version: 66.04
glider: 167
mission: 2
dive: 171
start: 6 16 109 12 31 35
data:
$ID,167
$MISSION,2
$DIVE,171
$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,-8378.5566
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,121707,2459.692,12212.121,41,1.2,41,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.2
$GPS2,123114,2459.477,12212.138,13,1.3,13,-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,102.8,64396,-16.8,-10.000
$D_GRID,844
$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,-170.3,0.0,0.0,0,45,0.00,0.00,-28.58,0.000,2,0.000,0.000,144,2446,2443
$GC,48,-0.96,-170.3,3.1,-2.5,5,112,8.55,2.10,-49.67,0.000,4,0.245,0.060,2218,3758,3990
$GC,131,-0.19,-170.3,11.7,-22.3,18,138,0.90,1.95,0.00,0.000,6,0.179,0.025,2475,2405,3990
$GC,476,-1.07,-170.3,42.2,-10.5,79,483,0.75,1.98,0.00,0.000,4,0.083,0.028,2200,1039,3992
$GC,736,-0.61,-170.3,92.3,-15.3,125,744,0.50,2.15,0.00,0.000,6,0.156,0.032,2342,2481,3992
$GC,1084,-0.73,-170.3,118.9,-6.3,186,1090,0.00,1.95,0.00,0.000,4,0.000,0.049,2342,3760,3993
$GC,1114,-0.87,-170.3,120.8,-5.9,191,1121,0.22,1.83,0.00,0.000,6,0.060,0.027,2246,2481,3994
$GC,1459,-0.64,-170.3,164.2,-14.5,252,1466,0.25,1.98,0.00,0.000,4,0.146,0.047,2320,3763,3994
$GC,1568,-0.74,-170.3,175.9,-9.9,271,1574,0.00,1.77,0.00,0.000,6,0.000,0.026,2320,2510,3995
$GC,1912,-0.82,-170.3,208.1,-8.4,332,1918,0.12,1.92,0.00,0.000,4,0.082,0.048,2261,3757,3994
$GC,1981,-0.68,-170.3,215.7,-12.0,344,1988,0.20,1.75,0.00,0.000,6,0.145,0.026,2320,2525,3994
$GC,2326,-0.78,-170.3,244.1,-7.4,405,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2524,3994
$GC,2673,-0.89,-170.3,269.1,-8.2,466,2679,0.17,1.92,0.00,0.000,4,0.071,0.050,2246,3766,3993
$GC,2708,-0.72,-170.3,273.0,-11.7,472,2715,0.22,1.77,0.00,0.000,6,0.147,0.027,2313,2519,3993
$GC,3053,-0.81,-170.3,299.3,-7.1,533,3060,0.00,1.92,0.00,0.000,4,0.000,0.051,2305,3764,3992
$GC,3123,-0.89,-170.3,304.5,-7.7,540,3127,0.12,1.75,0.00,0.000,6,0.080,0.028,2250,2544,3993
$GC,3453,-0.75,-170.3,341.8,-11.6,571,3458,0.17,2.17,0.00,0.000,4,0.151,0.028,2305,1038,3991
$GC,3497,-0.87,-170.3,346.0,-9.0,574,3504,0.12,2.22,0.00,0.000,6,0.081,0.035,2250,2525,3991
$GC,3822,-0.76,-170.3,380.7,-11.4,605,3826,0.17,1.90,0.00,0.000,4,0.158,0.049,2292,3767,3990
$GC,4002,-0.84,-170.3,396.8,-8.2,621,4006,0.00,1.75,0.00,0.000,6,0.000,0.028,2292,2549,3989
$GC,4335,-0.93,-170.3,419.0,-6.8,652,4337,0.12,0.00,0.00,0.000,6,0.082,0.000,2239,2549,3988
$GC,4652,-0.81,-170.3,451.9,-10.8,682,4656,0.15,2.17,0.00,0.000,4,0.157,0.030,2279,1053,3986
$GC,4707,-0.88,-170.3,457.2,-9.0,686,4713,0.00,2.25,0.00,0.000,6,0.000,0.038,2277,2540,3986
$GC,5034,-0.88,-170.3,485.2,-8.3,717,5037,0.00,1.88,0.00,0.000,4,0.000,0.056,2277,3753,3985
$GC,5073,-0.93,-170.3,488.7,-8.1,720,5079,0.00,1.73,0.00,0.000,6,0.000,0.030,2277,2564,3984
$GC,5393,-0.93,-170.3,516.9,-9.2,742,5396,0.00,1.88,0.00,0.000,4,0.000,0.056,2277,3757,3982
$GC,5488,-1.00,-170.3,526.3,-9.3,746,5492,0.15,1.73,0.00,0.000,6,0.081,0.031,2216,2573,3981
