version: 66.04
glider: 167
mission: 2
dive: 166
start: 6 15 109 13 13 11
data:
$ID,167
$MISSION,2
$DIVE,166
$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,-8264.6533
$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,62
$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
$GPS1,130536,2455.375,12218.993,36,1.2,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.5
$GPS2,131252,2455.253,12218.945,15,2.2,34,-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,320.9,17399,-16.8,-10.000
$D_GRID,1098
$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,-23.77,0.000,2,0.000,0.000,141,2448,2331
$GC,44,-0.96,-170.3,3.1,-1.8,4,112,8.57,2.15,-52.88,0.000,4,0.245,0.061,2219,3768,3989
$GC,365,-0.36,-170.3,68.9,-19.1,60,372,0.70,1.98,0.00,0.000,6,0.160,0.026,2426,2403,3992
$GC,710,-1.07,-170.3,94.9,-6.2,121,717,0.60,2.12,0.00,0.000,4,0.075,0.048,2201,3765,3993
$GC,970,-0.59,-170.3,134.8,-16.1,167,977,0.50,1.85,0.00,0.000,6,0.150,0.026,2352,2469,3996
$GC,1316,-0.79,-170.3,159.2,-6.7,228,1322,0.17,2.03,0.00,0.000,4,0.065,0.050,2272,3768,3996
$GC,1536,-0.68,-170.3,185.3,-13.1,267,1543,0.17,1.85,0.00,0.000,6,0.138,0.027,2323,2476,3996
$GC,1882,-0.79,-170.3,216.5,-9.4,328,1888,0.00,2.00,0.00,0.000,4,0.000,0.050,2316,3763,3996
$GC,1975,-0.89,-170.3,225.1,-8.6,344,1981,0.17,1.83,0.00,0.000,6,0.067,0.028,2241,2488,3996
$GC,2319,-0.68,-170.3,266.8,-11.9,405,2324,0.25,0.00,0.00,0.000,6,0.146,0.000,2320,2487,3996
$GC,2663,-0.81,-170.3,293.0,-7.8,466,2671,0.12,2.00,0.00,0.000,4,0.078,0.052,2261,3766,3996
$GC,2796,-0.71,-170.3,307.8,-12.1,483,2802,0.17,1.83,0.00,0.000,6,0.145,0.028,2312,2500,3996
$GC,3121,-0.82,-170.3,336.1,-8.0,514,3125,0.00,1.98,0.00,0.000,4,0.000,0.053,2305,3764,3995
$GC,3212,-0.92,-170.3,343.4,-8.0,522,3216,0.10,1.83,0.00,0.000,6,0.064,0.029,2233,2521,3995
$GC,3541,-0.73,-170.3,380.1,-11.9,553,3546,0.20,1.95,0.00,0.000,4,0.152,0.051,2290,3766,3993
$GC,3611,-0.80,-170.3,386.7,-9.0,559,3614,0.00,1.80,0.00,0.000,6,0.000,0.028,2290,2516,3993
$GC,3943,-0.86,-170.3,414.1,-8.7,590,3947,0.00,2.15,0.00,0.000,4,0.000,0.031,2290,1042,3993
$GC,3967,-0.93,-170.3,416.1,-7.8,592,3971,0.12,2.25,0.00,0.000,6,0.081,0.036,2234,2528,3993
$GC,4292,-0.80,-170.3,453.0,-11.3,622,4296,0.17,1.90,0.00,0.000,4,0.163,0.051,2276,3761,3992
$GC,4462,-0.80,-170.3,468.9,-9.0,637,4466,0.00,1.77,0.00,0.000,6,0.000,0.028,2275,2526,3991
$GC,4794,-0.80,-170.3,496.6,-8.2,668,4798,0.00,1.95,0.00,0.000,4,0.000,0.055,2275,3766,3990
$GC,4856,-0.85,-170.3,502.2,-8.2,672,4862,0.00,1.77,0.00,0.000,6,0.000,0.030,2276,2543,3989
$GC,5172,-0.85,-170.3,528.2,-8.2,688,5175,0.00,1.92,0.00,0.000,4,0.000,0.056,2275,3765,3987
$GC,5318,-0.91,-170.3,540.7,-8.6,694,5321,0.00,1.75,0.00,0.000,6,0.000,0.031,2275,2568,3986
$GC,5640,-0.96,-170.3,567.4,-8.1,710,5644,0.12,2.22,0.00,0.000,4,0.085,0.030,2224,1049,3984
$GC,5672,-0.83,-170.3,570.8,-10.8,711,5679,0.20,2.30,0.00,0.000,6,0.158,0.039,2277,2557,3984
$GC,5989,-0.90,-170.3,595.9,-7.9,727,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2557,3983
$GC,6297,-0.96,-170.3,621.0,-8.1,742,6299,0.12,0.00,0.00,0.000,6,0.089,0.000,2229,2559,3981
$GC,6607,-0.83,-170.3,654.2,-11.3,757,6611,0.17,2.25,0.00,0.000,4,0.164,0.031,2277,1049,3979
