version: 66.04
glider: 167
mission: 2
dive: 168
start: 6 16 109 0 10 4
data:
$ID,167
$MISSION,2
$DIVE,168
$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,-8313.4746
$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,32
$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
$GPS1,000306,2457.879,12215.229,35,1.1,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.5
$GPS2,000943,2457.797,12215.259,10,1.1,15,-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,313.4,9724,-16.8,-10.000
$D_GRID,902
$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,-170.3,0.0,0.0,0,46,0.00,0.00,-29.83,0.000,2,0.000,0.000,143,2420,2403
$GC,50,-0.96,-170.3,3.2,-2.0,5,114,8.77,2.15,-49.70,0.000,4,0.252,0.042,2225,1020,3989
$GC,218,-0.33,-170.3,34.8,-28.3,33,226,0.75,2.15,0.00,0.000,6,0.177,0.035,2430,2429,3991
$GC,565,-0.87,-170.3,63.4,-6.9,94,571,0.43,2.08,0.00,0.000,4,0.063,0.048,2260,3773,3993
$GC,726,-0.60,-170.3,85.3,-15.4,122,733,0.30,1.92,0.00,0.000,6,0.149,0.028,2349,2425,3993
$GC,1071,-0.72,-170.3,110.9,-7.5,183,1078,0.12,2.10,0.00,0.000,4,0.075,0.050,2291,3770,3996
$GC,1146,-0.64,-170.3,119.8,-13.1,196,1153,0.17,1.90,0.00,0.000,6,0.140,0.026,2341,2440,3996
$GC,1492,-0.76,-170.3,150.0,-6.4,257,1499,0.12,0.00,0.00,0.000,6,0.075,0.000,2286,2439,3996
$GC,1840,-0.71,-170.3,182.9,-8.6,318,1846,0.12,2.05,0.00,0.000,4,0.154,0.049,2316,3758,3997
$GC,2016,-0.80,-170.3,197.1,-8.3,349,2023,0.00,1.88,0.00,0.000,6,0.000,0.028,2316,2445,3997
$GC,2364,-0.88,-170.3,225.1,-9.0,410,2370,0.15,2.05,0.00,0.000,4,0.075,0.051,2247,3763,3997
$GC,2550,-0.68,-170.3,248.4,-12.6,443,2557,0.25,1.85,0.00,0.000,6,0.148,0.028,2322,2473,3997
$GC,2896,-0.80,-170.3,273.0,-6.2,504,2902,0.12,2.03,0.00,0.000,4,0.078,0.051,2263,3770,3997
$GC,3029,-0.70,-170.3,285.3,-9.9,527,3035,0.20,1.85,0.00,0.000,6,0.145,0.028,2322,2483,3997
$GC,3371,-0.82,-170.3,309.4,-8.0,577,3375,0.12,2.00,0.00,0.000,4,0.079,0.052,2264,3763,3995
$GC,3451,-0.74,-170.3,317.9,-10.8,584,3455,0.15,1.83,0.00,0.000,6,0.150,0.029,2307,2499,3995
$GC,3781,-0.83,-170.3,348.4,-8.4,615,3785,0.00,1.98,0.00,0.000,4,0.000,0.052,2303,3764,3994
$GC,3884,-0.92,-170.3,356.9,-8.1,624,3888,0.15,1.80,0.00,0.000,6,0.076,0.029,2240,2519,3994
$GC,4214,-0.78,-170.3,391.0,-9.5,655,4218,0.17,1.95,0.00,0.000,4,0.148,0.051,2289,3767,3993
$GC,4412,-0.86,-170.3,404.7,-6.8,672,4417,0.00,1.75,0.00,0.000,6,0.000,0.029,2289,2555,3993
$GC,4740,-0.92,-170.3,426.9,-7.6,703,4746,0.12,0.00,0.00,0.000,6,0.084,0.000,2235,2555,3992
$GC,5067,-0.78,-170.3,465.1,-12.3,734,5069,0.20,0.00,0.00,0.000,6,0.161,0.000,2291,2554,3991
$GC,5386,-0.87,-170.3,496.9,-9.9,764,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2555,3989
$GC,5705,-0.98,-170.3,526.1,-7.6,781,5710,0.17,1.90,0.00,0.000,4,0.075,0.055,2210,3760,3987
$GC,5784,-0.72,-170.3,534.7,-11.0,784,5788,0.35,1.73,0.00,0.000,6,0.160,0.031,2312,2574,3986
$GC,6105,-0.92,-170.3,549.6,-4.1,800,6109,0.17,1.88,0.00,0.000,4,0.075,0.056,2242,3760,3985
$GC,6200,-0.83,-170.3,557.2,-9.2,804,6204,0.12,1.73,0.00,0.000,6,0.163,0.031,2275,2579,3984
