version: 66.04
glider: 167
mission: 2
dive: 172
start: 6 16 109 17 28 53
data:
$ID,167
$MISSION,2
$DIVE,172
$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,770.97791
$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,-8395.2236
$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,68
$R_STBD_OVSHOOT,32
$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
$GPS1,171237,2459.115,12214.672,42,1.5,43,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-67.0
$GPS2,172832,2459.240,12214.617,15,1.4,15,-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,128.1,60431,-16.8,-10.000
$D_GRID,992
$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,14,-0.96,-170.3,0.0,0.0,0,53,0.00,0.00,-36.83,0.000,2,0.000,0.000,144,2395,2491
$GC,56,-0.96,-170.3,3.0,-1.7,6,118,8.52,2.20,-46.95,0.000,4,0.247,0.060,2221,3772,3989
$GC,147,-0.23,-170.3,13.8,-22.1,21,154,0.85,1.98,0.00,0.000,6,0.178,0.025,2465,2401,3990
$GC,492,-1.02,-170.3,41.9,-6.5,82,499,0.68,2.12,0.00,0.000,4,0.080,0.047,2216,3768,3992
$GC,736,-0.52,-170.3,84.3,-16.1,125,743,0.52,1.88,0.00,0.000,6,0.156,0.025,2373,2447,3992
$GC,1081,-0.96,-170.3,110.2,-7.5,186,1087,0.35,2.03,0.00,0.000,4,0.057,0.046,2223,3764,3993
$GC,1133,-0.62,-170.3,115.8,-12.7,195,1141,0.40,1.80,0.00,0.000,6,0.146,0.026,2345,2496,3993
$GC,1481,-0.80,-170.3,145.0,-8.0,256,1488,0.17,1.98,0.00,0.000,4,0.067,0.048,2262,3774,3993
$GC,1596,-0.65,-170.3,157.8,-11.4,276,1602,0.22,1.77,0.00,0.000,6,0.143,0.027,2329,2528,3993
$GC,1941,-0.77,-170.3,181.2,-6.5,337,1947,0.00,2.12,0.00,0.000,4,0.000,0.028,2329,1049,3993
$GC,1998,-0.92,-170.3,185.4,-7.2,347,2006,0.22,2.20,0.00,0.000,6,0.062,0.033,2234,2525,3994
$GC,2345,-0.68,-170.3,227.0,-11.5,408,2351,0.28,1.90,0.00,0.000,4,0.160,0.048,2316,3771,3994
$GC,2374,-0.68,-170.3,230.0,-9.4,413,2380,0.00,1.80,0.00,0.000,6,0.000,0.026,2316,2511,3994
$GC,2718,-0.78,-170.3,256.8,-8.8,474,2724,0.00,2.10,0.00,0.000,4,0.000,0.028,2316,1050,3993
$GC,2754,-0.89,-170.3,259.6,-8.5,480,2760,0.17,2.20,0.00,0.000,6,0.070,0.035,2243,2520,3992
$GC,3099,-0.71,-170.3,300.2,-13.3,541,3104,0.20,2.17,0.00,0.000,4,0.157,0.028,2305,1039,3992
$GC,3127,-0.71,-170.3,303.5,-11.3,543,3131,0.00,2.22,0.00,0.000,6,0.000,0.035,2306,2517,3992
$GC,3452,-0.79,-170.3,333.3,-8.2,573,3456,0.00,1.92,0.00,0.000,4,0.000,0.053,2303,3769,3991
$GC,3525,-0.89,-170.3,339.4,-7.4,579,3533,0.12,1.77,0.00,0.000,6,0.081,0.027,2248,2532,3991
$GC,3851,-0.77,-170.3,375.2,-11.5,610,3856,0.17,2.15,0.00,0.000,4,0.149,0.028,2303,1049,3990
$GC,3903,-0.87,-170.3,380.3,-9.3,614,3907,0.12,2.25,0.00,0.000,6,0.082,0.036,2250,2541,3990
$GC,4229,-0.76,-170.3,414.8,-9.5,644,4233,0.17,1.88,0.00,0.000,4,0.156,0.051,2303,3761,3988
