version: 66.04
glider: 167
mission: 2
dive: 165
start: 6 15 109 7 41 55
data:
$ID,167
$MISSION,2
$DIVE,165
$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,-8228.3271
$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,56
$R_STBD_OVSHOOT,33
$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
$GPS1,073407,2454.457,12221.110,25,2.0,26,-3.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.7
$GPS2,074136,2454.378,12221.152,16,1.1,32,-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,316.6,21420,-16.8,-10.000
$D_GRID,1203
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.96,-170.3,0.0,0.0,0,57,0.00,0.00,-38.53,0.000,2,0.000,0.000,142,2470,2316
$GC,60,-0.96,-170.3,3.1,-1.6,7,130,8.73,2.10,-54.35,0.000,4,0.250,0.061,2219,3760,3988
$GC,278,-0.43,-170.3,44.3,-16.3,44,285,0.62,2.00,0.00,0.000,6,0.167,0.026,2400,2389,3990
$GC,623,-0.99,-170.3,72.6,-7.7,105,629,0.45,2.15,0.00,0.000,4,0.064,0.048,2222,3760,3992
$GC,883,-0.55,-170.3,114.4,-15.8,151,890,0.47,1.88,0.00,0.000,6,0.150,0.026,2366,2452,3992
$GC,1229,-0.77,-170.3,142.7,-7.4,212,1235,0.17,2.05,0.00,0.000,4,0.067,0.049,2285,3766,3994
$GC,1360,-0.67,-170.3,158.3,-11.7,235,1368,0.15,1.85,0.00,0.000,6,0.144,0.026,2328,2471,3993
$GC,1707,-0.77,-170.3,186.3,-7.5,296,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2471,3994
$GC,2051,-0.90,-170.3,210.9,-8.5,357,2057,0.17,2.08,0.00,0.000,4,0.069,0.028,2248,1039,3994
$GC,2126,-0.69,-170.3,220.1,-13.5,370,2132,0.25,2.17,0.00,0.000,6,0.150,0.036,2320,2482,3994
$GC,2472,-0.81,-170.3,250.7,-8.8,431,2479,0.12,0.00,0.00,0.000,6,0.081,0.000,2266,2485,3994
$GC,2817,-0.73,-170.3,290.3,-10.9,492,2823,0.15,1.98,0.00,0.000,4,0.152,0.051,2303,3768,3994
$GC,2858,-0.79,-170.3,294.5,-9.5,499,2866,0.00,1.85,0.00,0.000,6,0.000,0.028,2303,2481,3993
$GC,3195,-0.86,-170.3,323.4,-8.5,536,3197,0.10,0.00,0.00,0.000,6,0.090,0.000,2259,2481,3992
$GC,3513,-0.78,-170.3,357.1,-9.9,566,3517,0.12,2.00,0.00,0.000,4,0.156,0.052,2289,3757,3993
$GC,3684,-0.84,-170.3,371.8,-8.5,581,3688,0.00,1.88,0.00,0.000,6,0.000,0.029,2289,2477,3993
$GC,4015,-0.89,-170.3,398.3,-7.2,612,4019,0.00,2.03,0.00,0.000,4,0.000,0.054,2289,3767,3991
$GC,4144,-0.98,-170.3,408.4,-7.6,623,4152,0.17,1.85,0.00,0.000,6,0.071,0.031,2216,2497,3991
$GC,4469,-0.75,-170.3,446.3,-12.3,654,4473,0.25,2.12,0.00,0.000,4,0.150,0.031,2295,1044,3990
$GC,4509,-0.86,-170.3,450.1,-8.7,657,4513,0.00,2.20,0.00,0.000,6,0.000,0.037,2295,2498,3990
