version: 66.04
glider: 167
mission: 2
dive: 173
start: 6 16 109 23 8 41
data:
$ID,167
$MISSION,2
$DIVE,173
$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,-8411.6953
$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,69
$R_STBD_OVSHOOT,34
$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
$GPS1,225906,2457.263,12216.676,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-57.4
$GPS2,230820,2457.191,12216.737,14,1.1,14,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,112.7,55606,-16.8,-10.000
$D_GRID,1101
$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,-170.3,0.0,0.0,0,99,0.00,0.00,-82.18,0.000,2,0.000,0.000,144,2415,2501
$GC,103,-0.96,-170.3,3.1,-1.9,14,164,8.60,2.12,-46.95,0.000,4,0.247,0.041,2227,1024,3989
$GC,182,-0.29,-170.3,11.6,-21.5,27,190,0.80,2.15,0.00,0.000,6,0.176,0.034,2445,2433,3989
$GC,530,-0.90,-170.3,48.4,-9.3,88,536,0.50,2.05,0.00,0.000,4,0.068,0.049,2254,3760,3990
$GC,739,-0.51,-170.3,83.7,-15.0,125,746,0.40,1.88,0.00,0.000,6,0.147,0.026,2375,2449,3990
$GC,1084,-0.70,-170.3,108.5,-6.1,186,1091,0.17,2.03,0.00,0.000,4,0.065,0.048,2293,3755,3991
$GC,1322,-0.63,-170.3,131.8,-9.7,228,1329,0.17,1.77,0.00,0.000,6,0.140,0.026,2345,2509,3992
$GC,1667,-0.78,-170.3,158.9,-6.3,289,1673,0.15,2.12,0.00,0.000,4,0.071,0.027,2281,1035,3992
$GC,1703,-0.70,-170.3,162.0,-9.2,295,1711,0.15,2.22,0.00,0.000,6,0.149,0.034,2317,2523,3992
$GC,2049,-0.77,-170.3,194.7,-10.1,356,2055,0.00,1.90,0.00,0.000,4,0.000,0.050,2316,3770,3992
$GC,2147,-0.88,-170.3,204.9,-10.4,373,2153,0.15,1.75,0.00,0.000,6,0.071,0.027,2250,2540,3992
$GC,2492,-0.71,-170.3,248.8,-11.9,434,2498,0.17,2.17,0.00,0.000,4,0.149,0.028,2307,1036,3992
$GC,2545,-0.80,-170.3,254.0,-9.1,443,2552,0.00,2.28,0.00,0.000,6,0.000,0.036,2307,2550,3991
$GC,2890,-0.87,-170.3,286.3,-10.2,504,2895,0.12,0.00,0.00,0.000,6,0.080,0.000,2255,2551,3991
$GC,3227,-0.74,-170.3,326.1,-11.5,545,3229,0.17,0.00,0.00,0.000,6,0.155,0.000,2304,2551,3990
$GC,3548,-0.83,-170.3,355.3,-8.9,575,3552,0.00,1.85,0.00,0.000,4,0.000,0.053,2303,3754,3988
$GC,3606,-0.91,-170.3,360.5,-8.8,580,3610,0.15,1.75,0.00,0.000,6,0.075,0.028,2240,2537,3988
$GC,3936,-0.75,-170.3,396.6,-10.4,611,3940,0.20,2.17,0.00,0.000,4,0.149,0.028,2302,1040,3986
$GC,4009,-0.87,-170.3,402.2,-6.8,617,4014,0.12,2.25,0.00,0.000,6,0.082,0.037,2250,2532,3986
$GC,4335,-0.80,-170.3,432.5,-9.3,647,4339,0.15,2.20,0.00,0.000,4,0.159,0.028,2291,1037,3985
$GC,4424,-0.92,-170.3,440.3,-8.2,654,4431,0.12,2.22,0.00,0.000,6,0.083,0.037,2235,2515,3984
$GC,4749,-0.79,-170.3,474.7,-10.1,685,4754,0.17,1.92,0.00,0.000,4,0.160,0.053,2288,3760,3982
