version: 66.04
glider: 167
mission: 2
dive: 177
start: 6 17 109 21 50 47
data:
$ID,167
$MISSION,2
$DIVE,177
$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,-8492.2988
$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,61
$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
$GPS1,214325,2452.330,12227.401,40,1.2,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-70.5
$GPS2,215026,2452.406,12227.539,15,1.9,15,-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,116.8,35417,-16.8,-10.000
$D_GRID,1327
$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,-170.3,0.0,0.0,0,41,0.00,0.00,-24.90,0.000,2,0.000,0.000,141,2429,2380
$GC,45,-0.96,-170.3,3.2,-3.1,4,111,8.75,2.15,-49.17,0.000,4,0.251,0.062,2221,3757,3990
$GC,247,-0.33,-170.3,45.5,-22.5,39,254,0.75,1.98,0.00,0.000,6,0.175,0.026,2434,2399,3991
$GC,594,-1.02,-170.3,74.0,-6.0,100,601,0.57,1.98,0.00,0.000,4,0.074,0.028,2217,1040,3992
$GC,761,-0.67,-170.3,97.5,-15.8,129,769,0.40,2.17,0.00,0.000,6,0.150,0.034,2328,2488,3993
$GC,1108,-0.74,-170.3,132.1,-9.0,190,1114,0.00,1.95,0.00,0.000,4,0.000,0.051,2327,3758,3995
$GC,1210,-0.80,-170.3,141.2,-11.8,208,1217,0.12,1.83,0.00,0.000,6,0.080,0.028,2273,2489,3995
$GC,1555,-0.66,-170.3,185.9,-12.6,269,1562,0.20,1.98,0.00,0.000,4,0.143,0.048,2331,3761,3996
$GC,1732,-0.79,-170.3,199.8,-7.4,300,1740,0.12,1.77,0.00,0.000,6,0.078,0.028,2275,2520,3997
$GC,2079,-0.72,-170.3,234.0,-9.7,361,2087,0.12,1.92,0.00,0.000,4,0.150,0.049,2304,3770,3996
$GC,2219,-0.78,-170.3,247.2,-9.4,385,2226,0.00,1.75,0.00,0.000,6,0.000,0.028,2304,2547,3996
$GC,2564,-0.85,-170.3,280.1,-10.0,446,2569,0.00,1.90,0.00,0.000,4,0.000,0.051,2304,3767,3996
$GC,2678,-0.93,-170.3,290.6,-9.2,466,2685,0.17,1.73,0.00,0.000,6,0.071,0.028,2229,2562,3996
$GC,3009,-0.71,-170.3,330.7,-11.8,504,3013,0.25,2.20,0.00,0.000,4,0.152,0.028,2307,1044,3996
$GC,3083,-0.84,-170.3,337.2,-8.3,510,3087,0.00,2.28,0.00,0.000,6,0.000,0.035,2304,2558,3996
$GC,3408,-0.92,-170.3,364.2,-8.1,540,3412,0.15,1.85,0.00,0.000,4,0.079,0.052,2241,3761,3995
$GC,3570,-0.78,-170.3,383.3,-11.4,554,3577,0.17,1.70,0.00,0.000,6,0.155,0.028,2291,2582,3995
$GC,3896,-0.85,-170.3,412.4,-8.3,585,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2582,3994
$GC,4216,-0.92,-170.3,437.4,-8.0,615,4220,0.12,1.85,0.00,0.000,4,0.081,0.053,2235,3763,3993
$GC,4306,-0.77,-170.3,447.4,-11.5,623,4310,0.20,1.70,0.00,0.000,6,0.153,0.029,2292,2585,3993
$GC,4637,-0.87,-170.3,473.6,-7.3,654,4640,0.00,1.85,0.00,0.000,4,0.000,0.054,2289,3765,3991
$GC,4710,-1.01,-170.3,479.0,-7.3,660,4717,0.20,1.67,0.00,0.000,6,0.071,0.029,2208,2603,3991
