version: 66.04
glider: 167
mission: 2
dive: 29
start: 5 25 109 19 58 23
data:
$ID,167
$MISSION,2
$DIVE,29
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4401.376
$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,2435
$C_ROLL_CLIMB,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,34
$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
$GPS1,195101,2529.612,12311.488,40,1.9,41,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.7
$GPS2,195803,2529.739,12311.667,9,2.8,28,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,198.2,27410,-15.7,-10.000
$D_GRID,1024
$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,-0.94,-194.7,0.0,0.0,0,64,0.00,0.00,-47.25,0.000,2,0.000,0.000,145,2418,2747
$GC,67,-0.94,-194.7,3.1,-4.3,8,117,8.70,2.08,-35.40,0.000,4,0.257,0.044,2240,1039,3989
$GC,309,-0.18,-194.7,70.9,-32.0,50,315,0.85,2.10,0.00,0.000,6,0.183,0.035,2476,2437,3991
$GC,653,-0.58,-194.7,100.0,-6.0,111,660,0.30,2.03,0.00,0.000,4,0.061,0.048,2350,3768,3991
$GC,711,-0.42,-194.7,107.0,-14.0,121,719,0.20,1.92,0.00,0.000,6,0.146,0.025,2406,2413,3991
$GC,1058,-0.57,-194.7,138.0,-6.8,182,1064,0.15,1.95,0.00,0.000,4,0.070,0.028,2342,1048,3993
$GC,1094,-0.48,-194.7,141.3,-10.2,188,1100,0.17,2.10,0.00,0.000,6,0.153,0.035,2390,2463,3992
$GC,1438,-0.62,-194.7,169.7,-8.5,249,1446,0.15,1.95,0.00,0.000,4,0.071,0.048,2326,3758,3993
$GC,1480,-0.51,-194.7,174.7,-12.3,256,1487,0.17,1.85,0.00,0.000,6,0.150,0.027,2374,2446,3993
$GC,1825,-0.65,-194.7,209.9,-7.9,317,1832,0.12,2.00,0.00,0.000,4,0.077,0.048,2316,3757,3993
$GC,1879,-0.56,-194.7,215.8,-11.8,326,1885,0.17,1.83,0.00,0.000,6,0.148,0.026,2365,2458,3993
$GC,2224,-0.72,-194.7,237.8,-6.0,387,2230,0.15,2.00,0.00,0.000,4,0.071,0.048,2299,3767,3994
$GC,2254,-0.67,-194.7,240.3,-9.2,392,2260,0.00,1.83,0.00,0.000,6,0.000,0.026,2299,2470,3994
$GC,2598,-0.56,-194.7,278.2,-10.6,453,2605,0.20,2.03,0.00,0.000,4,0.153,0.028,2363,1050,3994
$GC,2743,-0.77,-194.7,290.2,-8.4,478,2750,0.20,2.10,0.00,0.000,6,0.064,0.034,2276,2476,3994
$GC,3074,-0.60,-194.7,328.9,-11.4,516,3078,0.22,1.95,0.00,0.000,4,0.153,0.049,2344,3765,3994
$GC,3189,-0.76,-194.7,336.2,-5.7,526,3193,0.12,1.83,0.00,0.000,6,0.077,0.028,2289,2476,3994
$GC,3519,-0.66,-194.7,366.3,-10.0,557,3521,0.15,0.00,0.00,0.000,6,0.156,0.000,2331,2474,3993
$GC,3839,-0.76,-194.7,392.6,-8.6,587,3843,0.00,2.05,0.00,0.000,4,0.000,0.031,2331,1047,3993
$GC,3878,-0.86,-194.7,396.3,-9.1,590,3885,0.17,2.15,0.00,0.000,6,0.073,0.036,2258,2495,3993
$GC,4203,-0.70,-194.7,433.6,-10.8,621,4207,0.20,1.92,0.00,0.000,4,0.159,0.051,2316,3766,3992
$GC,4282,-0.80,-194.7,439.7,-6.8,628,4285,0.00,1.83,0.00,0.000,6,0.000,0.028,2316,2482,3992
