version: 66.04
glider: 167
mission: 2
dive: 30
start: 5 26 109 1 42 29
data:
$ID,167
$MISSION,2
$DIVE,30
$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,-4414.1084
$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,74
$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
$GPS1,013501,2528.750,12313.674,41,2.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-64.5
$GPS2,014207,2528.864,12313.786,12,2.0,12,-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,203.5,24311,-15.7,-10.000
$D_GRID,1038
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.94,-194.7,0.0,0.0,0,63,0.00,0.00,-46.90,0.000,2,0.000,0.000,147,2429,2762
$GC,66,-0.94,-194.7,3.5,-4.3,8,116,8.85,2.10,-34.50,0.000,4,0.262,0.041,2238,1029,3989
$GC,291,-0.27,-194.7,65.0,-27.2,47,298,0.77,2.12,0.00,0.000,6,0.189,0.035,2449,2437,3990
$GC,636,-0.49,-194.7,99.1,-6.9,108,643,0.17,2.03,0.00,0.000,4,0.066,0.048,2368,3767,3991
$GC,689,-0.38,-194.7,105.2,-13.0,117,695,0.17,1.90,0.00,0.000,6,0.148,0.025,2416,2425,3991
$GC,1033,-0.60,-194.7,131.8,-6.4,178,1041,0.17,1.98,0.00,0.000,4,0.067,0.028,2334,1042,3992
$GC,1172,-0.46,-194.7,148.3,-12.9,202,1180,0.22,2.10,0.00,0.000,6,0.147,0.034,2397,2452,3993
$GC,1520,-0.66,-194.7,174.0,-6.6,263,1527,0.17,1.98,0.00,0.000,4,0.067,0.048,2315,3760,3993
$GC,1568,-0.55,-194.7,178.4,-10.2,271,1574,0.17,1.85,0.00,0.000,6,0.146,0.026,2365,2447,3993
$GC,1914,-0.66,-194.7,206.4,-8.2,332,1920,0.00,2.00,0.00,0.000,4,0.000,0.029,2365,1046,3993
$GC,2005,-0.79,-194.7,213.4,-7.2,348,2012,0.20,2.08,0.00,0.000,6,0.065,0.033,2281,2456,3993
$GC,2350,-0.60,-194.7,256.0,-11.2,409,2356,0.20,0.00,0.00,0.000,6,0.159,0.000,2344,2456,3993
$GC,2693,-0.70,-194.7,280.8,-6.7,470,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2456,3993
$GC,3040,-0.82,-194.7,304.5,-7.1,526,3044,0.17,2.05,0.00,0.000,4,0.071,0.030,2263,1057,3993
$GC,3078,-0.62,-194.7,308.7,-12.0,529,3085,0.28,2.08,0.00,0.000,6,0.155,0.035,2343,2449,3993
$GC,3404,-0.76,-194.7,332.4,-6.5,560,3408,0.12,1.98,0.00,0.000,4,0.081,0.051,2289,3754,3993
$GC,3442,-0.67,-194.7,336.0,-10.3,563,3449,0.15,1.85,0.00,0.000,6,0.154,0.028,2330,2455,3993
$GC,3767,-0.76,-194.7,359.9,-7.5,594,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2455,3993
$GC,4087,-0.89,-194.7,381.3,-6.2,624,4092,0.20,2.00,0.00,0.000,4,0.071,0.051,2241,3767,3992
$GC,4149,-0.65,-194.7,388.1,-11.8,629,4155,0.30,1.90,0.00,0.000,6,0.161,0.028,2330,2432,3992
$GC,4474,-0.79,-194.7,408.1,-6.8,660,4478,0.12,2.05,0.00,0.000,4,0.080,0.052,2276,3761,3991
$GC,4523,-0.74,-194.7,413.1,-10.3,664,4529,0.00,1.90,0.00,0.000,6,0.000,0.030,2276,2431,3991
