version: 66.04
glider: 167
mission: 2
dive: 178
start: 6 18 109 3 29 41
data:
$ID,167
$MISSION,2
$DIVE,178
$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,-8528.5049
$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,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
$GPS1,032207,2450.809,12230.461,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.5
$GPS2,032922,2450.905,12230.479,15,2.6,34,-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,114.5,29793,-16.8,-10.000
$D_GRID,1256
$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,-23.90,0.000,2,0.000,0.000,142,2414,2309
$GC,44,-0.96,-170.3,3.2,-3.3,4,111,8.65,2.20,-51.42,0.000,4,0.247,0.060,2222,3765,3990
$GC,153,-0.18,-170.3,20.6,-31.0,22,161,0.93,2.00,0.00,0.000,6,0.176,0.024,2484,2382,3991
$GC,499,-0.98,-170.3,50.5,-7.4,83,506,0.68,2.15,0.00,0.000,4,0.071,0.046,2230,3762,3993
$GC,679,-0.47,-170.3,76.6,-15.7,114,686,0.52,1.90,0.00,0.000,6,0.155,0.025,2387,2436,3994
$GC,1024,-0.73,-170.3,103.2,-6.7,175,1030,0.20,2.08,0.00,0.000,4,0.062,0.048,2293,3771,3996
$GC,1132,-0.64,-170.3,114.9,-11.6,194,1139,0.15,1.85,0.00,0.000,6,0.141,0.026,2335,2468,3996
$GC,1478,-0.74,-170.3,150.1,-8.4,255,1484,0.00,2.00,0.00,0.000,4,0.000,0.049,2331,3758,3997
$GC,1639,-0.84,-170.3,162.7,-6.6,283,1645,0.17,1.77,0.00,0.000,6,0.069,0.027,2257,2511,3997
$GC,1983,-0.63,-170.3,200.9,-12.0,344,1991,0.25,1.95,0.00,0.000,4,0.144,0.048,2331,3770,3997
$GC,2078,-0.80,-170.3,208.4,-7.0,360,2086,0.12,1.75,0.00,0.000,6,0.080,0.027,2275,2540,3997
$GC,2425,-0.71,-170.3,242.8,-8.2,421,2431,0.15,1.90,0.00,0.000,4,0.145,0.048,2316,3766,3997
$GC,2502,-0.83,-170.3,250.1,-10.4,434,2508,0.12,1.75,0.00,0.000,6,0.079,0.027,2260,2534,3997
$GC,2846,-0.72,-170.3,289.4,-10.6,495,2852,0.17,1.90,0.00,0.000,4,0.146,0.049,2316,3758,3997
$GC,2910,-0.86,-170.3,295.2,-8.6,506,2917,0.15,1.70,0.00,0.000,6,0.074,0.027,2251,2567,3997
$GC,3239,-0.74,-170.3,328.6,-9.4,541,3241,0.20,0.00,0.00,0.000,6,0.147,0.000,2310,2567,3997
$GC,3559,-0.85,-170.3,354.0,-8.6,571,3564,0.12,1.88,0.00,0.000,4,0.081,0.051,2258,3765,3996
$GC,3586,-0.85,-170.3,357.0,-10.5,573,3593,0.00,1.73,0.00,0.000,6,0.000,0.028,2258,2581,3996
$GC,3914,-0.78,-170.3,390.7,-9.4,604,3918,0.12,1.85,0.00,0.000,4,0.157,0.051,2289,3769,3995
$GC,3971,-0.85,-170.3,396.2,-9.1,609,3975,0.00,1.67,0.00,0.000,6,0.000,0.028,2289,2598,3995
$GC,4304,-0.92,-170.3,424.8,-8.2,640,4306,0.12,0.00,0.00,0.000,6,0.081,0.000,2234,2597,3994
$GC,4621,-0.76,-170.3,459.8,-11.5,670,4625,0.17,1.83,0.00,0.000,4,0.162,0.053,2289,3761,3992
