version: 66.04
glider: 167
mission: 2
dive: 167
start: 6 15 109 18 46 11
data:
$ID,167
$MISSION,2
$DIVE,167
$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,-8296.8594
$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,67
$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
$GPS1,183837,2456.978,12217.270,36,1.2,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.1
$GPS2,184552,2457.028,12217.290,11,2.6,30,-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,306.9,13418,-16.8,-10.000
$D_GRID,1071
$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,-170.3,0.0,0.0,0,44,0.00,0.00,-27.00,0.000,2,0.000,0.000,143,2407,2364
$GC,47,-0.96,-170.3,3.1,-2.3,4,116,8.65,2.05,-52.08,0.000,4,0.248,0.043,2230,1021,3990
$GC,246,-0.43,-170.3,39.6,-22.9,38,253,0.62,2.15,0.00,0.000,6,0.170,0.033,2402,2439,3991
$GC,591,-0.66,-170.3,66.3,-3.9,99,597,0.17,2.03,0.00,0.000,4,0.067,0.048,2318,3754,3992
$GC,789,-0.61,-170.3,83.2,-11.7,134,796,0.10,1.90,0.00,0.000,6,0.150,0.025,2344,2414,3993
$GC,1134,-0.71,-170.3,117.0,-9.5,195,1140,0.00,2.10,0.00,0.000,4,0.000,0.049,2344,3765,3995
$GC,1169,-0.82,-170.3,120.5,-10.3,201,1177,0.17,1.90,0.00,0.000,6,0.068,0.025,2270,2433,3996
$GC,1516,-0.64,-170.3,163.0,-12.3,262,1522,0.20,2.00,0.00,0.000,4,0.147,0.028,2335,1046,3996
$GC,1596,-0.80,-170.3,170.9,-9.1,276,1603,0.15,2.08,0.00,0.000,6,0.074,0.033,2270,2441,3996
$GC,1941,-0.69,-170.3,206.9,-11.5,337,1948,0.17,2.03,0.00,0.000,4,0.153,0.049,2326,3762,3996
$GC,2123,-0.81,-170.3,222.6,-8.7,369,2131,0.12,1.88,0.00,0.000,6,0.078,0.027,2271,2442,3996
$GC,2470,-0.72,-170.3,257.6,-9.6,430,2477,0.15,2.05,0.00,0.000,4,0.148,0.049,2305,3764,3996
$GC,2603,-0.78,-170.3,268.6,-8.0,453,2611,0.00,1.85,0.00,0.000,6,0.000,0.028,2305,2467,3996
$GC,2952,-0.84,-170.3,300.4,-9.5,514,2955,0.00,2.00,0.00,0.000,4,0.000,0.051,2303,3754,3996
$GC,3088,-0.91,-170.3,314.2,-10.0,526,3092,0.15,1.83,0.00,0.000,6,0.076,0.028,2240,2483,3996
$GC,3418,-0.72,-170.3,352.7,-12.3,557,3422,0.20,2.00,0.00,0.000,4,0.150,0.051,2302,3762,3995
$GC,3581,-0.84,-170.3,369.7,-10.3,571,3587,0.00,1.83,0.00,0.000,6,0.000,0.028,2302,2493,3994
$GC,3909,-0.93,-170.3,399.4,-7.9,602,3916,0.17,0.00,0.00,0.000,6,0.074,0.000,2230,2493,3993
$GC,4234,-0.75,-170.3,432.8,-9.0,633,4238,0.22,1.98,0.00,0.000,4,0.156,0.051,2291,3757,3992
$GC,4284,-0.81,-170.3,436.2,-5.9,637,4292,0.00,1.80,0.00,0.000,6,0.000,0.029,2291,2510,3992
$GC,4611,-0.89,-170.3,457.9,-8.0,668,4615,0.00,1.95,0.00,0.000,4,0.000,0.054,2291,3754,3991
$GC,4764,-1.00,-170.3,470.6,-8.1,681,4772,0.20,1.77,0.00,0.000,6,0.072,0.030,2209,2526,3990
$GC,5087,-0.75,-170.3,511.7,-12.8,708,5092,0.28,2.17,0.00,0.000,4,0.155,0.030,2295,1039,3989
$GC,5154,-0.91,-170.3,518.1,-8.3,711,5158,0.12,2.22,0.00,0.000,6,0.084,0.038,2246,2505,3988
$GC,5477,-0.83,-170.3,549.2,-9.4,727,5481,0.12,1.92,0.00,0.000,4,0.160,0.054,2275,3757,3987
$GC,5594,-0.83,-170.3,558.8,-8.0,732,5598,0.00,1.80,0.00,0.000,6,0.000,0.030,2275,2520,3986
$GC,5921,-0.83,-170.3,584.1,-7.9,748,5924,0.00,1.95,0.00,0.000,4,0.000,0.055,2275,3758,3984
$GC,5967,-0.88,-170.3,587.8,-8.8,750,5971,0.00,1.80,0.00,0.000,6,0.000,0.031,2275,2530,3983
$GC,6301,-0.94,-170.3,616.1,-8.8,766,6304,0.00,1.92,0.00,0.000,4,0.000,0.057,2275,3748,3982
