version: 66.04
glider: 167
mission: 2
dive: 164
start: 6 15 109 2 9 43
data:
$ID,167
$MISSION,2
$DIVE,164
$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,-8195.2393
$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,64
$R_STBD_OVSHOOT,37
$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
$GPS1,020236,2452.845,12223.941,37,1.2,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.8
$GPS2,020924,2452.778,12223.888,13,2.0,29,-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,320.6,26875,-16.8,-10.000
$D_GRID,1134
$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,13,begin dive
$GC,15,-0.96,-170.3,0.0,0.0,0,44,0.00,0.00,-26.55,0.000,2,0.000,0.000,142,2428,2413
$GC,47,-0.96,-170.3,3.3,-2.5,4,113,8.70,2.17,-48.30,0.000,4,0.250,0.061,2221,3762,3989
$GC,201,-0.37,-170.3,29.7,-19.5,30,208,0.70,1.98,0.00,0.000,6,0.169,0.026,2423,2406,3991
$GC,546,-0.68,-170.3,53.5,-5.4,91,551,0.25,0.00,0.00,0.000,6,0.058,0.000,2313,2406,3992
$GC,889,-0.58,-170.3,91.9,-11.2,152,896,0.15,2.12,0.00,0.000,4,0.146,0.049,2355,3763,3994
$GC,1009,-0.72,-170.3,103.5,-10.3,173,1017,0.12,1.95,0.00,0.000,6,0.074,0.026,2298,2399,3994
$GC,1355,-0.63,-170.3,144.4,-10.5,234,1362,0.15,2.12,0.00,0.000,4,0.142,0.048,2332,3765,3996
$GC,1431,-0.73,-170.3,150.4,-7.4,247,1437,0.00,1.92,0.00,0.000,6,0.000,0.027,2332,2413,3996
$GC,1775,-0.83,-170.3,179.7,-9.8,308,1782,0.15,2.10,0.00,0.000,4,0.074,0.049,2261,3761,3996
$GC,1858,-0.65,-170.3,189.7,-12.3,322,1864,0.25,1.90,0.00,0.000,6,0.143,0.028,2336,2441,3997
$GC,2203,-0.80,-170.3,213.6,-9.3,383,2209,0.15,2.03,0.00,0.000,4,0.071,0.028,2274,1041,3996
$GC,2290,-0.72,-170.3,225.1,-14.4,398,2297,0.12,2.08,0.00,0.000,6,0.151,0.036,2307,2425,3997
$GC,2635,-0.77,-170.3,259.9,-4.9,459,2641,0.00,2.05,0.00,0.000,4,0.000,0.051,2303,3758,3997
$GC,2744,-0.82,-170.3,265.8,-5.7,478,2750,0.00,1.92,0.00,0.000,6,0.000,0.028,2303,2418,3997
$GC,3088,-0.88,-170.3,292.3,-9.7,539,3095,0.12,2.10,0.00,0.000,4,0.082,0.051,2246,3761,3996
$GC,3192,-0.73,-170.3,305.8,-14.0,554,3196,0.20,1.90,0.00,0.000,6,0.146,0.028,2305,2443,3996
$GC,3522,-0.81,-170.3,336.2,-7.6,585,3526,0.00,2.05,0.00,0.000,4,0.000,0.053,2303,3755,3996
$GC,3561,-0.91,-170.3,339.4,-7.9,588,3568,0.15,1.88,0.00,0.000,6,0.076,0.028,2240,2447,3996
$GC,3886,-0.76,-170.3,374.5,-10.9,619,3891,0.20,2.05,0.00,0.000,4,0.147,0.051,2303,3757,3995
$GC,3981,-0.90,-170.3,383.1,-9.1,627,3988,0.15,1.85,0.00,0.000,6,0.077,0.029,2240,2476,3995
$GC,4307,-0.78,-170.3,424.5,-11.6,658,4315,0.17,2.10,0.00,0.000,4,0.148,0.031,2296,1037,3994
$GC,4338,-0.83,-170.3,427.7,-9.7,660,4344,0.00,2.17,0.00,0.000,6,0.000,0.038,2295,2474,3994
$GC,4665,-0.92,-170.3,454.5,-8.9,691,4669,0.12,2.00,0.00,0.000,4,0.084,0.054,2241,3764,3993
$GC,4782,-0.82,-170.3,468.2,-11.3,701,4790,0.15,1.88,0.00,0.000,6,0.153,0.029,2282,2473,3993
$GC,5107,-0.88,-170.3,496.2,-8.3,732,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2473,3992
$GC,5429,-0.94,-170.3,522.0,-8.2,750,5433,0.12,2.03,0.00,0.000,4,0.083,0.054,2231,3754,3990
$GC,5474,-0.80,-170.3,526.8,-11.3,752,5478,0.20,1.88,0.00,0.000,6,0.154,0.031,2290,2476,3990
$GC,5808,-0.89,-170.3,555.4,-8.8,768,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2476,3987
$GC,6116,-1.00,-170.3,583.1,-8.5,783,6118,0.20,0.00,0.00,0.000,6,0.072,0.000,2212,2475,3986