$GC,4682,-0.87,-170.3,465.5,-8.8,675,4688,0.00,1.67,0.00,0.000,6,0.000,0.030,2288,2601,3992
$GC,5009,-0.95,-170.3,493.8,-9.1,706,5013,0.15,2.28,0.00,0.000,4,0.077,0.029,2226,1047,3991
$GC,5087,-0.82,-170.3,503.3,-11.9,712,5092,0.20,2.35,0.00,0.000,6,0.156,0.038,2278,2595,3990
$GC,5403,-0.88,-170.3,531.1,-8.1,727,5406,0.00,1.80,0.00,0.000,4,0.000,0.055,2275,3763,3988
$GC,5487,-0.93,-170.3,538.4,-8.0,730,5493,0.00,1.67,0.00,0.000,6,0.000,0.029,2275,2603,3987
$GC,5803,-0.99,-170.3,562.7,-7.4,746,5808,0.15,2.28,0.00,0.000,4,0.077,0.030,2214,1050,3986
$GC,5853,-0.82,-170.3,567.8,-10.9,748,5858,0.25,2.35,0.00,0.000,6,0.156,0.038,2279,2594,3986
$GC,6169,-0.90,-170.3,592.6,-7.9,763,6172,0.00,1.80,0.00,0.000,4,0.000,0.054,2275,3761,3984
$GC,6219,-0.97,-170.3,596.8,-8.7,765,6223,0.12,1.67,0.00,0.000,6,0.086,0.031,2223,2613,3983
$GC,6549,-0.82,-170.3,631.5,-11.3,781,6551,0.20,0.00,0.00,0.000,6,0.156,0.000,2280,2613,3981
$GC,6855,-0.91,-170.3,659.7,-8.8,796,6859,0.00,1.85,0.00,0.000,4,0.000,0.058,2275,3763,3980
$GC,6946,-0.99,-170.3,667.4,-8.8,800,6950,0.15,1.67,0.00,0.000,6,0.080,0.032,2215,2621,3979
$GC,7279,-0.82,-170.3,705.4,-11.8,816,7284,0.20,2.30,0.00,0.000,4,0.161,0.030,2277,1056,3977
$GC,7301,-0.82,-170.3,708.1,-11.3,817,7305,0.00,2.35,0.00,0.000,6,0.000,0.040,2275,2599,3977
$GC,7629,-0.89,-170.3,736.1,-8.5,833,7632,0.00,1.83,0.00,0.000,4,0.000,0.059,2275,3768,3975
$GC,7685,-0.97,-170.3,741.2,-8.5,835,7689,0.12,1.67,0.00,0.000,6,0.087,0.031,2224,2628,3975
$GC,8006,-0.85,-170.3,778.5,-11.8,851,8010,0.17,1.80,0.00,0.000,4,0.160,0.056,2275,3762,3973
$GC,8045,-0.92,-170.3,782.6,-9.8,852,8053,0.00,1.67,0.00,0.000,6,0.000,0.032,2275,2622,3974
$GC,8362,-1.01,-170.3,809.4,-8.1,868,8364,0.17,0.00,0.00,0.000,6,0.077,0.000,2206,2622,3972
$GC,8670,-0.83,-170.3,843.6,-10.7,883,8672,0.25,0.00,0.00,0.000,6,0.166,0.000,2276,2621,3970
$GC,8980,-0.94,-170.3,867.9,-7.2,898,8984,0.00,2.33,0.00,0.000,4,0.000,0.032,2277,1047,3970
$GC,9047,-1.06,-170.3,873.4,-8.0,901,9052,0.20,2.42,0.00,0.000,6,0.076,0.042,2200,2618,3969
$GC,9370,-0.86,-170.3,911.5,-12.2,917,9374,0.20,2.35,0.00,0.000,4,0.168,0.031,2260,1058,3968
$GC,9422,-0.92,-170.3,916.7,-9.5,919,9426,0.00,2.40,0.00,0.000,6,0.000,0.042,2260,2605,3968
$GC,9743,-0.92,-170.3,944.9,-8.9,935,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2605,3967
$GC,10053,-0.97,-170.3,971.8,-8.5,950,10056,0.00,1.83,0.00,0.000,4,0.000,0.061,2260,3764,3966
$GC,10143,-1.04,-170.3,979.6,-8.8,954,10148,0.15,1.67,0.00,0.000,6,0.086,0.034,2204,2639,3965
