version: 66.04
glider: 167
mission: 2
dive: 175
start: 6 17 109 10 23 2
data:
$ID,167
$MISSION,2
$DIVE,175
$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,-8461.1094
$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,67
$R_STBD_OVSHOOT,31
$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
$GPS1,101230,2454.619,12221.827,40,1.5,41,-3.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-69.0
$GPS2,102243,2454.534,12221.944,12,1.7,17,-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,115.3,45619,-16.8,-10.000
$D_GRID,1147
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.96,-170.3,0.0,0.0,0,47,0.00,0.00,-29.73,0.000,2,0.000,0.000,143,2418,2336
$GC,50,-0.96,-170.3,3.0,-1.6,5,121,8.75,0.00,-54.80,0.000,6,0.251,0.000,2231,2418,3987
$GC,459,-0.46,-170.3,81.9,-18.4,77,465,0.50,2.05,0.00,0.000,4,0.166,0.028,2385,1027,3989
$GC,592,-0.71,-170.3,93.9,-7.2,100,599,0.20,2.12,0.00,0.000,6,0.064,0.033,2300,2444,3990
$GC,937,-0.71,-170.3,134.0,-11.7,161,943,0.00,2.03,0.00,0.000,4,0.000,0.049,2292,3763,3991
$GC,1011,-0.64,-170.3,142.9,-11.5,174,1018,0.15,1.92,0.00,0.000,6,0.140,0.025,2335,2411,3991
$GC,1356,-0.76,-170.3,170.2,-7.4,235,1363,0.12,2.10,0.00,0.000,4,0.077,0.049,2275,3758,3992
$GC,1525,-0.69,-170.3,185.5,-8.6,264,1532,0.15,1.85,0.00,0.000,6,0.147,0.028,2317,2463,3992
$GC,1871,-0.78,-170.3,213.4,-8.7,325,1877,0.00,2.03,0.00,0.000,4,0.000,0.051,2316,3764,3992
$GC,2037,-0.89,-170.3,227.2,-8.4,354,2044,0.17,1.83,0.00,0.000,6,0.067,0.028,2241,2489,3992
$GC,2382,-0.69,-170.3,267.8,-12.2,415,2389,0.22,2.10,0.00,0.000,4,0.149,0.028,2315,1040,3992
$GC,2423,-0.79,-170.3,271.6,-8.2,422,2429,0.00,2.17,0.00,0.000,6,0.000,0.035,2314,2489,3992
$GC,2768,-0.89,-170.3,297.8,-8.3,483,2774,0.15,1.95,0.00,0.000,4,0.074,0.051,2246,3757,3991
$GC,2830,-0.73,-170.3,304.7,-11.4,490,2838,0.22,1.77,0.00,0.000,6,0.146,0.027,2313,2513,3991
$GC,3156,-0.83,-170.3,334.1,-9.0,521,3160,0.12,2.12,0.00,0.000,4,0.078,0.028,2260,1049,3990
$GC,3200,-0.76,-170.3,339.3,-12.2,524,3208,0.15,2.20,0.00,0.000,6,0.152,0.036,2302,2508,3990
$GC,3525,-0.84,-170.3,367.1,-8.0,555,3529,0.00,1.92,0.00,0.000,4,0.000,0.054,2302,3754,3989
$GC,3587,-0.97,-170.3,372.3,-8.3,560,3594,0.20,1.77,0.00,0.000,6,0.068,0.028,2220,2520,3989
$GC,3911,-0.74,-170.3,413.5,-12.5,591,3916,0.25,2.15,0.00,0.000,4,0.150,0.029,2298,1043,3987
$GC,3951,-0.84,-170.3,417.4,-9.0,594,3955,0.00,2.25,0.00,0.000,6,0.000,0.037,2298,2531,3987
$GC,4277,-0.94,-170.3,443.0,-7.6,624,4278,0.17,0.00,0.00,0.000,6,0.072,0.000,2227,2532,3986
$GC,4597,-0.78,-170.3,475.5,-10.2,654,4602,0.20,1.90,0.00,0.000,4,0.160,0.054,2288,3761,3984
