version: 66.04
glider: 167
mission: 2
dive: 181
start: 6 18 109 20 27 58
data:
$ID,167
$MISSION,2
$DIVE,181
$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,-8593.207
$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,74
$R_STBD_OVSHOOT,39
$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
$GPS1,202005,2449.958,12239.518,38,1.2,44,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.5
$GPS2,202737,2450.357,12239.800,12,1.7,17,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_2
$TGT_LATLONG,2441.200,12300.000
$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,163.4,37988,-16.8,-10.000
$D_GRID,1233
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.96,-170.3,0.0,0.0,0,47,0.00,0.00,-28.85,0.000,2,0.000,0.000,144,2427,2285
$GC,50,-0.96,-170.3,3.2,-2.6,5,119,8.68,2.10,-54.40,0.000,4,0.246,0.040,2227,1037,3989
$GC,244,-0.40,-170.3,40.5,-21.3,38,252,0.65,2.10,0.00,0.000,6,0.165,0.032,2409,2429,3991
$GC,591,-0.58,-170.3,73.6,-7.0,99,597,0.15,2.05,0.00,0.000,4,0.068,0.048,2344,3761,3992
$GC,778,-0.58,-170.3,91.6,-9.2,132,784,0.00,1.92,0.00,0.000,6,0.000,0.026,2344,2408,3993
$GC,1122,-0.65,-170.3,127.7,-9.8,193,1128,0.00,2.08,0.00,0.000,4,0.000,0.046,2343,3755,3994
$GC,1203,-0.76,-170.3,134.8,-8.2,207,1209,0.12,1.85,0.00,0.000,6,0.074,0.025,2285,2453,3994
$GC,1547,-0.65,-170.3,172.0,-10.3,268,1554,0.17,2.00,0.00,0.000,4,0.140,0.044,2334,3755,3995
$GC,1606,-0.79,-170.3,177.0,-8.5,278,1613,0.12,1.83,0.00,0.000,6,0.077,0.025,2276,2465,3995
$GC,1951,-0.67,-170.3,218.3,-11.7,339,1958,0.17,2.00,0.00,0.000,4,0.141,0.048,2328,3761,3995
$GC,2073,-0.82,-170.3,228.9,-8.5,360,2080,0.15,1.80,0.00,0.000,6,0.072,0.028,2260,2499,3995
$GC,2417,-0.68,-170.3,269.3,-12.1,421,2424,0.17,1.95,0.00,0.000,4,0.145,0.048,2316,3760,3995
$GC,2477,-0.79,-170.3,275.0,-9.3,431,2484,0.00,1.75,0.00,0.000,6,0.000,0.028,2316,2532,3995
$GC,2827,-0.89,-170.3,302.3,-6.8,490,2831,0.17,1.90,0.00,0.000,4,0.071,0.048,2232,3760,3995
$GC,2910,-0.67,-170.3,311.2,-11.2,497,2917,0.32,1.73,0.00,0.000,6,0.145,0.028,2331,2558,3995
$GC,3235,-0.86,-170.3,333.1,-6.3,528,3240,0.17,1.88,0.00,0.000,4,0.069,0.050,2247,3765,3994
$GC,3263,-0.78,-170.3,335.5,-8.8,530,3271,0.17,1.73,0.00,0.000,6,0.150,0.028,2297,2563,3994
$GC,3588,-0.84,-170.3,364.2,-8.8,561,3592,0.00,1.85,0.00,0.000,4,0.000,0.050,2290,3758,3993
$GC,3623,-0.90,-170.3,367.3,-9.6,564,3627,0.00,1.70,0.00,0.000,6,0.000,0.028,2290,2571,3993
$GC,3956,-0.94,-170.3,398.0,-9.8,595,3962,0.15,0.00,0.00,0.000,6,0.074,0.000,2227,2570,3992
$GC,4281,-0.75,-170.3,437.1,-10.8,626,4285,0.22,1.85,0.00,0.000,4,0.159,0.049,2289,3761,3990
$GC,4376,-0.82,-170.3,445.7,-9.5,634,4383,0.00,1.73,0.00,0.000,6,0.000,0.030,2289,2569,3990
$GC,4704,-0.90,-170.3,474.4,-9.1,665,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2569,3988
$GC,5021,-0.98,-170.3,502.3,-8.3,694,5025,0.17,1.85,0.00,0.000,4,0.074,0.051,2207,3753,3986
$GC,5098,-0.74,-170.3,512.1,-12.5,697,5103,0.28,1.73,0.00,0.000,6,0.155,0.030,2305,2587,3985
$GC,5420,-0.90,-170.3,538.2,-7.6,713,5424,0.15,2.25,0.00,0.000,4,0.077,0.029,2245,1046,3984
$GC,5466,-0.84,-170.3,542.9,-11.0,715,5470,0.00,2.30,0.00,0.000,6,0.000,0.038,2245,2558,3983
$GC,5799,-0.77,-170.3,580.4,-11.1,731,5803,0.17,1.83,0.00,0.000,4,0.160,0.052,2293,3753,3981