$GC,4833,-0.90,-170.3,481.5,-7.2,692,4839,0.00,1.77,0.00,0.000,6,0.000,0.030,2288,2534,3981
$GC,5170,-0.99,-170.3,506.4,-7.7,720,5174,0.17,1.92,0.00,0.000,4,0.075,0.054,2207,3758,3980
$GC,5238,-0.73,-170.3,514.8,-13.1,723,5242,0.32,1.75,0.00,0.000,6,0.157,0.031,2303,2559,3979
$GC,5573,-0.88,-170.3,542.2,-7.7,739,5575,0.12,0.00,0.00,0.000,6,0.082,0.000,2252,2559,3976
$GC,5880,-0.88,-170.3,573.0,-10.0,754,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2559,3974
$GC,6189,-0.88,-170.3,604.9,-10.7,769,6192,0.00,1.90,0.00,0.000,4,0.000,0.058,2247,3763,3973
$GC,6216,-0.84,-170.3,608.0,-11.8,770,6220,0.00,1.77,0.00,0.000,6,0.000,0.031,2247,2549,3973
$GC,6543,-0.79,-170.3,644.0,-10.7,786,6548,0.15,2.20,0.00,0.000,4,0.155,0.031,2289,1051,3970
$GC,6599,-0.93,-170.3,649.2,-9.5,788,6605,0.12,2.28,0.00,0.000,6,0.086,0.040,2241,2543,3970
$GC,6915,-0.88,-170.3,680.8,-10.0,804,6919,0.00,1.90,0.00,0.000,4,0.000,0.058,2236,3761,3968
$GC,6988,-0.79,-170.3,689.1,-12.2,807,6992,0.17,1.77,0.00,0.000,6,0.150,0.031,2285,2552,3968
$GC,7316,-0.90,-170.3,719.6,-9.5,823,7320,0.00,1.92,0.00,0.000,4,0.000,0.059,2285,3764,3966
$GC,7385,-1.05,-170.3,726.0,-9.4,826,7389,0.22,1.75,0.00,0.000,6,0.071,0.032,2199,2578,3966
$GC,7718,-0.82,-170.3,771.3,-13.8,842,7722,0.25,2.25,0.00,0.000,4,0.162,0.031,2275,1053,3964
$GC,7762,-0.92,-170.3,776.3,-9.1,844,7766,0.00,2.30,0.00,0.000,6,0.000,0.041,2275,2552,3964
$GC,8084,-0.99,-170.3,803.0,-7.7,860,8088,0.15,1.88,0.00,0.000,4,0.081,0.057,2214,3753,3963
$GC,8139,-0.83,-170.3,808.8,-11.0,862,8143,0.22,1.73,0.00,0.000,6,0.160,0.031,2277,2581,3963
$GC,8460,-0.90,-170.3,831.1,-6.4,878,8464,0.00,2.25,0.00,0.000,4,0.000,0.032,2277,1054,3961
$GC,8538,-1.00,-170.3,837.2,-8.1,881,8545,0.15,2.30,0.00,0.000,6,0.082,0.041,2216,2553,3961
$GC,8854,-0.85,-170.3,867.6,-9.8,897,8859,0.17,2.25,0.00,0.000,4,0.166,0.031,2269,1045,3959
$GC,8921,-0.94,-170.3,872.8,-6.4,900,8925,0.00,2.30,0.00,0.000,6,0.000,0.041,2269,2541,3959
$GC,9242,-1.02,-170.3,894.0,-6.7,916,9246,0.15,1.90,0.00,0.000,4,0.084,0.058,2207,3753,3958
$GC,9270,-0.90,-170.3,896.6,-9.4,917,9274,0.17,1.77,0.00,0.000,6,0.163,0.033,2254,2557,3958
$GC,9597,-0.90,-170.3,922.0,-7.7,933,9600,0.00,2.22,0.00,0.000,4,0.000,0.032,2254,1056,3957
$GC,9636,-0.90,-170.3,925.0,-7.2,934,9642,0.00,2.30,0.00,0.000,6,0.000,0.041,2255,2540,3957
$GC,9952,-0.90,-170.3,948.9,-7.6,950,9956,0.00,1.92,0.00,0.000,4,0.000,0.060,2255,3764,3956
$GC,10002,-0.90,-170.3,952.9,-8.0,952,10006,0.00,1.77,0.00,0.000,6,0.000,0.032,2255,2570,3956
$GC,10329,-0.90,-170.3,977.8,-7.6,968,10334,0.00,2.25,0.00,0.000,4,0.000,0.033,2254,1053,3955
$GC,10403,-0.95,-170.3,983.4,-7.6,971,10407,0.00,2.30,0.00,0.000,6,0.000,0.042,2255,2540,3954