$GC,4851,-0.69,-194.7,443.9,-8.9,695,4855,0.15,2.00,0.00,0.000,4,0.162,0.031,2317,1043,3989
$GC,4942,-0.82,-194.7,451.5,-7.8,703,4947,0.10,2.10,0.00,0.000,6,0.091,0.036,2275,2453,3989
$GC,5267,-0.82,-194.7,484.3,-9.7,733,5270,0.00,2.00,0.00,0.000,4,0.000,0.055,2275,3755,3987
$GC,5369,-0.82,-194.7,493.5,-9.1,742,5372,0.00,1.88,0.00,0.000,6,0.000,0.031,2275,2455,3986
$GC,5692,-0.82,-194.7,521.7,-8.4,761,5695,0.00,2.03,0.00,0.000,4,0.000,0.055,2275,3760,3984
$GC,5746,-0.82,-194.7,526.3,-8.1,763,5750,0.00,1.88,0.00,0.000,6,0.000,0.031,2275,2463,3984
$GC,6069,-0.82,-194.7,550.5,-7.1,779,6073,0.00,2.08,0.00,0.000,4,0.000,0.034,2275,1033,3981
$GC,6153,-0.82,-194.7,556.9,-7.7,782,6160,0.00,2.15,0.00,0.000,6,0.000,0.040,2275,2457,3981
$GC,6469,-0.82,-194.7,579.7,-7.5,798,6472,0.00,2.08,0.00,0.000,4,0.000,0.034,2275,1049,3978
$GC,6586,-0.82,-194.7,590.0,-9.4,803,6590,0.00,2.12,0.00,0.000,6,0.000,0.039,2275,2456,3977
$GC,6913,-0.82,-194.7,622.1,-10.7,819,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2456,3975
$GC,7223,-0.82,-194.7,651.0,-8.7,834,7227,0.00,2.03,0.00,0.000,4,0.000,0.059,2275,3769,3973
$GC,7306,-0.82,-194.7,659.2,-10.2,837,7313,0.00,1.95,0.00,0.000,6,0.000,0.033,2275,2453,3971
$GC,7622,-0.82,-194.7,683.3,-6.9,853,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2454,3970
$GC,7932,-0.82,-194.7,704.1,-6.2,868,7935,0.00,2.08,0.00,0.000,4,0.000,0.036,2275,1035,3968
$GC,7993,-0.82,-194.7,708.4,-6.8,870,8000,0.00,2.15,0.00,0.000,6,0.000,0.042,2275,2447,3969
$GC,8308,-0.82,-194.7,731.9,-8.9,886,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2448,3967
$GC,8618,-0.82,-194.7,759.8,-8.8,901,8621,0.00,2.05,0.00,0.000,4,0.000,0.061,2275,3770,3965
$GC,8690,-0.82,-194.7,766.0,-8.4,904,8694,0.00,1.95,0.00,0.000,6,0.000,0.035,2275,2441,3965
$GC,9017,-0.82,-194.7,791.9,-8.1,920,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2440,3964
$GC,9327,-0.82,-194.7,817.4,-8.2,935,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2441,3963
$GC,9636,-0.82,-194.7,842.6,-8.4,950,9639,0.00,2.08,0.00,0.000,4,0.000,0.060,2275,3773,3961
$GC,9681,-0.82,-194.7,846.4,-8.4,952,9685,0.00,1.95,0.00,0.000,6,0.000,0.032,2275,2425,3961
$GC,10013,-0.82,-194.7,870.7,-6.3,968,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2423,3960
$GC,10323,-0.82,-194.7,886.5,-4.6,983,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2423,3959
$GC,10632,-0.86,-194.7,903.4,-5.3,998,10636,0.00,2.08,0.00,0.000,4,0.000,0.058,2275,3760,3958
$GC,10665,-0.92,-194.7,905.7,-6.8,999,10669,0.00,1.92,0.00,0.000,6,0.000,0.034,2275,2445,3958
$GC,10987,-0.98,-194.7,924.5,-5.6,1015,10989,0.12,0.00,0.00,0.000,6,0.091,0.000,2225,2445,3957