$GC,4409,-0.90,-170.3,429.1,-7.8,660,4413,0.15,1.73,0.00,0.000,6,0.077,0.029,2240,2565,3987
$GC,4739,-0.79,-170.3,462.5,-10.2,691,4744,0.17,2.20,0.00,0.000,4,0.150,0.029,2289,1053,3986
$GC,4779,-0.89,-170.3,466.3,-9.0,694,4783,0.00,2.30,0.00,0.000,6,0.000,0.037,2289,2574,3986
$GC,5104,-0.97,-170.3,494.6,-9.1,724,5108,0.17,1.83,0.00,0.000,4,0.077,0.053,2218,3758,3984
$GC,5152,-0.78,-170.3,500.2,-13.1,728,5156,0.25,1.70,0.00,0.000,6,0.154,0.029,2290,2585,3984
$GC,5486,-0.89,-170.3,530.0,-8.0,744,5490,0.00,2.22,0.00,0.000,4,0.000,0.031,2290,1054,3982
$GC,5532,-1.02,-170.3,533.8,-8.2,746,5537,0.22,2.30,0.00,0.000,6,0.070,0.038,2202,2566,3981
$GC,5864,-0.79,-170.3,571.9,-11.1,762,5869,0.28,2.25,0.00,0.000,4,0.165,0.029,2285,1044,3979
$GC,5965,-0.93,-170.3,579.5,-7.0,766,5971,0.12,2.30,0.00,0.000,6,0.085,0.038,2234,2557,3979
$GC,6281,-0.84,-170.3,606.0,-9.1,782,6285,0.15,1.88,0.00,0.000,4,0.161,0.055,2275,3761,3977
$GC,6314,-0.90,-170.3,608.8,-8.1,783,6317,0.00,1.75,0.00,0.000,6,0.000,0.030,2275,2559,3977
$GC,6635,-0.98,-170.3,633.3,-8.2,799,6640,0.12,2.22,0.00,0.000,4,0.086,0.030,2224,1041,3975
$GC,6697,-0.87,-170.3,639.9,-12.1,802,6702,0.15,2.30,0.00,0.000,6,0.160,0.039,2263,2544,3975
$GC,7024,-0.87,-170.3,669.9,-9.3,818,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2544,3972
$GC,7333,-0.87,-170.3,698.5,-9.2,833,7337,0.00,1.90,0.00,0.000,4,0.000,0.056,2261,3765,3971
$GC,7383,-0.87,-170.3,703.0,-8.2,835,7387,0.00,1.80,0.00,0.000,6,0.000,0.031,2261,2560,3970
$GC,7710,-0.87,-170.3,727.2,-6.5,851,7714,0.00,1.92,0.00,0.000,4,0.000,0.057,2261,3780,3969
$GC,7761,-0.87,-170.3,730.4,-5.9,853,7765,0.00,1.77,0.00,0.000,6,0.000,0.031,2261,2572,3969
$GC,8088,-0.87,-170.3,755.1,-7.8,869,8092,0.00,2.25,0.00,0.000,4,0.000,0.032,2261,1043,3967
$GC,8128,-0.92,-170.3,758.8,-8.8,871,8132,0.00,2.33,0.00,0.000,6,0.000,0.041,2261,2556,3967
$GC,8454,-0.92,-170.3,785.6,-8.2,887,8458,0.00,1.90,0.00,0.000,4,0.000,0.059,2261,3767,3965
$GC,8488,-0.92,-170.3,788.3,-7.5,888,8491,0.00,1.77,0.00,0.000,6,0.000,0.031,2261,2569,3965
$GC,8810,-0.92,-170.3,812.8,-7.4,904,8813,0.00,2.22,0.00,0.000,4,0.000,0.031,2261,1064,3964
$GC,8865,-0.97,-170.3,816.9,-7.1,906,8870,0.00,2.30,0.00,0.000,6,0.000,0.042,2261,2549,3964
$GC,9181,-0.97,-170.3,838.6,-7.3,921,9185,0.00,2.22,0.00,0.000,4,0.000,0.032,2261,1065,3963
$GC,9220,-1.02,-170.3,841.4,-7.1,922,9227,0.12,2.28,0.00,0.000,6,0.090,0.041,2214,2540,3963
$GC,9536,-0.87,-170.3,868.6,-8.5,938,9540,0.17,1.90,0.00,0.000,4,0.168,0.058,2261,3757,3962
$GC,9564,-0.87,-170.3,870.8,-7.8,939,9567,0.00,1.77,0.00,0.000,6,0.000,0.032,2261,2558,3961
$GC,9891,-0.92,-170.3,896.6,-8.5,955,9895,0.00,2.22,0.00,0.000,4,0.000,0.033,2260,1055,3960
