version: 66.04
glider: 167
mission: 2
dive: 174
start: 6 17 109 4 48 29
data:
$ID,167
$MISSION,2
$DIVE,174
$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,-8443.1553
$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,80
$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
$GPS1,044101,2456.222,12219.854,38,1.3,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.4
$GPS2,044810,2456.395,12220.023,10,2.3,29,-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,123.9,49961,-16.8,-10.000
$D_GRID,1243
$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,-170.3,0.0,0.0,0,46,0.00,0.00,-29.80,0.000,2,0.000,0.000,141,2508,2388
$GC,50,-0.96,-170.3,3.1,-2.1,5,121,8.60,2.00,-52.30,0.000,4,0.245,0.062,2221,3750,3989
$GC,318,-0.34,-170.3,59.8,-21.2,52,326,0.73,1.92,0.00,0.000,6,0.165,0.026,2432,2419,3991
$GC,664,-1.03,-170.3,87.6,-5.9,113,671,0.57,2.10,0.00,0.000,4,0.071,0.048,2214,3764,3992
$GC,924,-0.62,-170.3,131.2,-13.1,159,931,0.43,1.92,0.00,0.000,6,0.152,0.025,2341,2415,3993
$GC,1269,-0.73,-170.3,155.0,-7.8,220,1275,0.00,2.08,0.00,0.000,4,0.000,0.048,2333,3757,3995
$GC,1442,-0.89,-170.3,167.8,-7.1,250,1450,0.20,1.88,0.00,0.000,6,0.065,0.027,2247,2442,3995
$GC,1789,-0.68,-170.3,211.4,-14.7,311,1795,0.22,2.05,0.00,0.000,4,0.145,0.048,2316,3764,3995
$GC,1904,-0.78,-170.3,223.2,-9.0,331,1910,0.00,1.85,0.00,0.000,6,0.000,0.026,2316,2463,3996
$GC,2248,-0.87,-170.3,249.6,-8.1,392,2255,0.15,2.03,0.00,0.000,4,0.073,0.050,2246,3764,3995
$GC,2291,-0.71,-170.3,254.1,-11.8,399,2297,0.22,1.83,0.00,0.000,6,0.147,0.027,2312,2486,3995
$GC,2636,-0.80,-170.3,284.9,-9.0,460,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2486,3995
$GC,2970,-0.90,-170.3,315.1,-9.2,506,2974,0.17,1.98,0.00,0.000,4,0.071,0.050,2232,3764,3994
$GC,3100,-0.67,-170.3,333.4,-15.1,517,3106,0.32,1.83,0.00,0.000,6,0.152,0.028,2329,2496,3993
$GC,3425,-0.85,-170.3,363.2,-7.4,548,3429,0.17,1.98,0.00,0.000,4,0.069,0.051,2247,3761,3993
$GC,3594,-0.73,-170.3,381.7,-10.3,563,3598,0.20,1.77,0.00,0.000,6,0.152,0.029,2304,2534,3992
$GC,3925,-0.84,-170.3,408.2,-7.6,594,3929,0.00,1.92,0.00,0.000,4,0.000,0.054,2303,3766,3991
$GC,3964,-0.96,-170.3,411.3,-7.6,597,3971,0.20,1.77,0.00,0.000,6,0.068,0.028,2220,2534,3991
$GC,4289,-0.76,-170.3,447.5,-11.8,628,4294,0.22,2.15,0.00,0.000,4,0.153,0.029,2291,1054,3990
$GC,4340,-0.88,-170.3,452.0,-8.0,632,4344,0.00,2.22,0.00,0.000,6,0.000,0.037,2289,2528,3990
$GC,4665,-0.96,-170.3,477.0,-8.6,662,4669,0.15,1.90,0.00,0.000,4,0.079,0.052,2221,3760,3988
$GC,4783,-0.77,-170.3,491.1,-12.0,672,4790,0.25,1.75,0.00,0.000,6,0.153,0.030,2294,2555,3987