$STATE,10246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10246,begin apogee
$GC,10252,-0.22,0.0,991.4,11.6,959,10348,0.88,0.00,88.28,1.432,6,0.162,0.000,2465,2534,3531
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10352,0.96,170.3,995.7,0.0,964,10503,1.08,2.15,141.95,1.388,4,0.059,0.058,2852,3761,2835
$GC,10600,0.19,170.3,980.1,17.0,975,10606,0.98,1.98,0.00,0.000,6,0.208,0.029,2614,2490,2831
$GC,10924,0.50,293.1,961.9,5.2,991,11033,0.25,2.25,101.15,1.362,4,0.070,0.058,2706,3764,2336
$GC,11061,0.38,293.1,947.3,12.7,997,11067,0.15,1.98,0.00,0.000,6,0.177,0.030,2672,2499,2332
$GC,11377,0.50,302.6,916.2,9.6,1013,11392,0.10,2.15,7.97,1.138,4,0.089,0.036,2710,1120,2298
$GC,11437,0.50,302.6,909.4,12.1,1015,11443,0.00,2.17,0.00,0.000,6,0.000,0.039,2710,2500,2297
$GC,11753,0.50,302.6,871.6,12.0,1031,11756,0.00,2.12,0.00,0.000,4,0.000,0.035,2710,1107,2295
$GC,11847,0.50,302.6,860.3,11.2,1035,11851,0.00,2.15,0.00,0.000,6,0.000,0.040,2710,2488,2295
$GC,12174,0.50,302.6,820.1,12.9,1051,12178,0.00,2.10,0.00,0.000,4,0.000,0.035,2710,1102,2293
$GC,12252,0.50,302.6,809.8,13.5,1054,12256,0.00,2.10,0.00,0.000,6,0.000,0.039,2710,2460,2293
$GC,12573,0.50,302.6,768.3,12.6,1070,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2461,2293
$GC,12883,0.50,302.6,729.0,12.8,1085,12887,0.00,2.05,0.00,0.000,4,0.000,0.058,2709,3765,2293
$GC,12922,0.41,302.6,723.3,14.9,1086,12928,0.12,1.95,0.00,0.000,6,0.177,0.031,2679,2452,2293
$GC,13238,0.52,302.6,689.5,10.3,1102,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2452,2292
$GC,13548,0.65,319.3,659.7,9.3,1117,13567,0.22,0.00,13.98,1.165,6,0.072,0.000,2768,2450,2229
$GC,13876,0.48,319.3,614.3,14.4,1133,13878,0.25,0.00,0.00,0.000,6,0.173,0.000,2701,2450,2227
$GC,14186,0.56,319.3,580.3,11.1,1148,14189,0.00,2.10,0.00,0.000,4,0.000,0.056,2701,3767,2226
$GC,14220,0.56,319.3,576.1,12.4,1149,14223,0.00,1.98,0.00,0.000,6,0.000,0.032,2703,2447,2227
$GC,14541,0.63,319.3,539.7,11.0,1165,14546,0.12,2.00,0.00,0.000,4,0.086,0.035,2759,1108,2226
$GC,14609,0.56,319.3,531.2,12.0,1168,14614,0.12,2.08,0.00,0.000,6,0.176,0.040,2728,2455,2226
$GC,14931,0.56,321.9,498.0,9.9,1184,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2455,2225
$GC,15249,0.56,321.9,466.1,10.2,1214,15253,0.00,2.03,0.00,0.000,4,0.000,0.035,2733,1104,2225
$GC,15333,0.61,321.9,457.3,10.1,1221,15339,0.00,2.03,0.00,0.000,6,0.000,0.039,2733,2429,2225
$GC,15659,0.64,347.8,423.4,9.0,1252,15692,0.00,2.17,23.42,1.031,4,0.000,0.057,2732,3757,2113
$GC,15731,0.58,347.8,416.0,11.1,1258,15737,0.00,2.00,0.00,0.000,6,0.000,0.031,2733,2436,2111