$STATE,10489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10489,begin apogee
$GC,10494,-0.22,0.0,990.2,7.5,975,10583,0.68,0.00,85.80,1.434,6,0.143,0.000,2466,2541,3532
$STATE,10584,end apogee,CONTROL_FINISHED_OK
$STATE,10584,begin climb
$GC,10586,0.96,170.3,992.2,0.0,979,10737,1.08,2.33,142.00,1.393,4,0.061,0.034,2860,1136,2836
$GC,10812,0.36,170.3,977.9,17.0,989,10817,0.77,2.25,0.00,0.000,6,0.205,0.042,2664,2511,2832
$GC,11134,0.38,189.0,948.0,9.3,1005,11155,0.00,2.03,15.30,1.280,4,0.000,0.056,2664,3756,2760
$GC,11262,0.28,189.0,934.5,11.4,1010,11268,0.00,1.85,0.00,0.000,6,0.000,0.031,2665,2535,2758
$GC,11578,0.31,213.9,905.8,9.0,1026,11603,0.00,2.00,21.17,1.315,4,0.000,0.057,2664,3757,2661
$GC,11676,0.25,213.9,895.3,11.2,1030,11683,0.15,1.88,0.00,0.000,6,0.178,0.031,2626,2521,2659
$GC,11992,0.50,283.0,871.4,7.3,1046,12057,0.20,2.25,57.47,1.336,4,0.074,0.037,2709,1109,2376
$GC,12085,0.50,283.0,861.1,11.7,1050,12089,0.00,2.30,0.00,0.000,6,0.000,0.041,2709,2531,2374
$GC,12412,0.50,283.0,822.1,12.1,1066,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2531,2369
$GC,12721,0.50,283.0,785.7,11.4,1081,12725,0.00,2.17,0.00,0.000,4,0.000,0.036,2709,1110,2367
$GC,12761,0.50,283.0,781.2,10.4,1082,12767,0.00,2.20,0.00,0.000,6,0.000,0.041,2709,2529,2367
$GC,13076,0.50,283.0,744.8,11.4,1098,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2529,2367
$GC,13386,0.50,283.0,707.9,13.0,1113,13390,0.00,1.95,0.00,0.000,4,0.000,0.057,2709,3765,2366
$GC,13419,0.40,283.0,702.7,15.4,1114,13423,0.15,1.85,0.00,0.000,6,0.180,0.032,2671,2522,2366
$GC,13740,0.52,283.0,667.1,10.9,1130,13745,0.12,1.98,0.00,0.000,4,0.087,0.056,2718,3760,2365
$GC,13791,0.38,283.0,659.9,15.1,1132,13795,0.17,1.83,0.00,0.000,6,0.174,0.032,2673,2529,2366
$GC,14118,0.55,324.3,628.9,8.4,1148,14160,0.15,2.25,32.10,1.191,4,0.083,0.036,2732,1103,2209
$GC,14210,0.55,324.3,618.4,11.3,1152,14214,0.00,2.25,0.00,0.000,6,0.000,0.040,2732,2524,2206
$GC,14537,0.55,324.3,578.7,12.2,1168,14540,0.00,1.95,0.00,0.000,4,0.000,0.058,2732,3765,2203
$GC,14575,0.43,324.3,573.2,13.3,1169,14582,0.17,1.88,0.00,0.000,6,0.175,0.031,2687,2511,2202
$GC,14891,0.57,324.3,541.4,10.1,1185,14896,0.12,2.10,0.00,0.000,4,0.084,0.035,2734,1110,2202
$GC,14930,0.57,324.3,536.8,11.7,1187,14934,0.00,2.20,0.00,0.000,6,0.000,0.039,2735,2531,2201
$GC,15254,0.57,324.3,494.6,12.8,1204,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2531,2201
$GC,15573,0.57,324.3,454.4,12.2,1234,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2531,2201
$GC,15891,0.57,324.3,418.2,10.6,1264,15894,0.00,2.15,0.00,0.000,4,0.000,0.036,2735,1114,2201