$GC,5032,-0.78,-170.3,514.5,-11.4,685,5037,0.25,2.28,0.00,0.000,4,0.156,0.029,2286,1049,3989
$GC,5095,-0.89,-170.3,519.4,-6.9,688,5099,0.00,2.38,0.00,0.000,6,0.000,0.038,2285,2605,3989
$GC,5421,-0.99,-170.3,541.3,-7.0,704,5426,0.17,1.77,0.00,0.000,4,0.077,0.055,2208,3757,3987
$GC,5483,-0.76,-170.3,548.4,-12.4,706,5489,0.30,1.65,0.00,0.000,6,0.160,0.031,2295,2622,3986
$GC,5799,-0.89,-170.3,574.2,-8.4,722,5804,0.12,1.80,0.00,0.000,4,0.084,0.056,2245,3763,3985
$GC,5833,-0.82,-170.3,577.8,-10.4,723,5837,0.12,1.65,0.00,0.000,6,0.159,0.031,2278,2630,3985
$GC,6155,-0.90,-170.3,605.3,-8.2,739,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2630,3983
$GC,6464,-0.98,-170.3,628.5,-7.2,754,6468,0.15,1.80,0.00,0.000,4,0.081,0.058,2219,3766,3981
$GC,6536,-0.80,-170.3,636.1,-11.1,757,6540,0.20,1.67,0.00,0.000,6,0.156,0.032,2281,2647,3981
$GC,6864,-0.89,-170.3,660.9,-7.8,773,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2648,3980
$GC,7172,-0.99,-170.3,686.3,-8.0,788,7176,0.17,2.38,0.00,0.000,4,0.079,0.031,2207,1047,3978
$GC,7223,-0.82,-170.3,691.8,-12.0,790,7228,0.25,2.42,0.00,0.000,6,0.161,0.041,2277,2619,3977
$GC,7545,-0.91,-170.3,717.7,-7.8,806,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2619,3976
$GC,7854,-0.99,-170.3,740.5,-7.3,821,7858,0.15,1.77,0.00,0.000,4,0.084,0.058,2218,3756,3975
$GC,7909,-0.84,-170.3,746.0,-10.6,823,7913,0.20,1.62,0.00,0.000,6,0.161,0.032,2274,2648,3974
$GC,8230,-0.91,-170.3,770.8,-7.9,839,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2648,3973
$GC,8540,-0.99,-170.3,796.4,-8.3,854,8544,0.15,1.77,0.00,0.000,4,0.081,0.058,2210,3766,3972
$GC,8573,-0.82,-170.3,800.1,-11.7,855,8577,0.25,1.62,0.00,0.000,6,0.165,0.032,2280,2657,3971
$GC,8895,-0.93,-170.3,826.8,-7.9,871,8897,0.10,0.00,0.00,0.000,6,0.094,0.000,2243,2657,3970
$GC,9204,-0.93,-170.3,856.8,-10.1,886,9208,0.00,2.40,0.00,0.000,4,0.000,0.033,2243,1037,3970
$GC,9315,-0.93,-170.3,869.3,-11.4,891,9319,0.00,2.45,0.00,0.000,6,0.000,0.042,2241,2623,3970
$GC,9636,-0.88,-170.3,903.9,-10.7,907,9640,0.00,2.38,0.00,0.000,4,0.000,0.031,2242,1037,3969
$GC,9679,-0.88,-170.3,908.7,-11.0,909,9683,0.00,2.45,0.00,0.000,6,0.000,0.042,2241,2621,3968
$GC,10007,-0.88,-170.3,941.1,-9.9,925,10011,0.00,2.35,0.00,0.000,4,0.000,0.031,2241,1049,3967
$GC,10046,-0.88,-170.3,945.0,-9.9,927,10051,0.00,2.42,0.00,0.000,6,0.000,0.041,2241,2614,3967
$GC,10374,-0.88,-170.3,975.8,-9.0,943,10378,0.00,1.83,0.00,0.000,4,0.000,0.059,2241,3757,3966
$GC,10402,-0.84,-170.3,978.5,-9.4,944,10406,0.12,1.67,0.00,0.000,6,0.162,0.032,2273,2623,3966