$GC,4715,-0.87,-170.3,486.0,-8.6,664,4723,0.00,1.77,0.00,0.000,6,0.000,0.030,2288,2537,3984
$GC,5038,-0.97,-170.3,512.4,-8.1,688,5042,0.15,1.92,0.00,0.000,4,0.078,0.053,2222,3761,3982
$GC,5093,-0.78,-170.3,518.5,-10.6,690,5097,0.17,1.77,0.00,0.000,6,0.150,0.029,2292,2564,3981
$GC,5414,-0.90,-170.3,542.3,-7.5,706,5419,0.12,2.22,0.00,0.000,4,0.084,0.031,2243,1046,3980
$GC,5470,-0.84,-170.3,548.1,-10.5,708,5475,0.15,2.28,0.00,0.000,6,0.160,0.038,2277,2543,3980
$GC,5787,-0.90,-170.3,574.9,-8.3,723,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2543,3978
$GC,6098,-0.96,-170.3,600.2,-8.4,738,6103,0.12,2.22,0.00,0.000,4,0.087,0.032,2228,1053,3975
$GC,6161,-0.84,-170.3,607.2,-12.1,741,6165,0.17,2.25,0.00,0.000,6,0.159,0.040,2276,2522,3975
$GC,6490,-0.90,-170.3,636.0,-8.6,757,6493,0.00,1.92,0.00,0.000,4,0.000,0.057,2275,3767,3974
$GC,6535,-0.98,-170.3,640.4,-9.1,759,6540,0.10,1.83,0.00,0.000,6,0.070,0.031,2211,2553,3973
$GC,6868,-0.79,-170.3,680.5,-12.1,775,6873,0.22,2.22,0.00,0.000,4,0.158,0.030,2280,1044,3971
$GC,6908,-0.88,-170.3,684.4,-8.8,777,6912,0.00,2.30,0.00,0.000,6,0.000,0.041,2279,2538,3971
$GC,7236,-0.97,-170.3,708.5,-7.1,793,7240,0.12,1.92,0.00,0.000,4,0.087,0.059,2223,3763,3969
$GC,7264,-0.88,-170.3,711.1,-9.7,794,7268,0.12,1.77,0.00,0.000,6,0.163,0.034,2256,2561,3969
$GC,7590,-0.88,-170.3,737.7,-8.0,810,7594,0.00,2.22,0.00,0.000,4,0.000,0.033,2255,1062,3967
$GC,7686,-0.88,-170.3,745.3,-7.7,814,7690,0.00,2.28,0.00,0.000,6,0.000,0.042,2256,2533,3968
$GC,8007,-0.88,-170.3,772.1,-8.1,830,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2532,3966
$GC,8317,-0.88,-170.3,797.0,-8.2,845,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2533,3965
$GC,8625,-0.88,-170.3,820.3,-7.2,860,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2533,3963
$GC,8934,-0.88,-170.3,844.9,-8.2,875,8938,0.00,2.22,0.00,0.000,4,0.000,0.034,2256,1042,3963
$GC,8962,-0.88,-170.3,847.2,-8.6,876,8966,0.00,2.30,0.00,0.000,6,0.000,0.043,2256,2531,3963
$GC,9283,-0.88,-170.3,872.5,-8.0,892,9287,0.00,1.92,0.00,0.000,4,0.000,0.061,2256,3751,3962
$GC,9311,-0.88,-170.3,874.9,-8.8,893,9315,0.00,1.77,0.00,0.000,6,0.000,0.033,2256,2561,3961
$GC,9639,-0.88,-170.3,900.2,-7.3,909,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2561,3960
$GC,9946,-0.88,-170.3,920.7,-6.8,924,9950,0.00,1.92,0.00,0.000,4,0.000,0.061,2256,3763,3959
$GC,9973,-0.88,-170.3,922.6,-6.4,925,9977,0.00,1.80,0.00,0.000,6,0.000,0.034,2256,2556,3959
$GC,10301,-0.88,-170.3,944.7,-7.2,941,10305,0.00,2.22,0.00,0.000,4,0.000,0.034,2255,1063,3959
$GC,10357,-0.88,-170.3,948.9,-7.3,943,10361,0.00,2.28,0.00,0.000,6,0.000,0.043,2256,2521,3959
