version: 66.04
glider: 167
mission: 2
dive: 179
start: 6 18 109 9 3 28
data:
$ID,167
$MISSION,2
$DIVE,179
$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,-8545.2148
$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,63
$R_STBD_OVSHOOT,65
$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
$GPS1,085530,2450.536,12233.427,37,1.2,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-71.3
$GPS2,090308,2450.835,12233.663,15,1.2,15,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_2
$TGT_LATLONG,2441.200,12300.000
$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,137.6,47775,-16.8,-10.000
$D_GRID,1280
$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,13,begin dive
$GC,15,-0.96,-170.3,0.0,0.0,0,41,0.00,0.00,-23.17,0.000,2,0.000,0.000,143,2467,2179
$GC,44,-0.96,-170.3,3.1,-2.3,4,118,8.73,2.15,-58.55,0.000,4,0.249,0.040,2231,1018,3988
$GC,136,-0.21,-170.3,12.7,-23.3,19,143,0.88,2.12,0.00,0.000,6,0.177,0.033,2470,2417,3989
$GC,481,-0.85,-170.3,43.6,-7.2,80,487,0.52,2.08,0.00,0.000,4,0.067,0.047,2269,3766,3991
$GC,741,-0.45,-170.3,89.2,-19.3,126,747,0.43,1.90,0.00,0.000,6,0.146,0.025,2397,2436,3992
$GC,1086,-1.02,-170.3,114.7,-5.7,187,1092,0.45,2.05,0.00,0.000,4,0.063,0.047,2217,3762,3994
$GC,1346,-0.59,-170.3,154.3,-15.5,233,1354,0.45,1.77,0.00,0.000,6,0.150,0.028,2353,2518,3995
$GC,1694,-0.87,-170.3,184.6,-8.1,294,1700,0.20,1.92,0.00,0.000,4,0.060,0.048,2257,3762,3995
$GC,1926,-0.71,-170.3,214.1,-12.9,335,1932,0.20,1.75,0.00,0.000,6,0.143,0.028,2317,2536,3995
$GC,2270,-0.80,-170.3,241.6,-7.1,396,2276,0.00,1.90,0.00,0.000,4,0.000,0.051,2316,3763,3995
$GC,2408,-0.89,-170.3,251.5,-7.4,420,2415,0.17,1.70,0.00,0.000,6,0.067,0.028,2240,2574,3995
$GC,2753,-0.69,-170.3,292.6,-11.9,481,2760,0.22,1.83,0.00,0.000,4,0.147,0.049,2306,3751,3995
$GC,2801,-0.76,-170.3,297.9,-10.0,489,2808,0.00,1.67,0.00,0.000,6,0.000,0.028,2306,2579,3995
$GC,3134,-0.84,-170.3,327.5,-7.9,522,3138,0.00,1.85,0.00,0.000,4,0.000,0.052,2303,3750,3995
$GC,3236,-0.92,-170.3,335.9,-8.5,531,3240,0.15,1.65,0.00,0.000,6,0.075,0.029,2240,2599,3994
$GC,3567,-0.75,-170.3,372.7,-12.3,562,3572,0.17,2.28,0.00,0.000,4,0.150,0.029,2295,1038,3993
$GC,3595,-0.75,-170.3,375.7,-11.0,564,3599,0.00,2.35,0.00,0.000,6,0.000,0.037,2295,2592,3993
$GC,3920,-0.82,-170.3,404.0,-8.5,594,3924,0.00,1.80,0.00,0.000,4,0.000,0.054,2292,3744,3992
$GC,3989,-0.90,-170.3,409.8,-8.6,600,3993,0.10,1.65,0.00,0.000,6,0.091,0.029,2247,2598,3992
$GC,4319,-0.80,-170.3,441.7,-9.9,631,4324,0.15,1.80,0.00,0.000,4,0.152,0.053,2288,3751,3990
$GC,4426,-0.87,-170.3,451.1,-8.4,640,4432,0.00,1.62,0.00,0.000,6,0.000,0.030,2289,2626,3990