$GC,4614,-0.90,-194.7,462.9,-8.0,659,4619,0.17,1.98,0.00,0.000,4,0.074,0.052,2233,3762,3991
$GC,4642,-0.74,-194.7,466.0,-11.5,661,4650,0.25,1.83,0.00,0.000,6,0.164,0.028,2305,2482,3991
$GC,4967,-0.80,-194.7,495.7,-9.3,692,4971,0.00,2.08,0.00,0.000,4,0.000,0.032,2305,1044,3989
$GC,5120,-0.90,-194.7,508.5,-7.5,701,5128,0.15,2.15,0.00,0.000,6,0.081,0.037,2243,2484,3989
$GC,5436,-0.76,-194.7,537.0,-8.1,717,5441,0.20,2.10,0.00,0.000,4,0.162,0.030,2304,1047,3987
$GC,5476,-0.86,-194.7,539.5,-5.8,719,5480,0.12,2.15,0.00,0.000,6,0.085,0.037,2252,2484,3987
$GC,5802,-0.76,-194.7,571.4,-10.8,735,5804,0.17,0.00,0.00,0.000,6,0.163,0.000,2301,2484,3984
$GC,6113,-0.86,-194.7,600.4,-9.4,750,6117,0.00,2.10,0.00,0.000,4,0.000,0.033,2301,1050,3982
$GC,6141,-0.98,-194.7,603.3,-9.8,751,6146,0.20,2.12,0.00,0.000,6,0.074,0.038,2221,2468,3982
$GC,6462,-0.78,-194.7,642.4,-11.2,767,6466,0.20,2.10,0.00,0.000,4,0.171,0.031,2282,1039,3980
$GC,6524,-0.83,-194.7,647.7,-8.2,770,6529,0.00,2.12,0.00,0.000,6,0.000,0.039,2282,2459,3979
$GC,6858,-0.83,-194.7,672.3,-6.8,786,6861,0.00,2.00,0.00,0.000,4,0.000,0.057,2277,3760,3977
$GC,6952,-0.83,-194.7,679.1,-6.7,790,6956,0.00,1.88,0.00,0.000,6,0.000,0.031,2276,2466,3976
$GC,7281,-0.83,-194.7,700.8,-6.5,806,7284,0.00,2.03,0.00,0.000,4,0.000,0.058,2277,3761,3974
$GC,7331,-0.83,-194.7,704.0,-6.1,808,7334,0.00,1.90,0.00,0.000,6,0.000,0.033,2277,2459,3973
$GC,7658,-0.83,-194.7,724.2,-6.5,824,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2458,3971
$GC,7967,-0.83,-194.7,745.4,-6.9,839,7970,0.00,2.08,0.00,0.000,4,0.000,0.035,2277,1033,3970
$GC,8029,-0.83,-194.7,750.3,-7.9,841,8036,0.00,2.17,0.00,0.000,6,0.000,0.042,2277,2468,3969
$GC,8344,-0.83,-194.7,773.0,-6.8,857,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2468,3967
$GC,8654,-0.83,-194.7,792.3,-6.2,872,8657,0.00,2.12,0.00,0.000,4,0.000,0.035,2276,1034,3966
$GC,8692,-0.83,-194.7,794.9,-6.5,873,8699,0.00,2.17,0.00,0.000,6,0.000,0.041,2277,2462,3966
$GC,9008,-0.83,-194.7,814.2,-6.2,889,9012,0.00,2.10,0.00,0.000,4,0.000,0.035,2276,1045,3964
$GC,9035,-0.83,-194.7,816.1,-6.5,890,9039,0.00,2.15,0.00,0.000,6,0.000,0.041,2277,2460,3964
$GC,9363,-0.83,-194.7,837.9,-6.9,906,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2460,3963
$GC,9672,-0.83,-194.7,857.7,-6.4,921,9675,0.00,2.03,0.00,0.000,4,0.000,0.061,2276,3765,3962
$GC,9722,-0.90,-194.7,861.2,-6.6,923,9725,0.00,1.92,0.00,0.000,6,0.000,0.034,2277,2450,3961
$GC,10049,-0.96,-194.7,881.8,-6.7,939,10051,0.12,0.00,0.00,0.000,6,0.094,0.000,2227,2449,3960
$GC,10359,-0.82,-194.7,912.3,-9.6,954,10363,0.17,2.08,0.00,0.000,4,0.181,0.035,2279,1036,3959
