$GC,5354,-0.93,-170.3,523.5,-8.6,716,5358,0.00,2.22,0.00,0.000,6,0.000,0.039,2276,2489,3990
$GC,5669,-0.93,-170.3,547.8,-7.9,731,5673,0.00,1.98,0.00,0.000,4,0.000,0.058,2276,3765,3987
$GC,5765,-0.98,-170.3,555.8,-8.2,735,5769,0.12,1.88,0.00,0.000,6,0.090,0.031,2225,2487,3987
$GC,6091,-0.82,-170.3,592.4,-11.8,751,6096,0.17,2.12,0.00,0.000,4,0.156,0.031,2280,1042,3985
$GC,6136,-0.90,-170.3,597.0,-9.5,753,6140,0.00,2.20,0.00,0.000,6,0.000,0.039,2280,2481,3985
$GC,6458,-0.96,-170.3,622.8,-7.7,769,6460,0.12,0.00,0.00,0.000,6,0.087,0.000,2231,2482,3983
$GC,6767,-0.84,-170.3,655.3,-10.6,784,6771,0.15,2.15,0.00,0.000,4,0.165,0.031,2270,1041,3982
$GC,6830,-0.90,-170.3,660.6,-8.1,787,6834,0.00,2.20,0.00,0.000,6,0.000,0.041,2270,2473,3981
$GC,7163,-0.90,-170.3,687.5,-8.4,803,7166,0.00,2.03,0.00,0.000,4,0.000,0.060,2270,3761,3980
$GC,7209,-0.96,-170.3,691.4,-9.2,805,7214,0.10,1.92,0.00,0.000,6,0.095,0.032,2231,2459,3979
$GC,7544,-0.84,-170.3,729.0,-11.5,821,7546,0.15,0.00,0.00,0.000,6,0.160,0.000,2272,2459,3977
$GC,7852,-0.91,-170.3,754.5,-7.5,836,7855,0.00,2.08,0.00,0.000,4,0.000,0.060,2272,3758,3976
$GC,7958,-0.99,-170.3,762.1,-7.1,840,7966,0.15,1.92,0.00,0.000,6,0.082,0.033,2216,2460,3976
$GC,8275,-0.83,-170.3,792.4,-9.9,856,8276,0.22,0.00,0.00,0.000,6,0.157,0.000,2279,2460,3975
$GC,8583,-0.93,-170.3,814.2,-7.2,871,8587,0.00,2.08,0.00,0.000,4,0.000,0.061,2275,3757,3974
$GC,8630,-1.04,-170.3,817.5,-7.3,873,8634,0.20,1.92,0.00,0.000,6,0.077,0.034,2197,2463,3973
$GC,8964,-0.80,-170.3,856.6,-12.0,889,8968,0.25,2.12,0.00,0.000,4,0.163,0.033,2275,1024,3972
$GC,9047,-0.91,-170.3,864.5,-8.2,892,9055,0.00,2.22,0.00,0.000,6,0.000,0.042,2275,2466,3971
$GC,9364,-0.99,-170.3,888.4,-7.8,908,9365,0.15,0.00,0.00,0.000,6,0.084,0.000,2217,2469,3971
$GC,9672,-0.84,-170.3,921.1,-10.6,923,9677,0.17,2.17,0.00,0.000,4,0.171,0.033,2269,1022,3970
$GC,9740,-0.93,-170.3,926.9,-8.5,926,9744,0.00,2.22,0.00,0.000,6,0.000,0.043,2266,2462,3970
$GC,10061,-0.99,-170.3,952.0,-7.6,942,10063,0.12,0.00,0.00,0.000,6,0.094,0.000,2218,2464,3969
$GC,10371,-0.86,-170.3,982.1,-10.2,957,10373,0.17,0.00,0.00,0.000,6,0.167,0.000,2265,2464,3968
$STATE,10470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10470,begin apogee
$GC,10477,-0.22,0.0,990.3,7.6,962,10568,0.65,0.00,88.50,1.434,6,0.147,0.000,2465,2511,3532
$STATE,10569,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10571,0.96,170.3,992.7,0.0,966,10722,1.08,2.17,142.18,1.384,4,0.064,0.057,2848,3767,2836
$GC,10891,0.19,170.3,963.0,18.3,981,10896,0.95,1.95,0.00,0.000,6,0.207,0.032,2613,2501,2832
$GC,11207,0.49,293.2,944.3,5.2,996,11314,0.28,2.22,101.47,1.355,4,0.072,0.058,2714,3761,2335
$GC,11331,0.39,293.2,931.9,11.6,1002,11335,0.17,2.00,0.00,0.000,6,0.173,0.033,2676,2502,2331
$GC,11658,0.53,340.3,904.6,8.1,1018,11704,0.12,2.25,38.67,1.316,4,0.086,0.038,2726,1107,2143
$GC,11754,0.53,340.3,894.1,11.5,1022,11758,0.00,2.28,0.00,0.000,6,0.000,0.041,2726,2502,2140
$GC,12075,0.48,340.3,856.2,11.8,1038,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2503,2135
$GC,12385,0.48,340.3,819.0,12.2,1053,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2503,2135
$GC,12693,0.48,340.3,783.3,11.7,1068,12697,0.00,2.15,0.00,0.000,4,0.000,0.038,2732,1097,2133
$GC,12726,0.48,340.3,779.3,11.7,1069,12731,0.10,2.20,0.00,0.000,6,0.155,0.041,2701,2499,2134
$GC,13048,0.54,340.3,745.5,10.8,1085,13052,0.00,2.00,0.00,0.000,4,0.000,0.061,2701,3757,2132