$GC,15996,0.57,324.3,407.0,10.6,1273,16003,0.00,2.17,0.00,0.000,6,0.000,0.038,2734,2532,2201
$GC,16324,0.57,324.3,373.8,11.2,1304,16327,0.00,2.15,0.00,0.000,4,0.000,0.035,2735,1104,2200
$GC,16425,0.63,324.3,363.1,11.5,1313,16429,0.00,2.17,0.00,0.000,6,0.000,0.039,2735,2519,2200
$GC,16756,0.63,324.3,329.5,10.5,1344,16759,0.00,1.95,0.00,0.000,4,0.000,0.058,2735,3761,2200
$GC,16783,0.63,324.3,326.2,12.0,1346,16789,0.00,1.85,0.00,0.000,6,0.000,0.030,2735,2501,2200
$GC,17112,0.63,324.3,288.9,10.9,1385,17117,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2500,2200
$GC,17455,0.68,324.3,252.9,10.1,1446,17461,0.00,2.05,0.00,0.000,4,0.000,0.035,2734,1117,2200
$GC,17524,0.75,324.3,246.1,10.7,1458,17530,0.15,2.15,0.00,0.000,6,0.076,0.037,2796,2530,2200
$GC,17868,0.59,324.3,198.7,13.0,1519,17876,0.20,2.12,0.00,0.000,4,0.166,0.031,2744,1098,2201
$GC,18014,0.74,385.5,185.5,7.6,1544,18068,0.12,2.15,46.83,0.832,6,0.082,0.035,2795,2520,1959
$GC,18405,0.74,385.5,136.6,11.9,1613,18411,0.00,1.95,0.00,0.000,4,0.000,0.055,2795,3754,1952
$GC,18464,0.64,385.5,128.5,14.8,1623,18471,0.17,1.83,0.00,0.000,6,0.162,0.029,2753,2513,1952
$GC,18812,0.84,395.7,94.5,9.6,1684,18830,0.17,2.12,8.77,0.683,4,0.071,0.033,2828,1118,1917
$GC,18870,0.79,395.7,87.6,11.3,1694,18876,0.00,2.10,0.00,0.000,6,0.000,0.036,2829,2492,1917
$GC,19214,0.80,408.3,49.4,9.5,1755,19232,0.00,2.03,11.23,0.663,4,0.000,0.054,2828,3757,1866
$GC,19369,0.81,411.0,34.0,9.9,1782,19375,0.00,1.80,0.00,0.000,6,0.000,0.026,2828,2511,1863
$GC,19713,1.01,463.0,5.9,8.0,1843,19756,0.12,0.00,39.80,0.639,2,0.078,0.000,2885,2510,1655
$STATE,19757,end climb,SURFACE_DEPTH_REACHED
$STATE,19757,begin surface coast
$FINISH,1.8,0.999998
$STATE,19790,end surface coast,CONTROL_FINISHED_OK
$STATE,19790,begin surface
$SM_CCo,19867,0.00,0.000,0,0,1647,462.15
$SM_GC,2.82,7.47,0.00,0.00,0.057,0.000,0.000,141,2509,1647,-7.50,2.32,462.15
$IRIDIUM_FIX,2448.93,12212.42,100998,171750
$TT8_MAMPS,0.028379
$HUMID,1600
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.5,31.088
$10V_AH,10.7,17.786
$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,27.275,167.700,460.475,0.000,0.000,33.040,31.426,347.461,8.000,0.000,0.000,15.842,3268.855,12530.505,642.832,3189.528,773.216,0.000,2267.513,0.000,3123.729,0.000,55.964,0.000
$DEVICE_MAMPS,246.974,59.826,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.268,1309.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97741,1856
$CAP_FILE_SIZE,207351,0
$CFSIZE,260165632,212140032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 76.8,1
$GPS,170609,044101,2456.222,12219.854,38,1.3,39,-3.5