$GC,5104,-0.87,-170.3,518.6,-8.8,693,5108,0.00,1.92,0.00,0.000,4,0.000,0.055,2291,3777,3986
$GC,5178,-0.99,-170.3,525.1,-7.8,696,5182,0.20,1.77,0.00,0.000,6,0.071,0.030,2210,2557,3986
$GC,5504,-0.77,-170.3,565.4,-12.9,712,5506,0.30,0.00,0.00,0.000,6,0.156,0.000,2298,2556,3984
$GC,5815,-0.92,-170.3,590.5,-7.8,727,5817,0.15,0.00,0.00,0.000,6,0.081,0.000,2239,2556,3982
$GC,6123,-0.83,-170.3,623.2,-10.7,742,6127,0.12,1.90,0.00,0.000,4,0.166,0.057,2271,3754,3981
$GC,6218,-0.89,-170.3,632.4,-9.0,746,6222,0.00,1.75,0.00,0.000,6,0.000,0.032,2271,2561,3980
$GC,6545,-0.95,-170.3,663.2,-9.6,762,6549,0.00,1.90,0.00,0.000,4,0.000,0.058,2271,3757,3978
$GC,6624,-1.01,-170.3,670.8,-9.3,765,6628,0.15,1.73,0.00,0.000,6,0.079,0.031,2210,2579,3977
$GC,6945,-0.81,-170.3,709.3,-11.8,781,6949,0.22,1.88,0.00,0.000,4,0.159,0.055,2275,3764,3975
$GC,6991,-0.87,-170.3,713.2,-8.3,783,6994,0.00,1.73,0.00,0.000,6,0.000,0.031,2275,2588,3975
$GC,7324,-0.95,-170.3,737.7,-7.8,799,7329,0.10,2.25,0.00,0.000,4,0.093,0.032,2233,1059,3973
$GC,7347,-0.95,-170.3,740.0,-9.2,800,7351,0.00,2.33,0.00,0.000,6,0.000,0.041,2233,2568,3974
$GC,7675,-0.85,-170.3,776.5,-11.1,816,7680,0.15,1.85,0.00,0.000,4,0.168,0.057,2273,3755,3972
$GC,7709,-0.91,-170.3,779.9,-9.6,817,7712,0.00,1.70,0.00,0.000,6,0.000,0.033,2273,2598,3972
$GC,8030,-0.99,-170.3,807.3,-8.0,833,8035,0.15,2.30,0.00,0.000,4,0.081,0.033,2216,1047,3970
$GC,8070,-0.86,-170.3,811.3,-10.4,835,8075,0.17,2.35,0.00,0.000,6,0.160,0.042,2261,2567,3970
$GC,8397,-0.86,-170.3,838.7,-7.9,851,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2568,3969
$GC,8706,-0.86,-170.3,863.5,-8.1,866,8710,0.00,1.88,0.00,0.000,4,0.000,0.061,2261,3760,3968
$GC,8752,-0.86,-170.3,867.3,-8.6,868,8755,0.00,1.73,0.00,0.000,6,0.000,0.035,2261,2600,3967
$GC,9084,-0.86,-170.3,895.9,-8.8,884,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2600,3966
$GC,9395,-0.86,-170.3,925.2,-9.4,899,9399,0.00,1.85,0.00,0.000,4,0.000,0.060,2261,3760,3965
$GC,9441,-0.92,-170.3,929.7,-9.4,901,9444,0.00,1.70,0.00,0.000,6,0.000,0.034,2261,2616,3965
$GC,9774,-0.96,-170.3,959.8,-9.3,917,9778,0.00,2.33,0.00,0.000,4,0.000,0.034,2261,1051,3964
$GC,9801,-1.03,-170.3,962.4,-10.4,918,9806,0.15,2.38,0.00,0.000,6,0.084,0.043,2203,2582,3964
$STATE,10037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10037,begin apogee
$GC,10042,-0.22,0.0,990.1,11.9,930,10134,0.90,0.00,88.15,1.430,6,0.166,0.000,2468,2582,3532
$STATE,10135,end apogee,CONTROL_FINISHED_OK
$STATE,10135,begin climb