$GC,6347,-1.01,-170.3,620.4,-9.7,768,6351,0.15,1.77,0.00,0.000,6,0.081,0.030,2215,2533,3981
$GC,6681,-0.82,-170.3,660.5,-12.0,784,6685,0.20,1.92,0.00,0.000,4,0.156,0.054,2275,3751,3980
$GC,6719,-0.82,-170.3,664.6,-9.1,785,6726,0.00,1.77,0.00,0.000,6,0.000,0.031,2275,2539,3980
$GC,7035,-0.88,-170.3,690.8,-9.1,801,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2539,3978
$GC,7344,-0.95,-170.3,718.5,-9.3,816,7349,0.10,1.92,0.00,0.000,4,0.093,0.056,2233,3753,3976
$GC,7384,-0.83,-170.3,723.1,-12.3,817,7391,0.15,1.77,0.00,0.000,6,0.163,0.031,2273,2545,3976
$GC,7701,-0.89,-170.3,754.1,-9.7,833,7705,0.00,1.92,0.00,0.000,4,0.000,0.058,2273,3761,3975
$GC,7735,-0.97,-170.3,757.8,-9.7,834,7739,0.12,1.77,0.00,0.000,6,0.086,0.032,2223,2555,3975
$GC,8057,-0.84,-170.3,796.9,-12.4,850,8061,0.17,2.22,0.00,0.000,4,0.158,0.030,2278,1043,3973
$GC,8142,-0.95,-170.3,805.1,-8.9,854,8147,0.12,2.28,0.00,0.000,6,0.086,0.040,2226,2523,3972
$GC,8469,-0.83,-170.3,840.6,-11.0,870,8473,0.17,1.92,0.00,0.000,4,0.172,0.056,2275,3753,3971
$GC,8508,-0.91,-170.3,844.5,-8.9,871,8513,0.00,1.77,0.00,0.000,6,0.000,0.032,2275,2552,3971
$GC,8824,-0.99,-170.3,871.0,-8.4,887,8828,0.15,1.92,0.00,0.000,4,0.081,0.058,2214,3761,3970
$GC,8873,-0.83,-170.3,876.4,-10.8,889,8878,0.22,1.77,0.00,0.000,6,0.165,0.035,2276,2566,3969
$GC,9201,-0.92,-170.3,898.9,-6.5,905,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2566,3969
$GC,9510,-1.02,-170.3,920.0,-7.5,920,9514,0.17,1.90,0.00,0.000,4,0.079,0.058,2207,3755,3968
$GC,9565,-0.83,-170.3,926.0,-12.2,922,9569,0.20,1.80,0.00,0.000,6,0.163,0.035,2279,2569,3968
$GC,9887,-0.94,-170.3,947.7,-6.0,938,9889,0.12,0.00,0.00,0.000,6,0.087,0.000,2231,2569,3966
$GC,10196,-0.86,-170.3,979.3,-11.0,953,10198,0.12,0.00,0.00,0.000,6,0.172,0.000,2262,2569,3966
$STATE,10316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10316,begin apogee
$GC,10321,-0.22,0.0,990.4,8.6,959,10413,0.68,0.00,88.07,1.435,6,0.153,0.000,2470,2568,3532
$STATE,10413,end apogee,CONTROL_FINISHED_OK
$STATE,10413,begin climb
$GC,10416,0.96,170.3,994.0,0.0,963,10567,1.08,2.12,141.50,1.391,4,0.065,0.058,2851,3747,2837
$GC,10693,0.20,170.3,972.3,17.7,975,10698,0.95,1.90,0.00,0.000,6,0.206,0.031,2615,2525,2831
$GC,11009,0.47,282.6,953.3,5.6,990,11108,0.25,0.00,92.25,1.363,6,0.075,0.000,2707,2525,2378
$GC,11418,0.47,282.6,899.7,11.8,1010,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2525,2371
$GC,11726,0.47,282.6,860.4,13.9,1025,11730,0.00,2.00,0.00,0.000,4,0.000,0.058,2706,3758,2369
$GC,11788,0.35,282.6,850.9,16.7,1027,11794,0.17,1.90,0.00,0.000,6,0.178,0.032,2662,2493,2369
$GC,12104,0.48,282.6,816.7,10.1,1043,12108,0.12,2.08,0.00,0.000,4,0.090,0.037,2708,1120,2367
$GC,12131,0.48,282.6,813.4,12.2,1044,12135,0.00,2.17,0.00,0.000,6,0.000,0.041,2709,2514,2367
$GC,12458,0.48,282.6,772.5,14.1,1060,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2514,2367
$GC,12767,0.48,282.6,731.6,13.1,1075,12771,0.00,2.12,0.00,0.000,4,0.000,0.037,2715,1108,2366
$GC,12844,0.48,282.6,722.2,11.7,1078,12848,0.00,2.15,0.00,0.000,6,0.000,0.042,2715,2499,2366
$GC,13166,0.43,282.6,682.5,11.8,1094,13170,0.12,1.98,0.00,0.000,4,0.160,0.057,2683,3756,2366
$GC,13211,0.43,282.6,676.9,12.5,1096,13215,0.00,1.88,0.00,0.000,6,0.000,0.031,2688,2491,2365