$GC,9919,-0.98,-170.3,899.3,-8.9,956,9923,0.00,2.30,0.00,0.000,6,0.000,0.041,2261,2545,3960
$GC,10241,-1.03,-170.3,930.7,-9.8,972,10245,0.15,2.22,0.00,0.000,4,0.086,0.031,2204,1057,3959
$GC,10303,-0.86,-170.3,938.4,-12.7,975,10307,0.22,2.28,0.00,0.000,6,0.167,0.043,2265,2538,3959
$GC,10636,-0.94,-170.3,968.8,-8.9,991,10640,0.00,2.22,0.00,0.000,4,0.000,0.033,2265,1057,3958
$GC,10670,-1.03,-170.3,972.0,-9.0,992,10675,0.15,2.28,0.00,0.000,6,0.087,0.042,2210,2527,3958
$STATE,10839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10839,begin apogee
$GC,10845,-0.22,0.0,991.3,11.6,1000,10935,0.88,0.00,86.45,1.441,6,0.163,0.000,2469,2527,3532
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10935,begin climb
$GC,10938,0.96,170.3,994.6,0.0,1004,11088,1.05,2.30,142.07,1.392,4,0.058,0.035,2857,1129,2836
$GC,11218,0.36,170.3,976.8,14.8,1017,11224,0.75,2.22,0.00,0.000,6,0.206,0.042,2666,2506,2832
$GC,11534,0.42,219.1,950.9,8.1,1032,11576,0.00,0.00,40.20,1.354,6,0.000,0.000,2666,2507,2638
$GC,11883,0.47,262.9,922.0,8.3,1049,11923,0.00,0.00,36.00,1.341,6,0.000,0.000,2666,2507,2459
$GC,12233,0.61,294.4,891.3,8.8,1066,12267,0.17,2.12,27.08,1.315,4,0.079,0.058,2738,3762,2331
$GC,12290,0.41,294.4,883.7,15.2,1068,12298,0.25,1.90,0.00,0.000,6,0.177,0.031,2680,2530,2328
$GC,12605,0.49,294.4,851.0,11.0,1084,12609,0.00,2.15,0.00,0.000,4,0.000,0.037,2680,1110,2325
$GC,12633,0.61,294.4,847.8,11.4,1085,12638,0.17,2.20,0.00,0.000,6,0.078,0.040,2746,2521,2325
$GC,12954,0.47,294.4,802.4,13.5,1101,12956,0.17,0.00,0.00,0.000,6,0.168,0.000,2701,2523,2324
$GC,13263,0.47,294.4,766.0,11.7,1116,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2523,2323
$GC,13572,0.47,294.4,730.6,11.5,1131,13575,0.00,2.15,0.00,0.000,4,0.000,0.037,2703,1110,2323
$GC,13594,0.47,294.4,728.1,11.4,1132,13598,0.00,2.15,0.00,0.000,6,0.000,0.040,2703,2501,2323
$GC,13927,0.48,301.4,693.0,9.7,1148,13937,0.00,2.00,6.12,1.030,4,0.000,0.057,2703,3769,2302
$GC,14034,0.42,301.4,679.1,13.1,1153,14038,0.00,1.90,0.00,0.000,6,0.000,0.032,2704,2500,2301
$GC,14367,0.42,301.4,641.0,11.0,1169,14371,0.00,2.08,0.00,0.000,4,0.000,0.036,2704,1106,2300
$GC,14413,0.49,301.4,635.7,11.4,1171,14416,0.00,2.17,0.00,0.000,6,0.000,0.040,2703,2514,2300
$GC,14745,0.49,303.3,599.9,9.9,1187,14748,0.00,1.95,0.00,0.000,4,0.000,0.059,2703,3757,2300
$GC,14795,0.43,303.3,594.3,11.5,1189,14799,0.00,1.88,0.00,0.000,6,0.000,0.031,2704,2490,2300
$GC,15123,0.54,354.9,565.9,8.0,1205,15173,0.00,2.17,43.70,1.153,4,0.000,0.037,2703,1118,2084
$GC,15231,0.73,386.0,556.4,8.8,1210,15263,0.22,2.17,26.00,1.104,6,0.070,0.040,2788,2490,1958
$GC,15581,0.58,386.0,498.6,17.2,1227,15585,0.20,2.03,0.00,0.000,4,0.170,0.056,2736,3760,1950