$GC,10137,0.96,170.3,993.4,0.0,934,10288,1.08,2.40,142.52,1.385,4,0.063,0.035,2860,1140,2835
$GC,10471,0.35,170.3,964.8,16.7,949,10476,0.77,2.17,0.00,0.000,6,0.208,0.040,2662,2503,2830
$GC,10798,0.39,200.2,934.6,8.8,965,10827,0.00,2.10,24.00,1.319,4,0.000,0.059,2662,3755,2715
$GC,10857,0.31,200.2,928.6,10.3,967,10863,0.00,1.88,0.00,0.000,6,0.000,0.031,2663,2533,2713
$GC,11173,0.33,215.1,899.1,9.4,983,11188,0.00,0.00,13.40,1.256,6,0.000,0.000,2663,2532,2655
$GC,11498,0.34,230.9,868.0,9.4,998,11520,0.00,2.03,14.38,1.259,4,0.000,0.058,2663,3759,2589
$GC,11559,0.34,230.9,861.7,11.0,1000,11565,0.00,1.92,0.00,0.000,6,0.000,0.031,2663,2515,2588
$GC,11876,0.44,251.3,832.0,9.2,1016,11895,0.00,0.00,17.33,1.266,6,0.000,0.000,2663,2513,2507
$GC,12205,0.56,268.8,801.0,9.3,1032,12227,0.17,2.17,15.80,1.238,4,0.077,0.035,2744,1100,2435
$GC,12278,0.45,268.8,791.9,12.7,1035,12283,0.20,2.22,0.00,0.000,6,0.170,0.041,2693,2515,2432
$GC,12604,0.45,268.8,757.2,10.7,1051,12608,0.00,2.17,0.00,0.000,4,0.000,0.037,2693,1099,2430
$GC,12632,0.52,273.1,754.3,9.8,1052,12641,0.00,2.20,4.05,0.838,6,0.000,0.039,2693,2517,2420
$GC,12958,0.52,273.1,719.9,10.7,1068,12961,0.00,2.15,0.00,0.000,4,0.000,0.036,2693,1106,2419
$GC,12991,0.59,273.1,716.3,10.4,1069,12995,0.12,2.20,0.00,0.000,6,0.090,0.041,2742,2519,2419
$GC,13307,0.44,273.1,676.0,12.8,1084,13311,0.17,1.98,0.00,0.000,4,0.167,0.058,2691,3768,2418
$GC,13375,0.39,273.1,668.1,11.3,1087,13378,0.00,1.88,0.00,0.000,6,0.000,0.031,2692,2510,2418
$GC,13708,0.44,273.1,634.9,10.2,1103,13711,0.00,2.10,0.00,0.000,4,0.000,0.037,2692,1104,2418
$GC,13731,0.52,279.6,632.5,9.7,1104,13745,0.00,2.20,7.22,1.041,6,0.000,0.040,2692,2526,2392
$GC,14062,0.57,279.6,598.4,10.7,1120,14066,0.12,1.95,0.00,0.000,4,0.087,0.054,2741,3767,2390
$GC,14077,0.57,279.6,596.3,11.1,1120,14083,0.00,1.85,0.00,0.000,6,0.000,0.031,2748,2521,2391
$GC,14393,0.44,279.6,551.8,14.4,1136,14398,0.20,2.12,0.00,0.000,4,0.177,0.035,2692,1101,2390
$GC,14462,0.55,279.6,543.5,11.9,1139,14466,0.00,2.17,0.00,0.000,6,0.000,0.038,2692,2514,2390
$GC,14795,0.64,291.0,508.7,9.5,1155,14811,0.17,2.15,10.85,1.044,4,0.077,0.035,2762,1106,2346
$GC,14839,0.53,291.0,503.2,12.1,1156,14844,0.17,2.17,0.00,0.000,6,0.175,0.040,2717,2509,2344
$GC,15168,0.53,291.0,468.8,10.6,1186,15172,0.00,1.98,0.00,0.000,4,0.000,0.055,2717,3766,2343
$GC,15236,0.45,291.0,460.4,12.6,1192,15240,0.00,1.90,0.00,0.000,6,0.000,0.031,2719,2506,2343
$GC,15566,0.45,291.0,425.2,10.6,1223,15570,0.00,2.08,0.00,0.000,4,0.000,0.036,2719,1112,2342
$GC,15661,0.51,292.7,415.3,9.9,1231,15667,0.00,2.12,0.00,0.000,6,0.000,0.038,2719,2500,2342