$GC,4834,-0.95,-170.3,479.8,-9.3,687,4838,0.15,1.95,0.00,0.000,4,0.077,0.054,2231,3767,3988
$GC,4895,-0.79,-170.3,487.4,-12.6,692,4902,0.20,1.85,0.00,0.000,6,0.153,0.030,2289,2497,3987
$GC,5217,-0.88,-170.3,515.9,-8.2,714,5221,0.00,2.12,0.00,0.000,4,0.000,0.031,2289,1042,3986
$GC,5240,-0.99,-170.3,518.0,-8.4,715,5244,0.17,2.20,0.00,0.000,6,0.075,0.037,2218,2492,3986
$GC,5569,-0.80,-170.3,553.1,-11.4,731,5573,0.20,1.98,0.00,0.000,4,0.164,0.054,2275,3763,3984
$GC,5648,-0.86,-170.3,561.4,-9.8,734,5652,0.00,1.83,0.00,0.000,6,0.000,0.029,2275,2506,3983
$GC,5970,-0.91,-170.3,591.9,-9.3,750,5973,0.00,1.98,0.00,0.000,4,0.000,0.056,2275,3757,3981
$GC,6009,-0.98,-170.3,595.8,-10.1,751,6016,0.12,1.83,0.00,0.000,6,0.087,0.031,2224,2507,3981
$GC,6324,-0.82,-170.3,635.4,-12.8,767,6329,0.17,2.15,0.00,0.000,4,0.156,0.031,2279,1042,3979
$GC,6414,-0.93,-170.3,644.4,-9.3,771,6418,0.00,2.20,0.00,0.000,6,0.000,0.039,2277,2486,3979
$GC,6735,-1.00,-170.3,670.8,-7.6,787,6739,0.15,2.00,0.00,0.000,4,0.081,0.056,2218,3766,3977
$GC,6785,-0.83,-170.3,675.9,-11.1,789,6790,0.15,1.90,0.00,0.000,6,0.152,0.030,2275,2494,3977
$GC,7117,-0.89,-170.3,701.6,-7.9,805,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2494,3976
$GC,7423,-0.97,-170.3,726.3,-7.8,820,7425,0.12,0.00,0.00,0.000,6,0.085,0.000,2227,2494,3974
$GC,7731,-0.85,-170.3,758.5,-10.6,835,7735,0.15,2.15,0.00,0.000,4,0.169,0.033,2266,1039,3972
$GC,7758,-0.85,-170.3,761.4,-9.7,836,7761,0.00,2.22,0.00,0.000,6,0.000,0.041,2266,2486,3972
$GC,8079,-0.85,-170.3,786.9,-7.9,852,8083,0.00,2.15,0.00,0.000,4,0.000,0.031,2266,1043,3971
$GC,8108,-0.89,-170.3,789.2,-8.2,853,8112,0.00,2.22,0.00,0.000,6,0.000,0.041,2265,2491,3971
$GC,8429,-0.89,-170.3,813.4,-7.8,869,8432,0.00,2.00,0.00,0.000,4,0.000,0.060,2262,3764,3970
$GC,8479,-0.89,-170.3,817.6,-8.1,871,8482,0.00,1.88,0.00,0.000,6,0.000,0.031,2262,2495,3969
$GC,8806,-0.89,-170.3,844.4,-8.4,887,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2494,3968
$GC,9115,-0.89,-170.3,869.6,-7.9,902,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2494,3967
$GC,9424,-0.89,-170.3,891.7,-7.1,917,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2494,3966
$GC,9734,-0.94,-170.3,913.3,-7.3,932,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2494,3965
$GC,10043,-0.94,-170.3,936.6,-7.2,947,10046,0.00,2.03,0.00,0.000,4,0.000,0.061,2261,3756,3964
$GC,10105,-1.01,-170.3,941.6,-8.0,949,10111,0.12,1.85,0.00,0.000,6,0.092,0.033,2213,2506,3964
$GC,10420,-0.86,-170.3,973.6,-10.7,965,10422,0.20,0.00,0.00,0.000,6,0.160,0.000,2268,2506,3964