$GC,10478,-0.89,-194.7,921.2,-7.2,959,10481,0.00,2.15,0.00,0.000,6,0.000,0.044,2279,2459,3959
$GC,10799,-0.96,-194.7,939.1,-5.5,975,10801,0.12,0.00,0.00,0.000,6,0.097,0.000,2230,2460,3958
$GC,11109,-0.84,-194.7,966.8,-8.2,990,11113,0.15,2.10,0.00,0.000,4,0.189,0.035,2269,1034,3956
$GC,11141,-0.84,-194.7,969.4,-6.8,991,11145,0.00,2.15,0.00,0.000,6,0.000,0.043,2269,2444,3956
$STATE,11439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11440,begin apogee
$GC,11445,-0.22,0.0,990.2,7.6,1006,11534,0.65,0.00,85.95,1.483,6,0.155,0.000,2472,2445,3532
$STATE,11535,end apogee,CONTROL_FINISHED_OK
$STATE,11535,begin climb
$GC,11537,0.94,194.7,992.4,0.0,1010,11711,1.05,2.22,162.12,1.481,4,0.066,0.035,2854,1082,2737
$GC,11818,0.33,194.7,969.6,16.8,1022,11825,0.77,2.22,0.00,0.000,6,0.205,0.044,2653,2470,2732
$GC,12134,0.42,269.0,943.0,7.4,1038,12201,0.00,2.22,62.22,1.518,4,0.000,0.061,2652,3755,2434
$GC,12240,0.43,279.3,933.7,9.6,1043,12257,0.00,2.00,9.90,1.200,6,0.000,0.032,2652,2473,2393
$GC,12566,0.54,291.9,903.2,9.6,1059,12581,0.20,0.00,11.65,1.289,6,0.084,0.000,2723,2472,2342
$GC,12876,0.42,291.9,859.7,14.0,1074,12880,0.17,2.08,0.00,0.000,4,0.173,0.058,2678,3759,2339
$GC,12938,0.35,291.9,851.1,13.2,1076,12944,0.00,1.92,0.00,0.000,6,0.000,0.034,2679,2487,2338
$GC,13253,0.35,291.9,813.3,12.2,1092,13257,0.00,2.03,0.00,0.000,4,0.000,0.058,2679,3759,2336
$GC,13321,0.30,291.9,803.8,13.8,1095,13325,0.12,1.95,0.00,0.000,6,0.185,0.034,2648,2462,2336
$GC,13653,0.44,291.9,768.7,10.8,1111,13657,0.12,2.08,0.00,0.000,4,0.096,0.058,2694,3764,2336
$GC,13708,0.32,291.9,760.4,16.8,1113,13712,0.17,1.92,0.00,0.000,6,0.183,0.034,2649,2475,2335
$GC,14029,0.47,291.9,726.0,10.2,1129,14033,0.15,2.05,0.00,0.000,4,0.092,0.058,2705,3765,2335
$GC,14063,0.33,291.9,721.5,14.4,1130,14067,0.20,1.90,0.00,0.000,6,0.183,0.035,2653,2491,2336
$GC,14384,0.46,303.5,689.3,9.6,1146,14399,0.12,2.05,10.12,1.184,4,0.095,0.060,2700,3765,2294
$GC,14468,0.34,303.5,678.1,14.6,1149,14472,0.17,1.88,0.00,0.000,6,0.184,0.034,2660,2515,2293
$GC,14800,0.50,331.7,646.9,9.0,1165,14826,0.15,0.00,24.10,1.230,6,0.091,0.000,2714,2512,2179
$GC,15129,0.50,331.7,604.2,13.4,1181,15132,0.00,2.00,0.00,0.000,4,0.000,0.059,2714,3758,2174
$GC,15179,0.39,331.7,596.7,14.8,1183,15183,0.17,1.85,0.00,0.000,6,0.181,0.035,2675,2526,2174
$GC,15506,0.51,331.7,560.5,10.7,1199,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2525,2173
$GC,15815,0.63,331.7,527.3,10.8,1214,15819,0.17,1.98,0.00,0.000,4,0.086,0.058,2748,3766,2173
$GC,15979,0.41,331.7,499.2,17.8,1221,15983,0.28,1.88,0.00,0.000,6,0.183,0.035,2680,2504,2172
$GC,16304,0.55,331.7,463.4,10.8,1251,16308,0.12,2.00,0.00,0.000,4,0.093,0.057,2727,3768,2172