$GC,5815,-0.80,-170.3,569.3,-13.0,762,5819,0.20,1.88,0.00,0.000,4,0.157,0.054,2275,3763,3979
$GC,5910,-0.87,-170.3,579.2,-9.2,766,5914,0.00,1.73,0.00,0.000,6,0.000,0.032,2275,2582,3979
$GC,6238,-0.94,-170.3,605.8,-8.3,782,6242,0.00,2.25,0.00,0.000,4,0.000,0.032,2275,1047,3977
$GC,6294,-1.00,-170.3,610.8,-8.8,784,6300,0.15,2.33,0.00,0.000,6,0.080,0.040,2217,2571,3976
$GC,6609,-0.83,-170.3,644.6,-10.6,800,6614,0.17,2.25,0.00,0.000,4,0.170,0.030,2269,1051,3975
$GC,6642,-0.83,-170.3,647.5,-8.0,801,6646,0.00,2.30,0.00,0.000,6,0.000,0.038,2266,2558,3975
$GC,6958,-0.83,-170.3,673.0,-8.4,816,6962,0.00,1.88,0.00,0.000,4,0.000,0.057,2262,3764,3973
$GC,7025,-0.83,-170.3,679.3,-10.1,819,7029,0.00,1.73,0.00,0.000,6,0.000,0.031,2261,2585,3972
$GC,7358,-0.83,-170.3,705.5,-7.1,835,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2585,3971
$GC,7668,-0.83,-170.3,729.1,-7.2,850,7671,0.00,1.85,0.00,0.000,4,0.000,0.058,2261,3755,3969
$GC,7740,-0.83,-170.3,734.5,-7.2,853,7743,0.00,1.73,0.00,0.000,6,0.000,0.033,2261,2586,3969
$GC,8067,-0.83,-170.3,756.0,-6.2,869,8071,0.00,2.28,0.00,0.000,4,0.000,0.033,2261,1046,3967
$GC,8095,-0.83,-170.3,757.9,-6.9,870,8099,0.00,2.35,0.00,0.000,6,0.000,0.041,2261,2575,3967
$GC,8410,-0.83,-170.3,781.3,-7.7,885,8414,0.00,1.85,0.00,0.000,4,0.000,0.060,2261,3757,3966
$GC,8461,-0.83,-170.3,785.2,-7.6,887,8464,0.00,1.73,0.00,0.000,6,0.000,0.033,2261,2587,3966
$GC,8787,-0.83,-170.3,810.2,-8.2,903,8791,0.00,2.28,0.00,0.000,4,0.000,0.033,2261,1049,3964
$GC,8832,-0.88,-170.3,814.3,-9.6,905,8837,0.00,2.33,0.00,0.000,6,0.000,0.041,2261,2558,3964
$GC,9154,-0.88,-170.3,839.7,-8.0,921,9157,0.00,1.88,0.00,0.000,4,0.000,0.060,2261,3755,3963
$GC,9203,-0.88,-170.3,843.8,-7.8,923,9207,0.00,1.73,0.00,0.000,6,0.000,0.033,2261,2590,3963
$STATE,9212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9218,-0.22,0.0,844.7,8.6,923,9307,0.62,0.00,85.82,1.324,6,0.143,0.000,2462,2589,3531
$STATE,9307,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9310,0.96,170.3,847.7,0.0,928,9455,1.08,2.05,137.68,1.280,4,0.059,0.054,2852,3755,2836
$GC,9597,0.21,170.3,822.8,18.1,940,9602,0.93,1.88,0.00,0.000,6,0.202,0.030,2619,2521,2832
$GC,9918,0.47,261.5,801.0,6.4,956,9997,0.17,2.25,71.93,1.256,4,0.077,0.036,2693,1107,2465
$GC,10044,0.53,268.7,789.1,9.7,961,10055,0.00,2.20,7.28,1.017,6,0.000,0.039,2693,2489,2436
$GC,10383,0.53,268.7,750.3,11.7,978,10387,0.00,2.03,0.00,0.000,4,0.000,0.058,2693,3761,2431
$GC,10429,0.44,268.7,744.3,13.5,980,10432,0.00,1.90,0.00,0.000,6,0.000,0.030,2693,2495,2430
$GC,10761,0.44,268.7,705.4,11.6,996,10764,0.00,2.05,0.00,0.000,4,0.000,0.058,2693,3765,2429
$GC,10829,0.36,268.7,696.8,12.8,999,10833,0.12,1.88,0.00,0.000,6,0.176,0.031,2663,2504,2429
$GC,11161,0.52,296.9,665.2,8.9,1015,11187,0.15,0.00,23.12,1.187,6,0.080,0.000,2719,2502,2321
$GC,11489,0.52,296.9,626.9,11.2,1031,11493,0.00,2.10,0.00,0.000,4,0.000,0.035,2720,1105,2316
$GC,11618,0.52,296.9,612.2,11.6,1036,11624,0.00,2.17,0.00,0.000,6,0.000,0.040,2720,2507,2315
$GC,11934,0.47,296.9,572.4,12.0,1052,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2507,2315