$GC,5867,-0.92,-170.3,586.3,-8.7,734,5871,0.10,1.73,0.00,0.000,6,0.072,0.030,2242,2594,3981
$GC,6199,-0.86,-170.3,617.2,-9.6,750,6203,0.00,2.25,0.00,0.000,4,0.000,0.031,2242,1056,3978
$GC,6265,-0.86,-170.3,623.9,-10.6,753,6269,0.00,2.30,0.00,0.000,6,0.000,0.039,2241,2563,3978
$GC,6593,-0.78,-170.3,658.4,-11.3,769,6594,0.17,0.00,0.00,0.000,6,0.159,0.000,2291,2564,3976
$GC,6902,-0.92,-170.3,682.2,-7.1,784,6904,0.12,0.00,0.00,0.000,6,0.088,0.000,2243,2566,3974
$GC,7212,-0.87,-170.3,710.8,-9.1,799,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2566,3972
$GC,7520,-0.87,-170.3,739.1,-9.3,814,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2566,3970
$GC,7829,-0.82,-170.3,769.6,-10.1,829,7834,0.12,2.28,0.00,0.000,4,0.172,0.031,2275,1045,3968
$GC,7870,-0.92,-170.3,773.5,-9.5,831,7874,0.00,2.35,0.00,0.000,6,0.000,0.041,2275,2567,3968
$GC,8197,-1.02,-170.3,802.0,-8.7,847,8201,0.17,1.85,0.00,0.000,4,0.079,0.057,2205,3750,3967
$GC,8275,-0.83,-170.3,811.3,-12.2,850,8279,0.25,1.67,0.00,0.000,6,0.163,0.033,2276,2617,3966
$GC,8596,-0.92,-170.3,838.2,-7.6,866,8600,0.00,2.30,0.00,0.000,4,0.000,0.032,2276,1056,3965
$GC,8624,-1.03,-170.3,840.2,-7.7,867,8628,0.17,2.35,0.00,0.000,6,0.081,0.041,2208,2584,3965
$GC,8939,-0.87,-170.3,874.4,-11.3,882,8941,0.20,0.00,0.00,0.000,6,0.164,0.000,2262,2584,3963
$GC,9249,-0.93,-170.3,904.3,-9.8,897,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2584,3963
$GC,9558,-1.00,-170.3,934.3,-9.9,912,9560,0.12,0.00,0.00,0.000,6,0.091,0.000,2217,2585,3962
$STATE,9802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9802,begin apogee
$GC,9808,-0.22,0.0,967.7,15.0,924,9898,0.85,0.00,86.95,1.420,6,0.162,0.000,2469,2585,3532
$STATE,9899,end apogee,CONTROL_FINISHED_OK
$STATE,9899,begin climb
$GC,9902,0.96,170.3,973.9,0.0,928,10053,1.08,2.03,141.70,1.376,4,0.062,0.059,2853,3755,2836
$GC,10199,0.16,170.3,960.6,16.3,942,10204,1.00,1.90,0.00,0.000,6,0.206,0.030,2604,2518,2831
$GC,10515,0.41,226.4,938.3,7.8,957,10563,0.22,0.00,46.03,1.346,6,0.075,0.000,2688,2518,2608
$GC,10863,0.45,255.0,903.8,8.9,974,10891,0.00,2.05,23.08,1.302,4,0.000,0.057,2688,3757,2492
$GC,10936,0.35,255.0,896.3,11.1,977,10940,0.12,1.92,0.00,0.000,6,0.179,0.031,2663,2503,2490
$GC,11257,0.53,313.5,870.8,7.7,993,11314,0.15,2.25,49.17,1.323,4,0.085,0.035,2719,1112,2252
$GC,11358,0.53,313.5,859.7,11.6,997,11365,0.00,2.22,0.00,0.000,6,0.000,0.040,2719,2499,2248
$GC,11674,0.53,313.5,821.7,12.5,1013,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2498,2244
$GC,11983,0.53,313.5,784.0,12.5,1028,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2498,2243
$GC,12293,0.53,313.5,742.9,13.2,1043,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2499,2241
$GC,12601,0.53,313.5,705.0,12.0,1058,12605,0.00,2.12,0.00,0.000,4,0.000,0.037,2719,1103,2241
$GC,12646,0.53,313.5,699.9,11.3,1060,12650,0.00,2.17,0.00,0.000,6,0.000,0.039,2719,2512,2241
$GC,12979,0.53,313.5,661.6,11.8,1076,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2512,2240
$GC,13288,0.53,313.5,626.2,12.2,1091,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2512,2240
$GC,13597,0.53,313.5,590.6,11.2,1106,13601,0.00,2.12,0.00,0.000,4,0.000,0.036,2719,1107,2240
$GC,13642,0.58,313.5,585.7,11.2,1108,13646,0.00,2.15,0.00,0.000,6,0.000,0.041,2719,2498,2240