$STATE,10645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10645,begin apogee
$GC,10651,-0.22,0.0,990.3,6.9,976,10741,0.65,0.00,87.57,1.437,6,0.141,0.000,2472,2506,3532
$STATE,10742,end apogee,CONTROL_FINISHED_OK
$STATE,10742,begin climb
$GC,10744,0.96,170.3,991.9,0.0,980,10897,1.08,0.00,142.75,1.387,6,0.064,0.000,2855,2506,2836
$GC,11206,0.31,170.3,938.2,16.5,1003,11211,0.75,2.08,0.00,0.000,4,0.202,0.058,2654,3765,2830
$GC,11285,0.23,187.0,929.2,9.3,1006,11305,0.12,1.90,13.75,1.253,6,0.187,0.031,2624,2507,2768
$GC,11623,0.47,272.6,906.4,6.6,1023,11701,0.17,2.17,70.40,1.342,4,0.081,0.058,2694,3754,2419
$GC,11761,0.36,272.6,890.8,13.5,1029,11765,0.15,1.92,0.00,0.000,6,0.180,0.031,2665,2510,2415
$GC,12088,0.46,272.6,856.5,10.5,1045,12091,0.00,2.12,0.00,0.000,4,0.000,0.036,2665,1113,2411
$GC,12128,0.62,272.6,852.4,10.3,1046,12135,0.22,2.20,0.00,0.000,6,0.074,0.041,2748,2515,2411
$GC,12443,0.43,272.6,807.5,14.2,1062,12448,0.20,2.00,0.00,0.000,4,0.170,0.061,2691,3767,2410
$GC,12534,0.35,272.6,796.1,12.9,1066,12538,0.12,1.88,0.00,0.000,6,0.179,0.034,2662,2522,2410
$GC,12866,0.49,279.3,764.5,9.7,1082,12876,0.12,2.12,5.10,0.975,4,0.087,0.038,2714,1112,2395
$GC,12893,0.49,279.3,761.4,11.7,1083,12896,0.00,2.22,0.00,0.000,6,0.000,0.041,2715,2538,2393
$GC,13220,0.44,279.3,718.1,13.3,1099,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2538,2393
$GC,13529,0.38,279.3,678.5,12.3,1114,13531,0.17,0.00,0.00,0.000,6,0.156,0.000,2667,2540,2393
$GC,13838,0.55,308.1,650.7,8.9,1129,13869,0.17,2.20,25.02,1.197,4,0.082,0.038,2746,1113,2274
$GC,13891,0.48,308.1,644.3,12.2,1131,13899,0.17,2.25,0.00,0.000,6,0.171,0.043,2701,2533,2272
$GC,14207,0.52,308.1,610.0,11.1,1147,14211,0.00,1.95,0.00,0.000,4,0.000,0.060,2701,3761,2270
$GC,14252,0.52,308.1,604.5,12.6,1149,14256,0.00,1.88,0.00,0.000,6,0.000,0.034,2703,2520,2270
$GC,14584,0.52,308.1,566.1,11.2,1165,14588,0.00,2.12,0.00,0.000,4,0.000,0.038,2703,1107,2269
$GC,14640,0.62,308.1,559.9,10.5,1167,14644,0.12,2.20,0.00,0.000,6,0.089,0.042,2754,2528,2268
$GC,14961,0.48,308.1,514.2,14.3,1183,14965,0.17,1.95,0.00,0.000,4,0.173,0.056,2703,3767,2269
$GC,15077,0.48,308.1,499.3,11.6,1188,15081,0.00,1.88,0.00,0.000,6,0.000,0.034,2703,2536,2268
$GC,15403,0.53,308.1,468.3,10.0,1218,15407,0.00,2.15,0.00,0.000,4,0.000,0.038,2703,1097,2268
$GC,15453,0.68,323.7,463.3,9.4,1222,15473,0.17,2.22,12.65,1.031,6,0.077,0.040,2773,2541,2212