$GC,10678,-0.88,-170.3,972.5,-7.4,959,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2521,3957
$STATE,10923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10923,begin apogee
$GC,10929,-0.22,0.0,991.2,7.4,971,11018,0.68,0.00,86.53,1.437,6,0.143,0.000,2466,2522,3532
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11021,0.96,170.3,993.2,0.0,975,11172,1.08,2.38,142.62,1.388,4,0.061,0.035,2858,1130,2837
$GC,11247,0.36,170.3,980.9,16.8,985,11252,0.75,2.25,0.00,0.000,6,0.202,0.043,2668,2498,2832
$GC,11569,0.38,187.2,950.7,9.3,1001,11588,0.00,0.00,14.12,1.271,6,0.000,0.000,2669,2498,2767
$GC,11898,0.39,199.4,919.1,9.5,1017,11911,0.00,0.00,11.10,1.239,6,0.000,0.000,2669,2499,2719
$GC,12206,0.40,202.1,888.6,9.9,1032,12212,0.00,0.00,3.78,0.826,6,0.000,0.000,2669,2498,2708
$GC,12515,0.42,217.9,858.9,9.4,1047,12537,0.00,2.05,14.95,1.274,4,0.000,0.060,2669,3763,2642
$GC,12588,0.35,222.8,851.3,9.8,1050,12598,0.00,1.90,5.72,1.032,6,0.000,0.031,2675,2503,2623
$GC,12909,0.36,230.5,819.7,9.7,1065,12923,0.00,2.10,7.70,1.138,4,0.000,0.057,2674,3761,2592
$GC,12940,0.36,230.5,816.4,10.8,1066,12944,0.00,1.95,0.00,0.000,6,0.000,0.032,2677,2497,2591
$GC,13261,0.41,269.7,787.1,8.5,1082,13300,0.00,0.00,32.72,1.287,6,0.000,0.000,2677,2495,2432
$GC,13610,0.51,295.4,756.4,9.0,1099,13639,0.00,2.17,22.30,1.240,4,0.000,0.058,2677,3767,2326
$GC,13690,0.51,295.4,748.0,10.7,1102,13696,0.00,1.95,0.00,0.000,6,0.000,0.031,2677,2499,2324
$GC,14006,0.66,328.2,719.1,8.7,1118,14040,0.20,2.22,27.17,1.227,4,0.075,0.036,2762,1106,2193
$GC,14080,0.57,328.2,709.7,12.9,1121,14085,0.12,2.22,0.00,0.000,6,0.180,0.041,2733,2500,2191
$GC,14395,0.57,328.2,669.2,12.9,1136,14398,0.00,2.03,0.00,0.000,4,0.000,0.057,2733,3770,2187
$GC,14422,0.48,328.2,665.2,14.4,1137,14427,0.15,1.92,0.00,0.000,6,0.180,0.031,2700,2488,2188
$GC,14750,0.55,328.2,628.3,11.3,1153,14754,0.00,2.08,0.00,0.000,4,0.000,0.035,2706,1106,2187
$GC,14779,0.65,328.2,625.0,11.1,1154,14784,0.15,2.15,0.00,0.000,6,0.083,0.039,2764,2497,2187
$GC,15100,0.51,328.2,577.5,15.3,1170,15104,0.20,2.10,0.00,0.000,4,0.171,0.035,2707,1119,2186
$GC,15177,0.63,328.2,568.1,10.8,1173,15184,0.12,2.12,0.00,0.000,6,0.087,0.040,2758,2494,2186
$GC,15494,0.52,328.2,525.6,13.7,1189,15498,0.17,2.10,0.00,0.000,4,0.172,0.035,2719,1107,2185
$GC,15526,0.58,328.2,521.4,11.8,1190,15533,0.00,2.10,0.00,0.000,6,0.000,0.040,2719,2469,2186
$GC,15845,0.58,328.2,484.5,11.1,1212,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2468,2186
$GC,16166,0.63,328.2,448.7,11.9,1242,16167,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2469,2185
$GC,16482,0.63,328.2,410.8,11.7,1272,16485,0.00,2.05,0.00,0.000,4,0.000,0.060,2719,3767,2185