$GC,6651,-0.93,-170.3,658.5,-9.3,759,6655,0.00,2.30,0.00,0.000,6,0.000,0.040,2275,2551,3979
$GC,6973,-1.00,-170.3,686.0,-8.6,775,6977,0.15,1.88,0.00,0.000,4,0.080,0.055,2211,3755,3977
$GC,7092,-0.78,-170.3,700.6,-12.5,780,7097,0.28,1.75,0.00,0.000,6,0.160,0.031,2289,2564,3976
$GC,7420,-0.91,-170.3,728.1,-8.4,796,7424,0.12,2.25,0.00,0.000,4,0.083,0.031,2240,1040,3975
$GC,7459,-0.91,-170.3,732.3,-10.9,798,7463,0.00,2.33,0.00,0.000,6,0.000,0.040,2234,2554,3975
$GC,7785,-0.81,-170.3,769.9,-11.6,814,7790,0.17,1.88,0.00,0.000,4,0.169,0.058,2288,3761,3973
$GC,7825,-0.94,-170.3,774.0,-10.0,815,7831,0.12,1.75,0.00,0.000,6,0.088,0.033,2238,2574,3973
$GC,8141,-0.87,-170.3,809.7,-12.0,831,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2574,3972
$GC,8450,-0.79,-170.3,841.1,-9.0,846,8455,0.17,2.25,0.00,0.000,4,0.156,0.032,2293,1053,3971
$GC,8513,-0.97,-170.3,845.2,-6.7,849,8517,0.17,2.30,0.00,0.000,6,0.080,0.042,2225,2556,3970
$GC,8846,-0.86,-170.3,877.4,-10.3,865,8850,0.15,1.90,0.00,0.000,4,0.163,0.059,2261,3760,3970
$GC,8885,-0.86,-170.3,881.4,-9.5,866,8892,0.00,1.77,0.00,0.000,6,0.000,0.034,2261,2565,3970
$GC,9201,-0.86,-170.3,907.8,-8.2,882,9204,0.00,1.90,0.00,0.000,4,0.000,0.059,2261,3755,3969
$GC,9256,-0.86,-170.3,912.5,-9.0,884,9260,0.00,1.75,0.00,0.000,6,0.000,0.034,2261,2575,3968
$GC,9578,-0.91,-170.3,941.1,-8.9,900,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2575,3967
$GC,9888,-0.95,-170.3,965.6,-7.5,915,9892,0.00,2.28,0.00,0.000,4,0.000,0.034,2261,1042,3967
$GC,9916,-1.01,-170.3,968.0,-9.1,916,9921,0.12,2.33,0.00,0.000,6,0.090,0.043,2214,2546,3966
$STATE,10146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10147,begin apogee
$GC,10152,-0.22,0.0,991.6,10.7,927,10244,0.85,0.00,88.15,1.434,6,0.164,0.000,2466,2547,3531
$STATE,10244,end apogee,CONTROL_FINISHED_OK
$STATE,10244,begin climb
$GC,10247,0.96,170.3,993.7,0.0,931,10403,1.10,2.40,141.70,1.387,4,0.066,0.035,2862,1132,2835
$GC,10566,0.35,170.3,966.0,15.7,946,10572,0.77,2.22,0.00,0.000,6,0.202,0.043,2662,2511,2832
$GC,10888,0.43,230.7,939.7,7.6,962,10939,0.00,0.00,49.65,1.351,6,0.000,0.000,2662,2511,2591
$GC,11238,0.52,261.5,909.9,8.8,979,11266,0.15,0.00,25.45,1.312,6,0.085,0.000,2715,2511,2465
$GC,11567,0.44,261.5,870.2,12.9,995,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2511,2459
$GC,11876,0.35,261.5,833.3,11.5,1010,11878,0.20,0.00,0.00,0.000,6,0.160,0.000,2661,2512,2458
$GC,12185,0.50,293.8,804.8,8.7,1025,12215,0.12,0.00,26.98,1.283,6,0.092,0.000,2706,2512,2334
$GC,12514,0.50,293.8,766.5,11.7,1041,12517,0.00,2.12,0.00,0.000,4,0.000,0.038,2707,1136,2329
$GC,12563,0.50,293.8,760.4,11.6,1043,12567,0.00,2.17,0.00,0.000,6,0.000,0.043,2706,2518,2328
$GC,12891,0.50,293.8,722.7,10.6,1059,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2518,2327
$GC,13199,0.50,293.8,687.0,12.0,1074,13203,0.00,2.12,0.00,0.000,4,0.000,0.038,2706,1126,2326
$GC,13228,0.50,293.8,683.8,11.2,1075,13231,0.00,2.15,0.00,0.000,6,0.000,0.042,2706,2513,2326
$GC,13555,0.50,293.8,646.6,11.5,1091,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2513,2327
$GC,13863,0.50,293.8,608.1,12.6,1106,13867,0.00,2.10,0.00,0.000,4,0.000,0.037,2707,1128,2326