$STATE,10561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10567,-0.22,0.0,990.1,7.1,952,10663,0.62,0.00,88.53,1.434,6,0.137,0.000,2470,2533,3532
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10667,0.96,170.3,993.6,0.0,957,10814,1.08,0.00,142.73,1.387,6,0.063,0.000,2855,2534,2837
$GC,11123,0.32,170.3,944.5,15.8,979,11128,0.75,2.00,0.00,0.000,4,0.200,0.057,2652,3751,2830
$GC,11186,0.25,183.9,938.0,9.5,982,11203,0.12,1.92,11.38,1.228,6,0.187,0.031,2629,2474,2782
$GC,11514,0.48,269.6,915.3,6.6,997,11592,0.20,2.20,70.80,1.348,4,0.076,0.036,2706,1120,2431
$GC,11638,0.48,269.6,902.2,10.5,1002,11644,0.00,2.22,0.00,0.000,6,0.000,0.038,2706,2512,2427
$GC,11954,0.48,269.6,865.5,11.9,1018,11957,0.00,2.15,0.00,0.000,4,0.000,0.034,2706,1116,2424
$GC,12021,0.48,269.6,857.5,11.6,1021,12025,0.00,2.15,0.00,0.000,6,0.000,0.038,2706,2497,2423
$GC,12353,0.48,269.6,817.2,12.2,1037,12357,0.00,2.12,0.00,0.000,4,0.000,0.036,2706,1109,2421
$GC,12425,0.48,269.6,808.5,11.4,1040,12429,0.00,2.15,0.00,0.000,6,0.000,0.041,2706,2487,2421
$GC,12753,0.48,269.6,769.7,12.0,1056,12756,0.00,2.03,0.00,0.000,4,0.000,0.059,2706,3762,2421
$GC,12780,0.38,269.6,766.0,13.8,1057,12784,0.15,1.90,0.00,0.000,6,0.183,0.032,2670,2488,2421
$GC,13107,0.49,275.3,733.5,9.8,1073,13113,0.00,0.00,4.32,0.887,6,0.000,0.000,2669,2487,2409
$GC,13416,0.62,291.1,703.5,9.4,1088,13438,0.17,2.08,14.80,1.197,4,0.080,0.058,2744,3764,2344
$GC,13455,0.42,291.1,698.3,14.1,1089,13463,0.25,1.92,0.00,0.000,6,0.179,0.031,2681,2488,2342
$GC,13771,0.52,291.1,665.3,10.3,1105,13774,0.00,2.08,0.00,0.000,4,0.000,0.037,2681,1110,2341
$GC,13855,0.69,304.6,656.9,9.5,1108,13874,0.25,2.12,12.10,1.142,6,0.070,0.041,2775,2482,2290
$GC,14192,0.47,304.6,605.9,14.9,1125,14197,0.25,2.03,0.00,0.000,4,0.178,0.054,2705,3762,2287
$GC,14231,0.42,304.6,600.3,12.3,1127,14235,0.00,1.92,0.00,0.000,6,0.000,0.031,2706,2482,2287
$GC,14563,0.42,304.6,564.7,10.6,1143,14567,0.00,2.05,0.00,0.000,4,0.000,0.038,2706,1111,2286
$GC,14670,0.49,304.6,553.5,10.9,1147,14676,0.00,2.12,0.00,0.000,6,0.000,0.039,2706,2490,2286
$GC,14986,0.54,304.6,519.6,10.8,1163,14989,0.00,2.10,0.00,0.000,4,0.000,0.037,2706,1104,2285
$GC,15064,0.68,330.3,511.8,9.0,1166,15091,0.17,2.10,21.25,1.100,6,0.076,0.040,2775,2469,2185
$GC,15408,0.51,330.3,465.8,14.2,1193,15413,0.20,2.08,0.00,0.000,4,0.173,0.035,2720,1113,2181
$GC,15494,0.59,330.3,456.7,10.4,1200,15498,0.00,2.08,0.00,0.000,6,0.000,0.039,2720,2450,2180
$GC,15827,0.67,339.6,423.8,9.6,1231,15842,0.12,2.10,8.50,0.950,4,0.084,0.036,2772,1106,2146