$GC,15658,0.58,386.0,485.7,15.1,1234,15662,0.00,1.88,0.00,0.000,6,0.000,0.031,2736,2513,1949
$GC,15989,0.65,386.0,442.6,12.1,1265,15993,0.00,2.12,0.00,0.000,4,0.000,0.036,2736,1103,1948
$GC,16107,0.74,392.9,430.1,9.7,1275,16119,0.15,2.15,5.90,0.861,6,0.075,0.039,2794,2494,1930
$GC,16438,0.61,392.9,381.5,15.2,1306,16440,0.20,0.00,0.00,0.000,6,0.171,0.000,2740,2496,1928
$GC,16758,0.69,392.9,342.8,11.9,1336,16762,0.00,1.98,0.00,0.000,4,0.000,0.057,2740,3758,1928
$GC,16807,0.69,392.9,336.1,14.2,1340,16815,0.00,1.90,0.00,0.000,6,0.000,0.030,2745,2469,1927
$GC,17134,0.76,392.9,295.9,12.6,1374,17140,0.12,2.00,0.00,0.000,4,0.083,0.034,2797,1120,1927
$GC,17225,0.70,392.9,282.3,16.9,1390,17231,0.00,2.05,0.00,0.000,6,0.000,0.038,2797,2460,1927
$GC,17569,0.62,392.9,229.1,15.3,1451,17575,0.17,2.03,0.00,0.000,4,0.163,0.032,2745,1108,1927
$GC,17644,0.76,392.9,219.7,11.9,1464,17651,0.12,2.05,0.00,0.000,6,0.082,0.038,2795,2455,1927
$GC,17990,0.76,392.9,169.7,13.4,1525,17996,0.00,2.03,0.00,0.000,4,0.000,0.054,2795,3756,1927
$GC,18077,0.63,392.9,156.6,15.2,1540,18084,0.20,1.90,0.00,0.000,6,0.166,0.029,2748,2456,1928
$GC,18423,0.90,432.3,122.6,8.4,1601,18464,0.20,2.05,31.98,0.776,4,0.067,0.033,2838,1110,1767
$GC,18639,0.85,432.3,88.4,14.3,1639,18645,0.00,2.03,0.00,0.000,6,0.000,0.036,2839,2434,1763
$GC,18982,0.85,432.3,48.5,12.7,1700,18989,0.00,1.98,0.00,0.000,4,0.000,0.034,2842,1117,1762
$GC,19058,0.91,432.3,39.2,11.8,1713,19064,0.00,1.95,0.00,0.000,6,0.000,0.035,2842,2409,1762
$GC,19402,1.05,432.3,7.0,10.6,1774,19407,0.12,0.00,0.00,0.000,6,0.075,0.000,2897,2410,1762
$STATE,19440,end climb,SURFACE_DEPTH_REACHED
$STATE,19440,begin surface coast
$FINISH,1.9,1.022023
$STATE,19464,end surface coast,CONTROL_FINISHED_OK
$STATE,19464,begin surface
$SM_CCo,19481,255.23,0.624,0,0,389,770.98
$SM_GC,2.45,0.00,0.00,255.23,0.000,0.000,0.624,144,2414,389,-7.50,-0.37,770.98
$IRIDIUM_FIX,2448.93,12212.42,100998,171750
$TT8_MAMPS,0.029146
$HUMID,1522
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,977.1,144.1
$24V_AH,23.5,30.905
$10V_AH,10.7,17.675
$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,28.450,176.925,445.500,255.225,0.000,134.750,437.413,0.000,8.250,0.000,0.000,16.040,3204.278,12613.955,860.006,3093.021,911.017,0.000,2425.263,0.000,3015.110,0.000,57.557,0.000
$DEVICE_MAMPS,246.974,59.826,1441.193,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.087,1250.731,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94600,1785
$CAP_FILE_SIZE,202304,0
$CFSIZE,260165632,212209664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,204.7,1
$GPS,160609,225906,2457.263,12216.676,39,0.9,39,-3.5