$GC,13142,0.54,340.3,732.8,14.0,1089,13146,0.00,1.92,0.00,0.000,6,0.000,0.033,2703,2493,2132
$GC,13471,0.59,340.3,690.5,13.1,1105,13474,0.00,2.05,0.00,0.000,4,0.000,0.061,2704,3765,2131
$GC,13526,0.59,340.3,682.1,15.2,1107,13530,0.00,1.90,0.00,0.000,6,0.000,0.031,2706,2505,2132
$GC,13848,0.64,340.3,640.1,13.0,1123,13850,0.12,0.00,0.00,0.000,6,0.089,0.000,2756,2502,2132
$GC,14157,0.53,340.3,596.1,14.1,1138,14161,0.15,2.08,0.00,0.000,4,0.170,0.036,2720,1113,2131
$GC,14229,0.60,340.3,587.3,11.9,1141,14233,0.00,2.17,0.00,0.000,6,0.000,0.040,2720,2526,2130
$GC,14550,0.60,340.3,544.1,14.4,1157,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2526,2131
$GC,14858,0.60,340.3,502.1,12.7,1172,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2526,2130
$GC,15177,0.60,340.3,462.6,12.2,1201,15180,0.00,2.15,0.00,0.000,4,0.000,0.037,2720,1106,2130
$GC,15238,0.71,340.3,455.3,11.3,1206,15245,0.15,2.17,0.00,0.000,6,0.080,0.041,2778,2520,2130
$GC,15564,0.55,340.3,405.2,15.2,1237,15568,0.17,1.92,0.00,0.000,4,0.175,0.058,2727,3759,2130
$GC,15620,0.55,340.3,396.8,13.5,1242,15624,0.00,1.83,0.00,0.000,6,0.000,0.033,2732,2526,2130
$GC,15954,0.55,340.3,357.7,11.6,1273,15957,0.00,2.10,0.00,0.000,4,0.000,0.036,2733,1111,2130
$GC,15981,0.61,340.3,354.0,11.0,1275,15987,0.00,2.17,0.00,0.000,6,0.000,0.038,2733,2537,2130
$GC,16308,0.66,340.3,319.6,10.4,1306,16311,0.00,2.15,0.00,0.000,4,0.000,0.037,2733,1111,2130
$GC,16369,0.77,347.7,313.2,9.7,1311,16380,0.17,2.12,5.25,0.774,6,0.074,0.041,2801,2499,2113
$GC,16712,0.58,347.7,258.6,17.0,1364,16720,0.22,1.98,0.00,0.000,4,0.171,0.056,2734,3759,2113
$GC,16767,0.58,347.7,250.0,14.8,1373,16773,0.00,1.90,0.00,0.000,6,0.000,0.031,2739,2473,2113
$GC,17111,0.76,432.9,218.2,6.6,1434,17188,0.15,2.12,67.20,0.866,4,0.079,0.035,2802,1126,1765
$GC,17241,0.76,432.9,203.0,14.2,1456,17248,0.00,2.15,0.00,0.000,6,0.000,0.040,2802,2485,1761
$GC,17588,0.76,432.9,144.5,11.0,1517,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2485,1757
$GC,17930,0.76,432.9,98.3,15.5,1578,17936,0.00,2.08,0.00,0.000,4,0.000,0.034,2802,1114,1755
$GC,17953,0.76,432.9,94.6,14.6,1582,17959,0.00,2.12,0.00,0.000,6,0.000,0.035,2802,2501,1756
$GC,18297,0.87,432.9,57.1,13.7,1643,18303,0.00,2.08,0.00,0.000,4,0.000,0.032,2802,1107,1755
$GC,18394,1.02,432.9,44.8,13.9,1660,18402,0.20,2.12,0.00,0.000,6,0.067,0.036,2884,2501,1756
$STATE,18697,end climb,SURFACE_DEPTH_REACHED
$STATE,18698,begin surface coast
$FINISH,1.8,1.010692
$STATE,18727,end surface coast,CONTROL_FINISHED_OK
$STATE,18727,begin surface
$SM_CCo,18805,0.00,0.000,0,0,1754,436.14
$SM_GC,2.61,7.45,0.00,0.00,0.065,0.000,0.000,142,2427,1754,-7.50,0.03,436.14
$IRIDIUM_FIX,2441.81,12230.27,080998,151519
$TT8_MAMPS,0.029146
$HUMID,1657
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.5,29.317
$10V_AH,10.7,16.771
$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,25.475,144.325,443.275,0.000,0.000,22.364,40.982,186.675,8.000,0.000,0.000,15.893,3041.898,12056.773,602.084,2906.575,571.564,0.000,2056.428,0.000,2839.760,0.000,54.397,0.000
$DEVICE_MAMPS,252.343,116.584,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.338,1173.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91549,1719
$CAP_FILE_SIZE,185709,0
$CFSIZE,260165632,213069824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,193.7,1
$GPS,150609,020236,2452.845,12223.941,37,1.2,44,-3.5