$GC,6528,-0.88,-170.3,582.7,-7.7,820,6532,0.00,1.88,0.00,0.000,4,0.000,0.058,2275,3767,3983
$GC,6601,-0.93,-170.3,588.9,-7.7,823,6605,0.00,1.73,0.00,0.000,6,0.000,0.031,2275,2584,3983
$GC,6928,-0.98,-170.3,614.9,-8.2,839,6933,0.15,2.28,0.00,0.000,4,0.080,0.031,2215,1040,3981
$GC,6968,-0.82,-170.3,618.9,-11.0,841,6973,0.22,2.35,0.00,0.000,6,0.160,0.040,2278,2570,3982
$GC,7296,-0.89,-170.3,644.1,-7.6,857,7300,0.00,1.85,0.00,0.000,4,0.000,0.056,2275,3761,3979
$GC,7330,-0.97,-170.3,646.9,-7.6,858,7334,0.12,1.73,0.00,0.000,6,0.087,0.031,2224,2580,3979
$GC,7653,-0.82,-170.3,679.4,-9.9,874,7658,0.17,2.28,0.00,0.000,4,0.160,0.031,2279,1039,3977
$GC,7680,-0.82,-170.3,681.9,-7.9,875,7684,0.00,2.35,0.00,0.000,6,0.000,0.040,2275,2572,3977
$GC,7997,-0.90,-170.3,705.5,-8.0,890,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2572,3976
$GC,8306,-0.97,-170.3,733.2,-9.5,905,8310,0.12,1.85,0.00,0.000,4,0.087,0.056,2224,3758,3975
$GC,8355,-0.83,-170.3,738.7,-11.3,907,8360,0.17,1.73,0.00,0.000,6,0.161,0.032,2272,2585,3974
$GC,8683,-0.89,-170.3,767.0,-8.6,923,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2585,3973
$GC,8992,-0.95,-170.3,790.5,-7.5,938,8994,0.12,0.00,0.00,0.000,6,0.087,0.000,2224,2585,3972
$GC,9301,-0.82,-170.3,821.8,-10.4,953,9306,0.20,2.30,0.00,0.000,4,0.168,0.034,2283,1037,3970
$GC,9334,-0.93,-170.3,824.7,-8.1,954,9342,0.12,2.35,0.00,0.000,6,0.092,0.042,2236,2564,3970
$GC,9651,-0.86,-170.3,850.2,-7.5,970,9653,0.12,0.00,0.00,0.000,6,0.170,0.000,2267,2565,3970
$GC,9961,-0.92,-170.3,875.4,-9.0,985,9964,0.00,1.88,0.00,0.000,4,0.000,0.060,2264,3757,3969
$GC,9994,-0.97,-170.3,878.6,-8.7,986,9998,0.00,1.73,0.00,0.000,6,0.000,0.033,2264,2591,3969
$STATE,10292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10292,begin apogee
$GC,10298,-0.22,0.0,903.3,7.6,1001,10388,0.68,0.00,87.43,1.369,6,0.146,0.000,2471,2590,3531
$STATE,10389,end apogee,CONTROL_FINISHED_OK
$STATE,10389,begin climb
$GC,10392,0.96,170.3,906.0,0.0,1005,10542,1.08,2.05,139.90,1.327,4,0.066,0.055,2853,3751,2836
$GC,10702,0.19,170.3,878.1,17.0,1019,10707,0.98,1.90,0.00,0.000,6,0.210,0.030,2612,2510,2831
$GC,11031,0.50,282.7,857.2,5.6,1035,11130,0.28,2.17,90.97,1.299,4,0.070,0.057,2714,3757,2378
$GC,11154,0.37,282.7,844.5,12.4,1041,11158,0.20,1.98,0.00,0.000,6,0.172,0.031,2667,2500,2375
$GC,11487,0.55,326.2,817.6,8.3,1057,11532,0.17,2.22,35.30,1.264,4,0.078,0.038,2732,1112,2201
$GC,11617,0.55,326.2,803.0,11.7,1062,11623,0.00,2.20,0.00,0.000,6,0.000,0.039,2732,2498,2197
$GC,11933,0.48,326.2,763.2,12.2,1078,11938,0.12,2.15,0.00,0.000,4,0.165,0.035,2706,1097,2194
$GC,11989,0.57,326.2,757.0,10.8,1080,11995,0.00,2.17,0.00,0.000,6,0.000,0.040,2706,2494,2195
$GC,12304,0.57,326.2,720.4,11.8,1096,12308,0.00,2.12,0.00,0.000,4,0.000,0.036,2706,1105,2192
$GC,12354,0.67,326.2,714.7,11.6,1098,12358,0.15,2.15,0.00,0.000,6,0.083,0.041,2765,2491,2193
$GC,12675,0.51,326.2,667.4,14.9,1114,12677,0.20,0.00,0.00,0.000,6,0.176,0.000,2712,2494,2192
$GC,12983,0.51,326.2,629.8,12.4,1129,12987,0.00,2.00,0.00,0.000,4,0.000,0.058,2712,3758,2192