$GC,6425,-0.80,-170.3,617.9,-11.6,798,6427,0.25,0.00,0.00,0.000,6,0.166,0.000,2282,2475,3984
$GC,6734,-0.89,-170.3,643.7,-7.9,813,6738,0.00,2.05,0.00,0.000,4,0.000,0.057,2275,3768,3982
$GC,6830,-0.97,-170.3,651.6,-8.5,817,6834,0.12,1.90,0.00,0.000,6,0.087,0.031,2224,2474,3981
$GC,7156,-0.84,-170.3,688.1,-11.6,833,7158,0.17,0.00,0.00,0.000,6,0.160,0.000,2273,2473,3980
$GC,7465,-0.89,-170.3,715.0,-8.3,848,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2473,3979
$GC,7775,-0.95,-170.3,739.1,-7.8,863,7779,0.12,2.05,0.00,0.000,4,0.086,0.058,2220,3758,3977
$GC,7853,-0.79,-170.3,747.4,-11.2,866,7857,0.17,1.90,0.00,0.000,6,0.158,0.032,2286,2496,3976
$GC,8174,-0.91,-170.3,769.7,-6.6,882,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2496,3975
$GC,8484,-1.03,-170.3,788.7,-6.0,897,8488,0.17,2.03,0.00,0.000,4,0.076,0.058,2207,3766,3974
$GC,8545,-0.83,-170.3,794.9,-11.3,899,8551,0.25,1.90,0.00,0.000,6,0.163,0.032,2278,2481,3973
$GC,8861,-0.92,-170.3,815.0,-5.8,915,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2481,3973
$GC,9170,-1.02,-170.3,835.5,-6.6,930,9175,0.17,2.12,0.00,0.000,4,0.079,0.033,2212,1033,3971
$GC,9231,-0.87,-170.3,841.7,-11.4,932,9238,0.20,2.22,0.00,0.000,6,0.164,0.041,2261,2482,3971
$GC,9547,-0.87,-170.3,867.3,-7.9,948,9551,0.00,2.17,0.00,0.000,4,0.000,0.032,2262,1029,3970
$GC,9593,-0.92,-170.3,871.0,-8.3,950,9597,0.00,2.25,0.00,0.000,6,0.000,0.041,2261,2486,3970
$GC,9921,-0.92,-170.3,897.6,-7.6,966,9925,0.00,2.17,0.00,0.000,4,0.000,0.032,2261,1033,3969
$GC,9977,-0.98,-170.3,902.5,-8.8,968,9981,0.00,2.22,0.00,0.000,6,0.000,0.041,2261,2476,3969
$GC,10297,-0.98,-170.3,928.9,-7.9,984,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2476,3968
$GC,10607,-0.98,-170.3,955.5,-8.4,999,10611,0.00,2.17,0.00,0.000,4,0.000,0.034,2261,1028,3968
$GC,10635,-1.03,-170.3,957.7,-8.1,1000,10640,0.15,2.25,0.00,0.000,6,0.086,0.041,2205,2488,3967
$STATE,10932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10938,-0.22,0.0,991.1,11.9,1015,11035,0.88,0.00,88.57,1.430,6,0.166,0.000,2464,2489,3531
$STATE,11035,end apogee,CONTROL_FINISHED_OK
$STATE,11035,begin climb
$GC,11038,0.96,170.3,994.6,0.0,1020,11188,1.08,2.22,142.52,1.384,4,0.061,0.056,2851,3755,2837
$GC,11229,0.19,170.3,989.4,17.7,1029,11234,0.98,1.98,0.00,0.000,6,0.208,0.030,2616,2508,2833
$GC,11558,0.44,261.1,967.0,6.4,1045,11642,0.20,2.20,74.25,1.360,4,0.078,0.057,2695,3758,2466
$GC,11738,0.32,261.1,945.0,13.6,1053,11742,0.17,1.92,0.00,0.000,6,0.176,0.031,2653,2510,2461
$GC,12065,0.50,301.2,914.6,8.4,1069,12108,0.15,2.25,33.60,1.326,4,0.085,0.036,2710,1113,2303
$GC,12136,0.50,301.2,906.5,11.5,1072,12139,0.00,2.25,0.00,0.000,6,0.000,0.041,2710,2511,2301
$GC,12462,0.50,301.2,867.5,11.9,1088,12466,0.00,2.15,0.00,0.000,4,0.000,0.035,2717,1109,2297
$GC,12517,0.50,301.2,861.0,11.3,1090,12521,0.00,2.17,0.00,0.000,6,0.000,0.041,2718,2496,2297
$GC,12840,0.45,301.2,822.9,11.4,1106,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2496,2296
$GC,13148,0.39,301.2,786.8,11.7,1121,13150,0.17,0.00,0.00,0.000,6,0.157,0.000,2670,2497,2295
$GC,13458,0.52,305.2,758.1,9.8,1136,13462,0.12,2.03,0.00,0.000,4,0.085,0.061,2717,3766,2294
$GC,13504,0.37,305.2,751.8,15.1,1138,13508,0.20,1.92,0.00,0.000,6,0.173,0.032,2665,2500,2294
$GC,13836,0.52,305.2,716.4,10.5,1154,13838,0.15,0.00,0.00,0.000,6,0.084,0.000,2722,2498,2293