$GC,16058,0.64,347.8,380.7,11.9,1289,16062,0.00,1.98,0.00,0.000,4,0.000,0.035,2732,1112,2109
$GC,16104,0.73,347.8,375.1,11.7,1293,16109,0.15,2.05,0.00,0.000,6,0.077,0.038,2791,2443,2109
$GC,16429,0.60,347.8,334.2,10.9,1323,16433,0.17,2.03,0.00,0.000,4,0.170,0.032,2745,1106,2109
$GC,16590,0.73,376.7,320.2,8.9,1337,16622,0.10,2.00,23.62,0.940,6,0.094,0.037,2784,2412,1994
$GC,16951,0.66,376.7,273.5,12.2,1388,16958,0.00,2.12,0.00,0.000,4,0.000,0.054,2784,3759,1990
$GC,16992,0.49,376.7,267.3,15.2,1395,16999,0.30,2.00,0.00,0.000,6,0.166,0.029,2706,2424,1990
$GC,17337,0.77,376.7,235.2,10.5,1456,17344,0.20,1.95,0.00,0.000,4,0.067,0.032,2797,1106,1989
$GC,17368,0.77,376.7,231.2,13.4,1461,17374,0.00,2.00,0.00,0.000,6,0.000,0.038,2797,2417,1989
$GC,17712,0.71,376.7,186.8,13.0,1522,17718,0.00,1.95,0.00,0.000,4,0.000,0.032,2801,1109,1990
$GC,17735,0.71,376.7,184.3,11.1,1526,17741,0.00,1.95,0.00,0.000,6,0.000,0.037,2801,2398,1989
$GC,18078,0.71,376.7,143.0,10.6,1587,18084,0.00,2.12,0.00,0.000,4,0.000,0.053,2801,3764,1990
$GC,18147,0.58,376.7,134.3,12.8,1599,18154,0.25,2.03,0.00,0.000,6,0.163,0.028,2732,2382,1990
$GC,18492,0.96,472.1,108.7,6.2,1660,18575,0.30,1.98,73.35,0.745,4,0.060,0.033,2867,1113,1605
$GC,18700,0.96,472.1,78.6,12.2,1696,18707,0.00,1.95,0.00,0.000,6,0.000,0.035,2867,2377,1598
$GC,19045,1.02,472.1,34.0,11.4,1757,19051,0.00,2.17,0.00,0.000,4,0.000,0.053,2867,3758,1596
$GC,19085,1.02,472.1,29.1,12.2,1764,19092,0.00,2.08,0.00,0.000,6,0.000,0.025,2871,2337,1596
$STATE,19355,end climb,SURFACE_DEPTH_REACHED
$STATE,19355,begin surface coast
$FINISH,1.6,1.013670
$STATE,19394,end surface coast,CONTROL_FINISHED_OK
$STATE,19394,begin surface
$SM_CCo,19472,0.00,0.000,0,0,1594,475.15
$SM_GC,2.64,7.28,0.00,0.00,0.054,0.000,0.000,143,2467,1594,-7.49,1.13,475.15
$IRIDIUM_FIX,2444.18,12228.27,110998,212129
$TT8_MAMPS,0.028379
$HUMID,1609
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.5,31.982
$10V_AH,10.7,18.324
$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,28.750,155.975,473.725,0.000,0.000,25.371,33.238,211.412,8.000,0.000,0.000,35.578,3219.506,12311.675,638.553,3099.872,618.378,0.000,2191.218,0.000,3012.544,0.000,54.412,0.000
$DEVICE_MAMPS,246.974,62.127,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.633,1265.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97777,1819
$CAP_FILE_SIZE,198549,0
$CFSIZE,260165632,211648512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 24.8,1
$GPS,180609,085530,2450.536,12233.427,37,1.2,43,-3.5