$GC,11296,-0.83,-194.7,949.0,-8.4,1030,11300,0.17,2.08,0.00,0.000,4,0.179,0.035,2278,1030,3956
$GC,11317,-0.83,-194.7,950.9,-8.8,1031,11321,0.00,2.20,0.00,0.000,6,0.000,0.042,2277,2474,3956
$GC,11638,-0.89,-194.7,971.9,-6.4,1047,11642,0.00,2.00,0.00,0.000,4,0.000,0.059,2277,3766,3955
$GC,11667,-0.94,-194.7,974.1,-7.3,1048,11671,0.10,1.92,0.00,0.000,6,0.104,0.032,2238,2446,3954
$STATE,11825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11825,begin apogee
$GC,11831,-0.22,0.0,989.6,9.7,1056,11920,0.75,0.00,85.53,1.474,6,0.163,0.000,2468,2445,3532
$STATE,11920,end apogee,CONTROL_FINISHED_OK
$STATE,11921,begin climb
$GC,11923,0.94,194.7,992.6,0.0,1060,12095,1.05,2.20,161.30,1.438,4,0.064,0.037,2850,1086,2737
$GC,12186,0.36,194.7,973.2,17.1,1072,12192,0.70,2.22,0.00,0.000,6,0.199,0.041,2667,2473,2732
$GC,12515,0.38,253.7,945.6,8.0,1088,12570,0.00,2.17,48.45,1.401,4,0.000,0.058,2667,3751,2496
$GC,12716,0.31,253.7,925.3,10.4,1097,12720,0.00,1.92,0.00,0.000,6,0.000,0.031,2667,2487,2491
$GC,13043,0.31,253.7,895.0,10.5,1113,13047,0.00,2.05,0.00,0.000,4,0.000,0.057,2667,3758,2489
$GC,13066,0.33,271.9,892.8,9.4,1114,13089,0.00,1.90,15.40,1.325,6,0.000,0.031,2667,2492,2422
$GC,13396,0.34,279.7,859.4,9.7,1130,13410,0.00,2.10,8.02,1.203,4,0.000,0.057,2667,3760,2391
$GC,13463,0.29,279.7,851.5,13.0,1133,13467,0.00,1.92,0.00,0.000,6,0.000,0.032,2667,2492,2389
$GC,13796,0.39,326.1,819.0,8.4,1149,13840,0.00,2.17,39.08,1.352,4,0.000,0.058,2667,3757,2201
$GC,13903,0.39,326.1,808.7,10.5,1153,13909,0.00,1.92,0.00,0.000,6,0.000,0.032,2667,2502,2198
$GC,14219,0.50,326.1,776.5,10.7,1169,14223,0.12,2.03,0.00,0.000,4,0.091,0.057,2712,3761,2195
$GC,14313,0.37,326.1,762.5,15.4,1173,14317,0.20,1.85,0.00,0.000,6,0.172,0.034,2666,2530,2194
$GC,14640,0.49,326.4,728.2,10.0,1189,14644,0.12,1.98,0.00,0.000,4,0.090,0.058,2710,3765,2194
$GC,14685,0.37,326.4,722.2,14.5,1191,14689,0.17,1.83,0.00,0.000,6,0.174,0.032,2671,2541,2193
$GC,15018,0.47,326.4,688.2,10.3,1207,15022,0.00,2.20,0.00,0.000,4,0.000,0.038,2678,1073,2193
$GC,15041,0.60,331.1,685.8,9.8,1208,15051,0.17,2.28,4.25,0.897,6,0.084,0.039,2742,2550,2181
$GC,15374,0.46,331.1,635.6,15.2,1224,15378,0.17,1.90,0.00,0.000,4,0.166,0.054,2696,3771,2182
$GC,15407,0.46,331.1,630.4,13.3,1225,15411,0.00,1.83,0.00,0.000,6,0.000,0.031,2696,2555,2181
$GC,15728,0.46,331.1,594.8,11.0,1241,15732,0.00,1.90,0.00,0.000,4,0.000,0.058,2696,3755,2181
$GC,15778,0.46,331.1,588.5,12.4,1243,15782,0.00,1.80,0.00,0.000,6,0.000,0.031,2696,2554,2181
$GC,16105,0.46,331.1,549.6,12.0,1259,16109,0.00,1.90,0.00,0.000,4,0.000,0.058,2696,3755,2180
$GC,16174,0.46,331.1,541.2,12.9,1262,16177,0.00,1.75,0.00,0.000,6,0.000,0.032,2696,2566,2180