$GC,14145,0.46,305.2,676.2,12.7,1169,14149,0.00,2.03,0.00,0.000,4,0.000,0.058,2722,3767,2293
$GC,14201,0.32,305.2,668.3,13.4,1171,14205,0.28,1.90,0.00,0.000,6,0.171,0.032,2653,2488,2293
$GC,14522,0.63,385.1,644.5,6.8,1187,14592,0.28,0.00,67.50,1.200,6,0.071,0.000,2759,2486,1961
$GC,14891,0.53,385.1,589.5,17.0,1205,14895,0.15,2.08,0.00,0.000,4,0.175,0.057,2722,3757,1951
$GC,14963,0.53,385.1,577.6,15.8,1208,14966,0.00,1.90,0.00,0.000,6,0.000,0.032,2721,2502,1950
$GC,15290,0.59,385.1,537.0,11.3,1224,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2501,1950
$GC,15599,0.66,385.1,498.6,12.6,1239,15603,0.10,2.03,0.00,0.000,4,0.095,0.058,2761,3762,1949
$GC,15633,0.53,385.1,493.2,16.5,1242,15638,0.17,1.88,0.00,0.000,6,0.174,0.033,2717,2512,1948
$GC,15964,0.63,385.1,453.4,11.7,1273,15967,0.00,2.10,0.00,0.000,4,0.000,0.037,2719,1113,1948
$GC,15991,0.77,385.1,450.0,12.3,1275,15998,0.20,2.17,0.00,0.000,6,0.072,0.039,2797,2524,1948
$GC,16317,0.57,385.1,391.1,17.2,1306,16321,0.20,2.12,0.00,0.000,4,0.174,0.035,2746,1109,1948
$GC,16355,0.57,385.1,385.5,12.4,1309,16359,0.00,2.17,0.00,0.000,6,0.000,0.040,2746,2516,1948
$GC,16685,0.57,385.1,345.5,13.0,1340,16689,0.00,1.95,0.00,0.000,4,0.000,0.060,2746,3759,1947
$GC,16747,0.51,385.1,337.0,14.0,1345,16755,0.15,1.85,0.00,0.000,6,0.173,0.031,2708,2505,1947
$GC,17072,0.81,460.7,311.8,7.0,1376,17134,0.28,0.00,59.38,0.950,6,0.067,0.000,2813,2504,1652
$GC,17467,0.71,460.7,247.9,16.2,1439,17473,0.15,2.10,0.00,0.000,4,0.154,0.035,2775,1117,1644
$GC,17536,0.81,460.7,238.7,12.0,1451,17542,0.00,2.17,0.00,0.000,6,0.000,0.038,2775,2515,1643
$GC,17880,0.90,460.7,196.6,11.5,1512,17886,0.17,2.12,0.00,0.000,4,0.075,0.034,2856,1113,1642
$GC,18030,0.71,460.7,168.6,18.6,1538,18037,0.30,2.12,0.00,0.000,6,0.168,0.040,2773,2486,1641
$GC,18375,0.85,460.7,128.5,12.2,1599,18381,0.15,0.00,0.00,0.000,6,0.078,0.000,2829,2487,1641
$GC,18718,0.85,460.7,75.4,11.9,1660,18724,0.00,2.05,0.00,0.000,4,0.000,0.035,2831,1111,1641
$GC,18803,0.85,460.7,65.6,11.9,1675,18809,0.00,2.08,0.00,0.000,6,0.000,0.038,2831,2475,1641
$GC,19148,1.12,531.5,23.3,7.2,1736,19208,0.17,2.10,53.25,0.677,4,0.065,0.054,2911,3759,1364
$GC,19286,1.01,531.5,5.7,13.8,1759,19293,0.15,1.92,0.00,0.000,6,0.167,0.027,2873,2474,1359
$STATE,19303,end climb,SURFACE_DEPTH_REACHED
$STATE,19303,begin surface coast
$FINISH,1.7,1.008526
$STATE,19326,end surface coast,CONTROL_FINISHED_OK
$STATE,19326,begin surface
$SM_CCo,19403,0.00,0.000,0,0,1356,533.77
$SM_GC,2.67,7.45,0.00,0.00,0.059,0.000,0.000,142,2470,1356,-7.50,1.22,533.77
$IRIDIUM_FIX,2444.18,12224.99,080998,202001
$TT8_MAMPS,0.029146
$HUMID,1652
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.5,29.513
$10V_AH,10.7,16.875
$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,28.800,139.600,519.075,0.000,0.000,24.778,31.800,198.472,8.000,0.000,0.000,29.385,3112.193,12477.457,664.687,2954.849,586.134,0.000,2149.022,0.000,2879.633,0.000,56.280,0.000
$DEVICE_MAMPS,250.042,61.360,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1201.280,1213.064,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94682,1766
$CAP_FILE_SIZE,191247,0
$CFSIZE,260165632,212975616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,234.6,1
$GPS,150609,073407,2454.457,12221.110,25,2.0,26,-3.5