$GC,4755,-0.95,-170.3,477.7,-8.2,671,4761,0.15,0.00,0.00,0.000,6,0.077,0.000,2225,2626,3987
$GC,5078,-0.79,-170.3,514.9,-12.0,696,5082,0.17,2.33,0.00,0.000,4,0.157,0.031,2281,1041,3986
$GC,5111,-0.84,-170.3,518.6,-9.6,697,5119,0.00,2.40,0.00,0.000,6,0.000,0.040,2280,2614,3986
$GC,5427,-0.89,-170.3,545.0,-8.0,713,5431,0.00,1.75,0.00,0.000,4,0.000,0.055,2278,3750,3984
$GC,5490,-0.96,-170.3,550.3,-8.3,715,5496,0.12,1.62,0.00,0.000,6,0.087,0.031,2225,2636,3983
$GC,5806,-0.81,-170.3,583.0,-10.1,731,5810,0.17,2.33,0.00,0.000,4,0.156,0.031,2280,1053,3981
$GC,5845,-0.91,-170.3,586.3,-7.8,733,5850,0.00,2.40,0.00,0.000,6,0.000,0.039,2280,2620,3981
$GC,6173,-0.98,-170.3,610.8,-7.5,749,6177,0.15,1.75,0.00,0.000,4,0.084,0.056,2219,3750,3979
$GC,6263,-0.80,-170.3,620.6,-11.5,753,6267,0.22,1.62,0.00,0.000,6,0.156,0.031,2283,2638,3979
$GC,6595,-0.89,-170.3,648.2,-8.3,769,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2637,3976
$GC,6904,-0.99,-170.3,672.7,-7.3,784,6908,0.17,1.77,0.00,0.000,4,0.079,0.057,2205,3757,3975
$GC,6938,-0.78,-170.3,676.2,-11.2,785,6942,0.30,1.62,0.00,0.000,6,0.163,0.033,2291,2648,3974
$GC,7259,-0.92,-170.3,698.0,-6.6,801,7264,0.12,2.38,0.00,0.000,4,0.088,0.031,2244,1043,3973
$GC,7303,-0.92,-170.3,701.5,-8.2,803,7307,0.00,2.42,0.00,0.000,6,0.000,0.041,2240,2628,3972
$GC,7630,-0.83,-170.3,730.4,-9.1,819,7634,0.12,1.77,0.00,0.000,4,0.172,0.058,2273,3760,3971
$GC,7665,-0.88,-170.3,733.3,-8.1,820,7669,0.00,1.65,0.00,0.000,6,0.000,0.032,2273,2639,3971
$GC,7987,-0.96,-170.3,757.5,-7.4,836,7989,0.12,0.00,0.00,0.000,6,0.088,0.000,2224,2639,3969
$GC,8296,-0.83,-170.3,788.7,-10.2,851,8298,0.17,0.00,0.00,0.000,6,0.166,0.000,2271,2638,3968
$GC,8606,-0.90,-170.3,810.8,-7.1,866,8610,0.00,1.77,0.00,0.000,4,0.000,0.061,2272,3751,3967
$GC,8657,-1.00,-170.3,814.5,-6.8,868,8661,0.15,1.62,0.00,0.000,6,0.084,0.034,2215,2650,3966
$GC,8984,-0.84,-170.3,846.5,-9.8,884,8989,0.17,2.38,0.00,0.000,4,0.166,0.032,2268,1052,3965
$GC,9025,-0.92,-170.3,849.8,-8.1,886,9032,0.00,2.42,0.00,0.000,6,0.000,0.043,2266,2617,3965
$GC,9360,-0.92,-170.3,874.0,-7.5,902,9364,0.00,2.35,0.00,0.000,4,0.000,0.032,2266,1047,3963
$GC,9400,-1.00,-170.3,877.2,-7.9,904,9405,0.12,2.42,0.00,0.000,6,0.093,0.041,2216,2617,3963
$GC,9726,-0.85,-170.3,911.3,-10.5,920,9728,0.20,0.00,0.00,0.000,6,0.170,0.000,2270,2617,3963
$GC,10036,-0.94,-170.3,934.2,-7.1,935,10039,0.00,1.80,0.00,0.000,4,0.000,0.060,2270,3761,3962
$GC,10066,-1.02,-170.3,936.2,-7.3,936,10070,0.15,1.65,0.00,0.000,6,0.086,0.035,2214,2650,3962