$GC,13543,0.48,282.6,641.2,10.8,1112,13547,0.00,2.05,0.00,0.000,4,0.000,0.036,2691,1115,2365
$GC,13576,0.57,282.6,637.6,10.3,1113,13581,0.12,2.15,0.00,0.000,6,0.090,0.041,2739,2512,2365
$GC,13892,0.45,282.6,598.2,11.9,1128,13897,0.17,2.12,0.00,0.000,4,0.166,0.035,2693,1103,2365
$GC,13919,0.48,305.0,595.3,9.1,1129,13941,0.00,2.15,16.95,1.148,6,0.000,0.040,2693,2505,2288
$GC,14260,0.55,305.0,559.6,11.5,1146,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2505,2285
$GC,14566,0.64,305.0,522.9,11.8,1161,14571,0.17,2.12,0.00,0.000,4,0.078,0.034,2772,1101,2284
$GC,14587,0.64,305.0,519.9,13.9,1162,14591,0.00,2.17,0.00,0.000,6,0.000,0.039,2772,2493,2284
$GC,14912,0.45,305.0,468.5,15.3,1186,14918,0.30,0.00,0.00,0.000,6,0.178,0.000,2690,2495,2283
$GC,15239,0.59,315.6,437.3,9.6,1217,15254,0.12,2.15,9.50,0.982,4,0.089,0.035,2744,1113,2244
$GC,15326,0.59,315.6,426.2,12.6,1224,15332,0.00,2.15,0.00,0.000,6,0.000,0.041,2744,2501,2243
$GC,15653,0.53,315.6,387.0,11.3,1255,15657,0.00,1.98,0.00,0.000,4,0.000,0.055,2744,3763,2242
$GC,15837,0.40,315.6,362.8,13.6,1271,15841,0.25,1.85,0.00,0.000,6,0.172,0.031,2678,2511,2241
$GC,16167,0.71,366.0,333.8,8.0,1302,16213,0.22,2.20,40.25,0.967,4,0.071,0.035,2775,1118,2039
$GC,16337,0.71,366.0,312.2,12.3,1317,16341,0.00,2.20,0.00,0.000,6,0.000,0.040,2775,2516,2034
$GC,16675,0.65,366.0,263.3,14.1,1369,16682,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2516,2032
$GC,17020,0.60,366.0,213.8,13.8,1430,17027,0.15,2.12,0.00,0.000,4,0.165,0.033,2744,1106,2032
$GC,17078,0.71,366.0,206.9,11.2,1440,17084,0.00,2.17,0.00,0.000,6,0.000,0.039,2744,2516,2032
$GC,17422,0.88,414.8,170.9,8.1,1501,17470,0.20,2.22,38.12,0.822,4,0.071,0.035,2831,1116,1838
$GC,17482,0.72,414.8,163.3,14.9,1511,17489,0.20,2.20,0.00,0.000,6,0.159,0.038,2779,2518,1836
$GC,17827,0.77,414.8,126.8,10.3,1572,17833,0.00,2.15,0.00,0.000,4,0.000,0.035,2779,1109,1832
$GC,17935,0.88,414.8,115.3,11.1,1591,17942,0.15,2.10,0.00,0.000,6,0.077,0.038,2838,2474,1832
$GC,18279,0.81,414.8,58.5,14.0,1652,18286,0.12,2.05,0.00,0.000,4,0.152,0.031,2813,1106,1831
$GC,18489,1.00,456.0,37.5,8.4,1689,18527,0.15,1.98,31.88,0.691,6,0.077,0.035,2877,2417,1672
$STATE,18834,end climb,SURFACE_DEPTH_REACHED
$STATE,18834,begin surface coast
$FINISH,1.8,0.999014
$STATE,18868,end surface coast,CONTROL_FINISHED_OK
$STATE,18868,begin surface
$SM_CCo,18945,0.00,0.000,0,0,1662,458.47
$SM_GC,2.95,7.43,0.00,0.00,0.061,0.000,0.000,142,2420,1662,-7.50,-0.20,458.47
$IRIDIUM_FIX,2446.56,12220.98,090998,131341
$TT8_MAMPS,0.028379
$HUMID,1628
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,977.2,52.5
$24V_AH,23.5,30.041
$10V_AH,10.7,17.191
$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,27.350,144.025,458.525,0.000,0.000,28.911,39.464,207.776,8.250,0.000,0.000,31.577,3102.561,11995.753,617.763,3027.709,618.830,0.000,2120.924,0.000,2946.049,0.000,57.318,0.000
$DEVICE_MAMPS,247.741,58.292,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1193.374,1220.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94576,1756
$CAP_FILE_SIZE,191716,0
$CFSIZE,260165632,212676608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,176.2,1
$GPS,160609,000306,2457.879,12215.229,35,1.1,36,-3.5