$GC,12242,0.47,296.9,536.5,11.7,1067,12246,0.00,2.10,0.00,0.000,4,0.000,0.035,2720,1114,2314
$GC,12288,0.47,296.9,531.5,10.4,1069,12291,0.00,2.15,0.00,0.000,6,0.000,0.038,2720,2514,2314
$GC,12611,0.47,296.9,492.1,12.5,1087,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2514,2313
$GC,12930,0.47,296.9,450.9,12.5,1117,12933,0.00,2.10,0.00,0.000,4,0.000,0.035,2720,1116,2313
$GC,13009,0.52,296.9,441.9,10.7,1124,13013,0.00,2.12,0.00,0.000,6,0.000,0.039,2720,2506,2313
$GC,13339,0.56,326.2,407.2,8.8,1155,13371,0.00,2.05,22.80,1.025,4,0.000,0.054,2720,3765,2201
$GC,13395,0.56,326.2,401.7,10.8,1160,13398,0.00,1.90,0.00,0.000,6,0.000,0.031,2721,2500,2199
$GC,13727,0.61,326.2,367.4,11.1,1191,13730,0.00,2.00,0.00,0.000,4,0.000,0.054,2721,3755,2197
$GC,13788,0.61,326.2,359.7,12.7,1196,13794,0.00,1.85,0.00,0.000,6,0.000,0.030,2721,2502,2197
$GC,14115,0.75,379.9,331.5,7.9,1227,14163,0.17,2.12,42.53,0.954,4,0.073,0.036,2793,1110,1982
$GC,14265,0.69,379.9,312.3,12.9,1240,14271,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2499,1976
$GC,14604,0.60,379.9,262.0,13.9,1293,14612,0.17,2.10,0.00,0.000,4,0.160,0.034,2745,1116,1974
$GC,14674,0.73,379.9,253.4,11.3,1305,14682,0.10,2.08,0.00,0.000,6,0.090,0.036,2787,2468,1974
$GC,15020,0.66,379.9,206.8,13.6,1366,15026,0.00,2.05,0.00,0.000,4,0.000,0.034,2789,1109,1973
$GC,15089,0.66,379.9,197.5,13.4,1378,15095,0.00,2.05,0.00,0.000,6,0.000,0.037,2788,2448,1973
$GC,15433,0.61,379.9,153.4,11.8,1439,15439,0.17,2.00,0.00,0.000,4,0.161,0.031,2743,1106,1973
$GC,15525,0.83,428.5,145.1,8.1,1455,15568,0.20,2.03,37.67,0.793,6,0.069,0.036,2823,2446,1785
$GC,15906,0.83,428.5,92.2,13.6,1522,15913,0.00,2.00,0.00,0.000,4,0.000,0.031,2828,1114,1777
$GC,16021,0.83,428.5,76.3,13.7,1542,16027,0.00,1.98,0.00,0.000,6,0.000,0.035,2828,2416,1777
$GC,16364,0.93,438.9,42.6,9.6,1603,16377,0.00,2.00,8.57,0.637,4,0.000,0.031,2828,1111,1742
$GC,16504,1.12,480.5,29.9,8.4,1627,16546,0.22,1.92,32.97,0.676,6,0.063,0.034,2918,2390,1572
$STATE,16691,end climb,SURFACE_DEPTH_REACHED
$STATE,16692,begin surface coast
$FINISH,1.8,1.010557
$STATE,16708,end surface coast,CONTROL_FINISHED_OK
$STATE,16708,begin surface
$SM_CCo,16785,0.00,0.000,0,0,1564,482.75
$SM_GC,2.86,7.55,0.00,0.00,0.059,0.000,0.000,143,2395,1564,-7.50,-0.90,482.75
$IRIDIUM_FIX,2451.31,12210.40,100998,121234
$TT8_MAMPS,0.028379
$HUMID,1664
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.9,30.673
$10V_AH,10.7,17.563
$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,25.125,144.000,470.375,0.000,0.000,102.223,292.618,152.596,6.500,0.000,0.000,13.213,2921.737,10394.702,584.369,2875.647,850.904,0.000,2040.229,0.000,2813.628,0.000,46.306,0.000
$DEVICE_MAMPS,244.673,59.826,1323.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1128.387,1159.100,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88490,1663
$CAP_FILE_SIZE,177719,0
$CFSIZE,260165632,212365312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048, 49.8,1
$GPS,160609,171237,2459.115,12214.672,42,1.5,43,-3.5