$GC,15876,0.60,339.6,417.5,13.0,1235,15882,0.12,2.10,0.00,0.000,6,0.172,0.040,2741,2458,2145
$GC,16201,0.60,339.6,379.5,11.4,1266,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2458,2144
$GC,16521,0.60,339.6,341.6,11.6,1296,16525,0.00,2.03,0.00,0.000,4,0.000,0.034,2745,1107,2144
$GC,16548,0.60,339.6,338.1,10.8,1298,16554,0.00,2.08,0.00,0.000,6,0.000,0.038,2746,2460,2144
$GC,16873,0.60,339.6,302.8,10.6,1329,16877,0.00,2.03,0.00,0.000,4,0.000,0.033,2746,1108,2144
$GC,16997,0.66,339.6,289.1,11.8,1348,17003,0.00,2.03,0.00,0.000,6,0.000,0.038,2745,2434,2144
$GC,17341,0.71,339.6,248.1,11.6,1409,17348,0.00,2.08,0.00,0.000,4,0.000,0.054,2745,3764,2144
$GC,17371,0.71,339.6,244.1,13.3,1414,17377,0.00,2.00,0.00,0.000,6,0.000,0.029,2746,2411,2144
$GC,17715,0.77,339.6,205.7,10.3,1475,17722,0.12,1.92,0.00,0.000,4,0.083,0.032,2801,1099,2144
$GC,17768,0.68,339.6,199.9,10.6,1484,17774,0.15,2.03,0.00,0.000,6,0.164,0.036,2761,2440,2144
$GC,18111,0.68,339.6,167.3,10.3,1545,18118,0.00,2.05,0.00,0.000,4,0.000,0.053,2761,3760,2144
$GC,18153,0.61,339.6,162.0,13.9,1552,18159,0.00,1.98,0.00,0.000,6,0.000,0.028,2762,2419,2144
$GC,18497,0.67,339.6,124.5,11.9,1613,18504,0.00,1.92,0.00,0.000,4,0.000,0.034,2762,1103,2145
$GC,18538,0.79,339.6,119.7,10.0,1620,18545,0.10,2.00,0.00,0.000,6,0.092,0.037,2805,2430,2145
$GC,18883,0.81,351.8,82.7,9.5,1681,18902,0.00,2.10,11.35,0.695,4,0.000,0.054,2806,3755,2096
$GC,18964,0.69,351.8,73.5,12.9,1695,18971,0.17,1.95,0.00,0.000,6,0.166,0.027,2766,2415,2096
$GC,19309,1.03,443.6,46.0,6.4,1756,19384,0.28,0.00,70.22,0.683,6,0.061,0.000,2886,2414,1721
$STATE,19697,end climb,SURFACE_DEPTH_REACHED
$STATE,19698,begin surface coast
$FINISH,1.6,1.007747
$STATE,19731,end surface coast,CONTROL_FINISHED_OK
$STATE,19731,begin surface
$SM_CCo,19809,0.00,0.000,0,0,1711,446.45
$SM_GC,2.61,7.45,0.00,0.00,0.059,0.000,0.000,142,2413,1711,-7.50,-0.40,446.45
$IRIDIUM_FIX,2444.18,12224.99,110998,161659
$TT8_MAMPS,0.028379
$HUMID,1589
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.4,31.799
$10V_AH,10.7,18.218
$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,27.800,160.725,455.975,0.000,0.000,28.432,34.342,211.234,8.000,0.000,0.000,15.720,3246.059,12596.988,607.295,3135.970,626.095,0.000,2185.299,0.000,3062.503,0.000,54.412,0.000
$DEVICE_MAMPS,250.809,72.098,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1244.569,1265.486,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97733,1831
$CAP_FILE_SIZE,201578,0
$CFSIZE,260165632,211742720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,112.1,1
$GPS,180609,032207,2450.809,12230.461,36,1.0,36,-3.5