$GC,15988,0.52,299.9,382.3,9.7,1262,16001,0.00,2.15,8.50,0.918,4,0.000,0.034,2720,1117,2309
$GC,16063,0.67,346.6,375.3,8.2,1268,16107,0.12,2.10,37.90,0.991,6,0.083,0.037,2772,2486,2118
$GC,16427,0.60,346.6,334.3,11.7,1302,16431,0.12,2.10,0.00,0.000,4,0.168,0.032,2745,1110,2112
$GC,16499,0.66,346.6,326.6,10.2,1308,16503,0.00,2.12,0.00,0.000,6,0.000,0.038,2745,2479,2111
$GC,16829,0.66,346.6,290.2,12.0,1346,16836,0.00,2.08,0.00,0.000,4,0.000,0.035,2745,1109,2111
$GC,16915,0.75,346.6,281.0,10.8,1361,16922,0.12,2.10,0.00,0.000,6,0.083,0.038,2794,2471,2110
$GC,17259,0.61,346.6,232.7,14.6,1422,17267,0.17,2.05,0.00,0.000,4,0.170,0.034,2745,1112,2111
$GC,17369,0.73,346.6,218.4,14.5,1441,17376,0.10,2.05,0.00,0.000,6,0.091,0.038,2785,2448,2111
$GC,17715,0.66,346.6,172.8,13.3,1502,17722,0.00,2.05,0.00,0.000,4,0.000,0.057,2784,3759,2111
$GC,17747,0.52,346.6,168.3,15.3,1507,17754,0.25,1.95,0.00,0.000,6,0.166,0.028,2716,2437,2111
$GC,18092,0.87,429.5,144.0,6.7,1568,18163,0.28,2.15,63.10,0.788,4,0.061,0.052,2829,3761,1781
$GC,18216,0.67,429.5,125.9,17.7,1589,18223,0.28,2.00,0.00,0.000,6,0.163,0.028,2763,2436,1776
$GC,18563,0.95,474.6,93.5,8.2,1650,18605,0.22,2.00,35.00,0.729,4,0.065,0.032,2867,1115,1595
$GC,18673,0.95,474.6,78.6,13.9,1669,18679,0.00,2.05,0.00,0.000,6,0.000,0.035,2867,2438,1592
$GC,19017,0.95,474.6,30.3,13.5,1730,19024,0.00,2.00,0.00,0.000,4,0.000,0.032,2867,1112,1589
$GC,19041,0.95,474.6,27.1,12.1,1734,19048,0.00,1.98,0.00,0.000,6,0.000,0.034,2867,2413,1588
$STATE,19259,end climb,SURFACE_DEPTH_REACHED
$STATE,19259,begin surface coast
$FINISH,1.7,0.999002
$STATE,19289,end surface coast,CONTROL_FINISHED_OK
$STATE,19289,begin surface
$SM_CCo,19366,0.00,0.000,0,0,1586,477.11
$SM_GC,2.83,7.35,0.00,0.00,0.059,0.000,0.000,143,2417,1586,-7.50,-0.25,477.11
$IRIDIUM_FIX,2446.56,12217.70,100998,232312
$TT8_MAMPS,0.028379
$HUMID,1625
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.5,31.267
$10V_AH,10.7,17.892
$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,27.825,165.325,482.200,0.000,0.000,22.678,37.917,208.025,8.000,0.000,0.000,30.831,3167.562,12274.840,618.533,3105.950,608.415,0.000,2190.581,0.000,3016.754,0.000,54.407,0.000
$DEVICE_MAMPS,244.673,62.127,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.491,1220.125,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94452,1778
$CAP_FILE_SIZE,199995,0
$CFSIZE,260165632,212045824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,281.4,1
$GPS,170609,101230,2454.619,12221.827,40,1.5,41,-3.5