$GC,10394,-0.87,-170.3,968.5,-9.9,952,10399,0.17,2.38,0.00,0.000,4,0.166,0.033,2266,1055,3961
$GC,10462,-0.97,-170.3,974.2,-7.9,955,10466,0.00,2.38,0.00,0.000,6,0.000,0.043,2264,2600,3960
$STATE,10683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10683,begin apogee
$GC,10689,-0.22,0.0,991.1,7.7,966,10779,0.68,0.00,87.15,1.437,6,0.146,0.000,2472,2543,3532
$STATE,10781,end apogee,CONTROL_FINISHED_OK
$STATE,10781,begin climb
$GC,10783,0.96,170.3,994.1,0.0,970,10932,1.08,2.17,142.23,1.391,4,0.065,0.056,2855,3755,2837
$GC,11070,0.18,170.3,971.5,17.4,983,11076,1.00,1.95,0.00,0.000,6,0.209,0.029,2608,2487,2832
$GC,11399,0.50,283.2,951.4,5.6,999,11498,0.25,2.20,92.38,1.361,4,0.074,0.036,2706,1107,2376
$GC,11554,0.50,283.2,935.1,10.9,1006,11558,0.00,2.25,0.00,0.000,6,0.000,0.040,2706,2495,2372
$GC,11881,0.50,283.2,897.0,11.8,1022,11885,0.00,2.05,0.00,0.000,4,0.000,0.060,2706,3766,2368
$GC,11904,0.42,283.2,894.1,12.4,1023,11908,0.00,1.92,0.00,0.000,6,0.000,0.031,2706,2494,2367
$GC,12236,0.42,283.2,854.5,11.8,1039,12240,0.00,2.10,0.00,0.000,4,0.000,0.036,2706,1103,2366
$GC,12330,0.42,283.2,843.5,11.4,1043,12335,0.00,2.17,0.00,0.000,6,0.000,0.041,2705,2500,2366
$GC,12657,0.42,283.2,805.6,11.6,1059,12661,0.00,2.12,0.00,0.000,4,0.000,0.035,2706,1104,2365
$GC,12718,0.42,283.2,798.5,11.3,1061,12726,0.00,2.12,0.00,0.000,6,0.000,0.040,2706,2478,2365
$GC,13034,0.42,283.2,763.2,11.0,1077,13037,0.00,2.08,0.00,0.000,4,0.000,0.035,2706,1107,2364
$GC,13072,0.42,283.2,758.9,10.4,1078,13078,0.00,2.10,0.00,0.000,6,0.000,0.041,2706,2468,2364
$GC,13388,0.42,283.2,724.8,10.7,1094,13392,0.00,2.05,0.00,0.000,4,0.000,0.058,2706,3765,2363
$GC,13422,0.32,283.2,720.8,11.5,1095,13426,0.20,1.92,0.00,0.000,6,0.175,0.031,2653,2464,2363
$GC,13742,0.62,367.5,697.6,6.7,1111,13813,0.25,0.00,67.82,1.241,6,0.074,0.000,2748,2463,2032
$GC,14111,0.62,367.5,651.9,12.9,1129,14115,0.00,2.05,0.00,0.000,4,0.000,0.035,2749,1118,2023
$GC,14172,0.62,367.5,643.6,13.7,1131,14178,0.00,2.10,0.00,0.000,6,0.000,0.039,2749,2460,2023
$GC,14488,0.62,367.5,601.4,13.1,1147,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2460,2021
$GC,14798,0.62,367.5,557.5,14.7,1162,14799,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2460,2020
$GC,15106,0.62,367.5,515.0,12.9,1177,15110,0.00,2.05,0.00,0.000,4,0.000,0.035,2749,1109,2020
$GC,15161,0.62,367.5,507.8,14.4,1179,15166,0.00,2.10,0.00,0.000,6,0.000,0.039,2749,2450,2020
$GC,15493,0.62,367.5,461.1,12.9,1208,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2449,2019
$GC,15810,0.62,367.5,419.4,13.5,1238,15814,0.00,2.03,0.00,0.000,4,0.000,0.035,2749,1107,2019