$GC,13010,0.51,326.2,626.1,13.4,1130,13014,0.00,1.92,0.00,0.000,6,0.000,0.031,2717,2461,2191
$GC,13337,0.51,326.2,584.2,12.1,1146,13341,0.00,2.03,0.00,0.000,4,0.000,0.036,2717,1104,2191
$GC,13415,0.59,326.2,574.4,11.9,1149,13419,0.00,2.10,0.00,0.000,6,0.000,0.040,2717,2471,2191
$GC,13737,0.59,326.2,535.6,11.0,1165,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2471,2191
$GC,14045,0.59,326.2,500.9,11.6,1180,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2471,2190
$GC,14365,0.64,326.2,465.8,10.1,1209,14369,0.00,2.08,0.00,0.000,4,0.000,0.036,2717,1101,2190
$GC,14506,0.73,326.2,451.2,10.3,1221,14513,0.17,2.10,0.00,0.000,6,0.076,0.039,2785,2473,2190
$GC,14831,0.54,326.2,405.9,13.4,1252,14835,0.22,2.05,0.00,0.000,4,0.175,0.035,2719,1112,2190
$GC,14926,0.68,366.0,396.9,8.4,1260,14964,0.12,2.05,31.10,1.020,6,0.085,0.040,2771,2455,2037
$GC,15290,0.60,366.0,348.4,14.3,1294,15294,0.12,2.08,0.00,0.000,4,0.176,0.054,2741,3765,2032
$GC,15350,0.60,366.0,339.7,13.5,1299,15356,0.00,2.00,0.00,0.000,6,0.000,0.031,2745,2434,2031
$GC,15678,0.65,366.0,302.7,11.6,1330,15681,0.00,1.98,0.00,0.000,4,0.000,0.035,2745,1112,2031
$GC,15802,0.76,366.0,288.7,10.1,1350,15809,0.12,2.00,0.00,0.000,6,0.085,0.037,2792,2424,2031
$GC,16147,0.65,366.0,241.2,12.3,1411,16152,0.15,0.00,0.00,0.000,6,0.174,0.000,2754,2426,2031
$GC,16490,0.70,366.0,204.6,10.3,1472,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2426,2031
$GC,16832,0.77,366.0,166.7,10.6,1533,16840,0.12,1.98,0.00,0.000,4,0.084,0.034,2803,1104,2031
$GC,16897,0.71,366.0,158.4,13.2,1544,16903,0.00,2.00,0.00,0.000,6,0.000,0.038,2803,2427,2031
$GC,17240,0.64,366.0,115.0,11.2,1605,17248,0.17,1.98,0.00,0.000,4,0.161,0.032,2758,1098,2031
$GC,17356,0.82,392.8,103.7,8.9,1625,17387,0.15,2.00,20.62,0.755,6,0.079,0.036,2817,2427,1931
$GC,17727,0.82,392.8,58.2,10.5,1690,17733,0.00,2.10,0.00,0.000,4,0.000,0.054,2817,3771,1928
$GC,17851,0.82,392.8,43.5,10.4,1712,17857,0.00,2.00,0.00,0.000,6,0.000,0.027,2825,2392,1928
$GC,18195,1.08,496.0,15.5,5.9,1773,18283,0.17,1.98,78.60,0.663,4,0.070,0.032,2911,1120,1507
$STATE,18318,end climb,SURFACE_DEPTH_REACHED
$STATE,18318,begin surface coast
$FINISH,1.8,1.021688
$STATE,18340,end surface coast,CONTROL_FINISHED_OK
$STATE,18341,begin surface
$SM_CCo,18420,0.00,0.000,0,0,1499,498.45
$SM_GC,2.70,7.65,0.00,0.00,0.061,0.000,0.000,142,2447,1499,-7.50,0.59,498.45
$IRIDIUM_FIX,2446.56,12215.69,090998,181845
$TT8_MAMPS,0.028379
$HUMID,1613
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.7,30.216
$10V_AH,10.7,17.296
$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,27.875,132.425,483.925,0.000,0.000,30.145,32.003,195.109,7.250,0.000,0.000,15.986,3144.108,11421.070,625.223,3028.262,583.979,0.000,2132.751,0.000,2963.006,0.000,49.412,0.000
$DEVICE_MAMPS,251.576,59.826,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.481,1262.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94596,1798
$CAP_FILE_SIZE,187096,0
$CFSIZE,260165632,212586496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 89.7,1
$GPS,160609,051807,2459.604,12214.235,28,1.3,29,-3.5