$GC,16540,0.63,328.2,403.9,11.8,1277,16544,0.00,1.92,0.00,0.000,6,0.000,0.031,2719,2462,2185
$GC,16873,0.77,373.7,374.3,8.2,1308,16917,0.20,2.08,35.83,1.001,4,0.072,0.034,2811,1120,2006
$GC,16981,0.61,373.7,359.6,14.8,1317,16988,0.25,2.10,0.00,0.000,6,0.167,0.037,2744,2466,2003
$GC,17306,0.68,373.7,324.7,10.9,1348,17309,0.00,2.08,0.00,0.000,4,0.000,0.034,2745,1103,2000
$GC,17363,0.77,373.7,318.7,10.2,1353,17368,0.15,2.08,0.00,0.000,6,0.081,0.037,2803,2451,2000
$GC,17699,0.62,373.7,268.9,13.9,1401,17705,0.17,2.03,0.00,0.000,4,0.173,0.032,2758,1111,2000
$GC,17724,0.62,373.7,265.4,14.8,1405,17730,0.00,2.05,0.00,0.000,6,0.000,0.038,2758,2448,2000
$GC,18067,0.62,373.7,223.8,12.6,1466,18073,0.00,2.08,0.00,0.000,4,0.000,0.057,2758,3764,2000
$GC,18147,0.56,373.7,212.7,12.9,1480,18155,0.12,1.95,0.00,0.000,6,0.175,0.029,2728,2441,2000
$GC,18493,0.76,379.8,180.7,9.8,1541,18505,0.17,1.98,5.40,0.676,4,0.070,0.033,2811,1104,1982
$GC,18557,0.67,379.8,172.2,14.4,1552,18565,0.20,2.05,0.00,0.000,6,0.161,0.037,2758,2450,1982
$GC,18903,0.73,379.8,136.4,12.0,1613,18908,0.00,2.05,0.00,0.000,4,0.000,0.055,2758,3761,1981
$GC,18982,0.73,379.8,127.0,11.6,1627,18988,0.00,1.90,0.00,0.000,6,0.000,0.028,2759,2457,1981
$GC,19327,0.93,379.8,94.0,10.1,1688,19334,0.20,1.98,0.00,0.000,4,0.071,0.031,2853,1107,1981
$GC,19403,0.81,379.8,84.7,12.5,1701,19410,0.17,2.03,0.00,0.000,6,0.162,0.036,2807,2450,1981
$GC,19748,0.96,429.4,50.0,8.0,1762,19795,0.12,2.05,39.33,0.697,4,0.081,0.032,2868,1122,1780
$GC,19892,0.96,429.4,33.3,10.4,1787,19898,0.00,2.05,0.00,0.000,6,0.000,0.035,2868,2460,1775
$STATE,20199,end climb,SURFACE_DEPTH_REACHED
$STATE,20199,begin surface coast
$FINISH,1.7,1.021375
$STATE,20245,end surface coast,CONTROL_FINISHED_OK
$STATE,20245,begin surface
$SM_CCo,20323,0.00,0.000,0,0,1772,431.48
$SM_GC,2.90,7.35,0.00,0.00,0.058,0.000,0.000,141,2465,1772,-7.50,1.07,431.48
$IRIDIUM_FIX,2446.56,12217.70,110998,101033
$TT8_MAMPS,0.028379
$HUMID,1598
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,31.448
$10V_AH,10.7,18.001
$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,25.975,159.900,449.275,0.000,0.000,55.838,72.509,273.937,8.000,0.000,0.000,17.327,3264.585,13190.551,622.471,3094.524,746.036,0.000,2185.941,0.000,3025.485,0.000,54.417,0.000
$DEVICE_MAMPS,250.809,61.360,1436.591,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.365,1274.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97868,1850
$CAP_FILE_SIZE,202566,0
$CFSIZE,260165632,211943424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.039,161.6,1
$GPS,170609,160301,2453.077,12224.769,41,1.4,41,-3.5