$GC,15860,0.68,367.5,412.5,13.3,1242,15866,0.00,2.05,0.00,0.000,6,0.000,0.040,2749,2444,2019
$GC,16186,0.68,367.5,373.0,11.2,1273,16190,0.00,2.00,0.00,0.000,4,0.000,0.034,2749,1110,2018
$GC,16232,0.74,367.5,367.9,10.3,1277,16237,0.10,2.03,0.00,0.000,6,0.092,0.039,2787,2432,2018
$GC,16562,0.61,367.5,320.6,15.0,1308,16566,0.17,1.98,0.00,0.000,4,0.168,0.033,2746,1116,2018
$GC,16600,0.70,367.5,315.7,13.2,1311,16606,0.00,2.03,0.00,0.000,6,0.000,0.038,2746,2442,2018
$GC,16936,0.77,367.5,280.0,11.1,1358,16941,0.12,0.00,0.00,0.000,6,0.083,0.000,2797,2443,2018
$GC,17280,0.67,367.5,234.5,14.2,1419,17286,0.12,2.08,0.00,0.000,4,0.175,0.055,2766,3768,2018
$GC,17332,0.67,367.5,227.3,14.1,1428,17338,0.00,2.00,0.00,0.000,6,0.000,0.028,2772,2400,2018
$GC,17676,0.68,372.5,189.5,9.8,1489,17683,0.00,1.90,0.00,0.000,4,0.000,0.034,2772,1103,2019
$GC,17718,0.74,385.2,185.5,9.5,1496,17737,0.00,2.03,12.88,0.800,6,0.000,0.036,2772,2440,1960
$GC,18075,0.81,385.2,144.8,12.2,1559,18080,0.00,2.08,0.00,0.000,4,0.000,0.054,2772,3771,1958
$GC,18199,0.81,385.2,128.7,13.4,1581,18206,0.00,1.95,0.00,0.000,6,0.000,0.027,2772,2441,1958
$GC,18544,0.95,385.2,90.5,10.6,1642,18551,0.20,1.95,0.00,0.000,4,0.070,0.030,2867,1103,1958
$GC,18569,0.95,385.2,87.7,11.8,1646,18575,0.00,1.98,0.00,0.000,6,0.000,0.035,2867,2420,1958
$GC,18913,0.85,385.2,46.0,10.6,1707,18919,0.17,2.08,0.00,0.000,4,0.167,0.050,2814,3762,1959
$GC,18926,0.77,385.2,44.5,11.3,1709,18934,0.00,2.00,0.00,0.000,6,0.000,0.025,2820,2375,1959
$GC,19272,1.04,478.1,21.3,6.3,1770,19349,0.17,2.30,71.05,0.653,4,0.071,0.049,2901,3764,1581
$STATE,19437,end climb,SURFACE_DEPTH_REACHED
$STATE,19437,begin surface coast
$FINISH,1.6,0.997158
$STATE,19455,end surface coast,CONTROL_FINISHED_OK
$STATE,19455,begin surface
$SM_CCo,19535,0.00,0.000,0,0,1573,480.54
$SM_GC,2.67,7.60,0.00,0.00,0.064,0.000,0.000,143,2403,1573,-7.49,-0.68,480.54
$IRIDIUM_FIX,2441.81,12230.27,120998,030306
$TT8_MAMPS,0.029146
$HUMID,1598
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.5,32.167
$10V_AH,10.7,18.430
$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,27.950,160.900,473.500,0.000,0.000,23.337,40.980,249.669,8.000,0.000,0.000,16.081,3184.262,12445.572,626.476,3054.955,664.250,0.000,2172.395,0.000,2990.721,0.000,56.282,0.000
$DEVICE_MAMPS,249.275,91.273,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1223.265,1252.873,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94651,1802
$CAP_FILE_SIZE,197321,0
$CFSIZE,260165632,211550208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 34.4,1
$GPS,180609,143007,2449.843,12235.903,29,1.4,30,-3.5