$GC,13974,0.59,322.1,552.7,9.7,1124,13984,0.00,1.98,6.18,0.967,4,0.000,0.058,2719,3762,2218
$GC,14007,0.54,322.1,549.0,11.0,1125,14013,0.00,1.90,0.00,0.000,6,0.000,0.031,2719,2484,2218
$GC,14322,0.54,322.1,516.6,10.8,1141,14326,0.00,2.05,0.00,0.000,4,0.000,0.035,2719,1103,2217
$GC,14351,0.60,322.1,513.7,10.5,1142,14355,0.00,2.17,0.00,0.000,6,0.000,0.038,2719,2519,2217
$GC,14673,0.60,322.1,479.1,10.5,1166,14677,0.00,1.95,0.00,0.000,4,0.000,0.056,2719,3770,2216
$GC,14723,0.54,322.1,473.4,11.7,1170,14730,0.00,1.88,0.00,0.000,6,0.000,0.030,2719,2495,2216
$GC,15050,0.60,331.9,440.6,9.6,1201,15065,0.00,2.05,9.23,0.979,4,0.000,0.054,2720,3759,2179
$GC,15110,0.60,331.9,433.7,11.6,1206,15118,0.00,1.88,0.00,0.000,6,0.000,0.031,2719,2513,2178
$GC,15438,0.70,350.6,402.8,9.3,1237,15462,0.15,2.17,16.60,0.996,4,0.080,0.035,2785,1107,2101
$GC,15501,0.60,350.6,394.4,12.3,1242,15509,0.17,2.17,0.00,0.000,6,0.170,0.040,2740,2505,2100
$GC,15826,0.60,350.6,357.4,11.4,1273,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2505,2098
$GC,16147,0.66,350.6,321.5,10.9,1303,16151,0.00,2.08,0.00,0.000,4,0.000,0.033,2746,1112,2098
$GC,16283,0.74,350.6,306.6,10.8,1315,16287,0.12,2.12,0.00,0.000,6,0.086,0.036,2794,2501,2098
$GC,16623,0.63,350.6,262.3,13.3,1370,16630,0.17,0.00,0.00,0.000,6,0.169,0.000,2742,2503,2098
$GC,16968,0.77,401.6,229.6,8.0,1431,17017,0.15,2.20,40.62,0.866,4,0.079,0.033,2802,1109,1893
$GC,17023,0.69,401.6,223.2,11.5,1440,17030,0.12,2.17,0.00,0.000,6,0.162,0.036,2772,2500,1891
$GC,17368,0.79,401.6,184.5,11.4,1501,17374,0.00,2.10,0.00,0.000,4,0.000,0.031,2772,1106,1887
$GC,17518,0.90,401.6,167.8,10.6,1527,17525,0.17,2.10,0.00,0.000,6,0.074,0.037,2841,2474,1887
$GC,17862,0.76,401.6,112.1,16.6,1588,17869,0.17,2.03,0.00,0.000,4,0.152,0.053,2788,3770,1886
$GC,17937,0.76,401.6,101.7,12.5,1601,17943,0.00,1.92,0.00,0.000,6,0.000,0.028,2794,2447,1886
$GC,18281,0.99,463.7,73.0,7.6,1662,18336,0.17,2.17,47.78,0.709,4,0.073,0.051,2874,3764,1639
$GC,18360,0.89,463.7,63.3,13.2,1675,18366,0.20,1.95,0.00,0.000,6,0.163,0.027,2830,2448,1636
$GC,18704,1.21,507.8,32.6,8.3,1736,18747,0.25,2.12,34.22,0.651,4,0.060,0.049,2936,3769,1459
$GC,18759,1.10,507.8,26.2,15.2,1745,18766,0.17,1.92,0.00,0.000,6,0.173,0.025,2899,2467,1458
$STATE,18983,end climb,SURFACE_DEPTH_REACHED
$STATE,18983,begin surface coast
$FINISH,1.7,1.008540
$STATE,19018,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
$SM_CCo,19096,0.00,0.000,0,0,1451,510.47
$SM_GC,2.67,7.53,0.00,0.00,0.063,0.000,0.000,142,2464,1451,-7.49,1.05,510.47
$IRIDIUM_FIX,2439.44,12235.55,120998,141415
$TT8_MAMPS,0.027612
$HUMID,1579
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.6,114.3
$24V_AH,23.6,32.542
$10V_AH,10.7,18.644
$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,26.850,132.850,501.550,0.000,0.000,30.568,34.174,239.332,7.250,0.000,0.000,17.224,3124.951,12161.784,645.731,2953.071,645.541,0.000,2134.339,0.000,2897.740,0.000,50.810,0.000
$DEVICE_MAMPS,246.207,59.059,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.001,1237.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94813,1791
$CAP_FILE_SIZE,189497,0
$CFSIZE,260165632,211361792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.343, 34.1,1
$GPS,190609,014730,2450.810,12242.694,41,1.8,41,-3.5