$GC,13909,0.57,293.8,602.8,11.6,1108,13912,0.00,2.15,0.00,0.000,6,0.000,0.042,2707,2517,2326
$GC,14241,0.57,293.8,565.3,11.1,1124,14245,0.00,2.10,0.00,0.000,4,0.000,0.037,2707,1129,2326
$GC,14302,0.64,293.8,558.5,11.1,1126,14310,0.12,2.12,0.00,0.000,6,0.087,0.042,2758,2507,2325
$GC,14618,0.48,293.8,514.1,14.4,1142,14620,0.20,0.00,0.00,0.000,6,0.171,0.000,2705,2510,2326
$GC,14932,0.50,303.3,480.6,9.6,1165,14942,0.00,0.00,8.00,0.979,6,0.000,0.000,2705,2510,2295
$GC,15263,0.57,312.8,449.3,9.6,1196,15274,0.00,0.00,9.32,0.979,6,0.000,0.000,2705,2510,2255
$GC,15589,0.67,312.8,412.0,10.9,1227,15593,0.17,1.98,0.00,0.000,4,0.076,0.057,2778,3761,2253
$GC,15638,0.42,312.8,404.3,16.9,1231,15645,0.38,1.88,0.00,0.000,6,0.173,0.032,2681,2499,2253
$GC,15963,0.64,335.8,374.6,9.1,1262,15988,0.20,2.17,19.08,0.983,4,0.072,0.038,2766,1103,2162
$GC,16068,0.64,335.8,360.9,13.0,1271,16072,0.00,2.17,0.00,0.000,6,0.000,0.039,2765,2498,2159
$GC,16398,0.56,335.8,319.6,11.7,1302,16402,0.15,2.00,0.00,0.000,4,0.171,0.057,2727,3762,2158
$GC,16467,0.56,335.8,311.5,10.7,1308,16471,0.00,1.90,0.00,0.000,6,0.000,0.031,2733,2482,2158
$GC,16804,0.63,335.8,275.3,11.2,1358,16811,0.00,2.03,0.00,0.000,4,0.000,0.035,2733,1117,2158
$GC,16909,0.74,335.8,264.3,10.4,1376,16916,0.15,2.08,0.00,0.000,6,0.074,0.038,2793,2478,2158
$GC,17254,0.60,335.8,215.8,14.0,1437,17261,0.17,2.05,0.00,0.000,4,0.173,0.032,2746,1109,2157
$GC,17329,0.71,361.2,207.8,9.0,1450,17361,0.00,2.08,20.88,0.843,6,0.000,0.038,2746,2465,2058
$GC,17701,0.80,361.2,172.2,10.7,1515,17709,0.15,2.05,0.00,0.000,4,0.075,0.056,2807,3766,2055
$GC,17766,0.57,361.2,161.7,16.5,1526,17774,0.30,1.92,0.00,0.000,6,0.165,0.028,2731,2453,2055
$GC,18112,0.76,366.9,128.1,9.8,1587,18125,0.17,1.98,5.35,0.634,4,0.067,0.032,2815,1109,2037
$GC,18199,0.68,366.9,117.4,12.3,1602,18206,0.17,2.08,0.00,0.000,6,0.159,0.037,2768,2471,2037
$GC,18546,0.85,405.3,82.1,8.5,1663,18586,0.15,2.12,31.20,0.735,4,0.074,0.034,2831,1116,1877
$GC,18773,0.86,414.1,53.4,9.7,1703,18785,0.00,2.00,7.68,0.628,6,0.000,0.035,2831,2424,1843
$GC,19125,1.01,448.8,21.7,8.6,1765,19162,0.12,2.15,27.77,0.660,4,0.074,0.054,2885,3766,1701
$GC,19197,0.88,448.8,13.9,11.8,1777,19203,0.22,2.00,0.00,0.000,6,0.159,0.026,2833,2408,1699
$STATE,19338,end climb,SURFACE_DEPTH_REACHED
$STATE,19338,begin surface coast
$FINISH,1.8,1.009234
$STATE,19378,end surface coast,CONTROL_FINISHED_OK
$STATE,19378,begin surface
$SM_CCo,19455,0.00,0.000,0,0,1695,450.62
$SM_GC,2.82,7.32,0.00,0.00,0.061,0.000,0.000,142,2407,1695,-7.50,-0.57,450.62
$IRIDIUM_FIX,2444.18,12222.99,090998,070705
$TT8_MAMPS,0.028379
$HUMID,1605
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.5,29.863
$10V_AH,10.7,17.087
$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,27.525,138.325,461.200,0.000,0.000,30.452,34.073,210.323,8.000,0.000,0.000,35.697,3180.847,12427.229,607.752,3053.547,604.203,0.000,2115.446,0.000,2967.072,0.000,54.401,0.000
$DEVICE_MAMPS,244.673,60.593,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1229.705,1250.107,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94605,1809
$CAP_FILE_SIZE,191616,0
$CFSIZE,260165632,212774912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,197.2,1
$GPS,150609,183837,2456.978,12217.270,36,1.2,37,-3.5