$GC,16338,0.45,331.7,458.6,14.6,1254,16342,0.15,1.85,0.00,0.000,6,0.183,0.034,2696,2517,2172
$GC,16668,0.55,331.7,420.9,10.8,1285,16672,0.00,2.15,0.00,0.000,4,0.000,0.039,2695,1071,2172
$GC,16771,0.75,368.1,410.7,8.7,1294,16806,0.25,2.20,29.08,1.062,6,0.074,0.040,2790,2517,2030
$GC,17132,0.55,368.1,352.8,16.5,1328,17136,0.22,1.95,0.00,0.000,4,0.182,0.057,2726,3758,2024
$GC,17270,0.55,368.1,333.0,14.6,1340,17277,0.00,1.90,0.00,0.000,6,0.000,0.032,2726,2502,2023
$GC,17599,0.62,368.1,290.0,12.4,1377,17606,0.00,2.00,0.00,0.000,4,0.000,0.055,2726,3765,2023
$GC,17668,0.62,368.1,280.7,13.0,1389,17675,0.00,1.88,0.00,0.000,6,0.000,0.032,2726,2500,2022
$GC,18014,0.71,368.1,242.9,11.1,1450,18021,0.15,1.98,0.00,0.000,4,0.082,0.054,2786,3755,2023
$GC,18106,0.52,368.1,228.7,16.4,1466,18113,0.28,1.80,0.00,0.000,6,0.176,0.031,2716,2520,2023
$GC,18452,0.78,409.9,196.0,8.6,1527,18495,0.20,2.20,32.83,0.834,4,0.071,0.036,2803,1085,1859
$GC,18541,0.78,409.9,184.3,14.7,1542,18547,0.00,2.25,0.00,0.000,6,0.000,0.037,2803,2541,1856
$GC,18884,0.78,409.9,135.9,13.5,1603,18890,0.00,1.90,0.00,0.000,4,0.000,0.056,2803,3765,1854
$GC,18953,0.69,409.9,126.0,17.1,1615,18959,0.15,1.83,0.00,0.000,6,0.168,0.028,2770,2513,1853
$GC,19298,1.00,481.4,96.7,7.5,1676,19359,0.22,2.22,54.25,0.723,4,0.068,0.032,2877,1077,1569
$GC,19377,0.92,481.4,86.2,14.9,1689,19385,0.15,2.25,0.00,0.000,6,0.166,0.035,2840,2532,1565
$GC,19724,1.02,481.4,40.1,10.4,1750,19731,0.10,1.90,0.00,0.000,4,0.085,0.051,2880,3764,1563
$GC,19827,0.89,481.4,24.0,16.8,1768,19834,0.17,1.80,0.00,0.000,6,0.168,0.027,2836,2528,1563
$STATE,20018,end climb,SURFACE_DEPTH_REACHED
$STATE,20018,begin surface coast
$FINISH,1.6,1.022100
$STATE,20046,end surface coast,CONTROL_FINISHED_OK
$STATE,20047,begin surface
$SM_CCo,20123,0.00,0.000,0,0,1562,483.24
$SM_GC,2.23,7.12,0.00,0.00,0.054,0.000,0.000,147,2429,1562,-7.49,-0.17,483.24
$IRIDIUM_FIX,2519.89,12307.64,190898,151531
$TT8_MAMPS,0.029146
$HUMID,1516
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.7,8.967
$10V_AH,10.7,6.308
$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,28.475,165.550,482.225,0.000,0.000,28.669,33.960,210.478,8.000,0.000,0.000,28.980,3234.223,12922.459,628.984,3158.731,591.479,0.000,2221.774,0.000,3068.837,0.000,54.423,0.000
$DEVICE_MAMPS,256.945,89.739,1517.893,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1223.134,1221.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94621,1807
$CAP_FILE_SIZE,206124,0
$CFSIZE,260165632,222724096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.254, 51.9,1
$GPS,260509,013501,2528.750,12313.674,41,2.0,41,-3.8