$GC,16506,0.53,331.1,501.4,13.2,1278,16510,0.00,1.90,0.00,0.000,4,0.000,0.058,2696,3768,2180
$GC,16657,0.53,331.1,478.9,13.9,1290,16664,0.00,1.75,0.00,0.000,6,0.000,0.034,2697,2595,2180
$GC,16986,0.65,365.7,442.8,8.8,1321,17017,0.17,0.00,28.92,1.095,6,0.084,0.000,2762,2594,2040
$GC,17332,0.54,365.7,402.1,11.4,1354,17334,0.15,0.00,0.00,0.000,6,0.181,0.000,2725,2593,2035
$GC,17652,0.60,365.7,367.0,12.1,1384,17656,0.00,1.88,0.00,0.000,4,0.000,0.056,2725,3759,2034
$GC,17742,0.60,365.7,354.7,13.5,1392,17746,0.00,1.75,0.00,0.000,6,0.000,0.033,2725,2598,2034
$GC,18075,0.67,365.7,317.5,10.3,1423,18079,0.12,2.28,0.00,0.000,4,0.089,0.035,2776,1067,2034
$GC,18113,0.67,365.7,312.8,11.4,1426,18117,0.00,2.33,0.00,0.000,6,0.000,0.038,2775,2592,2034
$GC,18451,0.56,365.7,267.7,15.7,1477,18457,0.17,1.80,0.00,0.000,4,0.172,0.052,2723,3767,2034
$GC,18610,0.61,365.7,247.2,12.0,1505,18616,0.00,1.70,0.00,0.000,6,0.000,0.029,2723,2591,2034
$GC,18954,0.78,386.7,207.9,9.3,1566,18979,0.20,1.88,16.98,0.828,4,0.071,0.052,2810,3759,1954
$GC,19002,0.55,386.7,200.9,14.5,1574,19010,0.32,1.70,0.00,0.000,6,0.174,0.029,2726,2592,1953
$GC,19350,0.87,486.7,173.2,6.5,1635,19437,0.25,2.38,77.47,0.800,4,0.068,0.032,2834,1075,1545
$GC,19499,0.87,486.7,150.9,14.8,1661,19505,0.00,2.40,0.00,0.000,6,0.000,0.034,2834,2616,1540
$GC,19842,0.87,486.7,91.8,16.5,1722,19849,0.00,1.77,0.00,0.000,4,0.000,0.052,2834,3765,1537
$GC,19884,0.82,486.7,85.1,15.9,1729,19890,0.12,1.73,0.00,0.000,6,0.173,0.027,2811,2568,1537
$GC,20229,1.06,537.4,54.0,8.3,1790,20271,0.17,0.00,38.62,0.670,6,0.073,0.000,2889,2567,1341
$STATE,20573,end climb,SURFACE_DEPTH_REACHED
$STATE,20573,begin surface coast
$FINISH,1.5,1.019445
$STATE,20592,end surface coast,CONTROL_FINISHED_OK
$STATE,20592,begin surface
$SM_CCo,20669,0.00,0.000,0,0,1334,539.17
$SM_GC,2.40,7.25,0.00,0.00,0.049,0.000,0.000,146,2399,1334,-7.49,-1.02,539.17
$IRIDIUM_FIX,2517.50,12311.63,190898,202048
$TT8_MAMPS,0.028379
$HUMID,1515
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,975.4,38.8
$24V_AH,23.8,9.166
$10V_AH,10.7,6.419
$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,25.550,155.875,524.025,0.000,0.000,30.281,41.882,217.643,8.250,0.000,0.000,12.105,3287.420,13310.954,646.716,3217.322,617.993,0.000,2276.160,0.000,3144.246,0.000,57.279,0.000
$DEVICE_MAMPS,261.547,60.593,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.311,1252.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97703,1854
$CAP_FILE_SIZE,203467,0
$CFSIZE,260165632,222621696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.366, 79.5,1
$GPS,260509,072807,2526.902,12317.490,34,1.0,34,-3.8