$GC,15789,0.50,323.7,417.8,14.1,1254,15793,0.20,1.92,0.00,0.000,4,0.176,0.058,2715,3757,2209
$GC,15936,0.50,323.7,398.9,13.0,1267,15940,0.00,1.80,0.00,0.000,6,0.000,0.033,2719,2547,2208
$GC,16266,0.57,323.7,362.4,11.2,1298,16270,0.00,2.15,0.00,0.000,4,0.000,0.037,2720,1107,2208
$GC,16306,0.67,323.7,358.2,10.5,1301,16312,0.12,2.25,0.00,0.000,6,0.085,0.041,2771,2568,2208
$GC,16632,0.55,323.7,310.8,13.9,1332,16637,0.17,1.88,0.00,0.000,4,0.173,0.056,2720,3765,2208
$GC,16689,0.55,323.7,303.2,12.2,1337,16693,0.00,1.77,0.00,0.000,6,0.000,0.032,2720,2566,2207
$GC,17031,0.73,402.4,272.1,6.9,1395,17103,0.17,2.30,61.78,0.909,4,0.075,0.035,2802,1111,1890
$GC,17132,0.65,402.4,259.9,12.5,1412,17139,0.17,2.33,0.00,0.000,6,0.162,0.039,2757,2570,1887
$GC,17477,0.72,402.4,214.0,14.0,1473,17483,0.00,2.25,0.00,0.000,4,0.000,0.035,2759,1101,1883
$GC,17574,0.83,402.4,200.4,13.9,1490,17581,0.15,2.25,0.00,0.000,6,0.081,0.038,2817,2553,1882
$GC,17918,0.66,402.4,144.0,15.4,1551,17925,0.17,0.00,0.00,0.000,6,0.160,0.000,2765,2555,1882
$GC,18263,0.78,408.4,110.6,9.8,1612,18275,0.00,2.20,5.18,0.617,4,0.000,0.034,2765,1100,1866
$GC,18299,0.95,416.6,107.0,9.7,1618,18314,0.25,2.22,7.93,0.684,6,0.067,0.036,2863,2557,1833
$GC,18654,0.80,416.6,50.9,12.2,1680,18660,0.17,1.85,0.00,0.000,4,0.167,0.053,2810,3758,1830
$GC,18868,0.89,416.6,27.0,11.6,1718,18874,0.00,1.90,0.00,0.000,6,0.000,0.028,2812,2452,1829
$GC,19213,1.25,520.2,4.6,5.9,1779,19233,0.32,0.00,16.98,0.634,2,0.058,0.000,2949,2449,1744
$STATE,19233,end climb,SURFACE_DEPTH_REACHED
$STATE,19233,begin surface coast
$FINISH,1.8,0.998879
$STATE,19272,end surface coast,CONTROL_FINISHED_OK
$STATE,19272,begin surface
$SM_CCo,19350,0.00,0.000,0,0,1740,439.33
$SM_GC,2.69,7.62,0.00,0.00,0.062,0.000,0.000,141,2449,1740,-7.50,0.59,439.33
$IRIDIUM_FIX,2444.18,12222.99,090998,020227
$TT8_MAMPS,0.029146
$HUMID,1616
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.6,29.689
$10V_AH,10.7,16.981
$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,28.025,143.150,449.100,0.000,0.000,24.694,34.529,228.746,8.000,0.000,0.000,32.461,3163.540,12337.004,606.499,3040.053,635.230,0.000,2123.099,0.000,2957.938,0.000,55.944,0.000
$DEVICE_MAMPS,250.042,61.360,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.510,1237.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94838,1789
$CAP_FILE_SIZE,194507,0
$CFSIZE,260165632,212869120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,193.5,1
$GPS,150609,130536,2455.375,12218.993,36,1.2,36,-3.5