version: 66.04
glider: 167
mission: 2
dive: 31
start: 5 26 109 7 38 25
data:
$ID,167
$MISSION,2
$DIVE,31
$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,-4429.1304
$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,32
$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
$GPS1,072807,2526.902,12317.490,34,1.0,34,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-62.1
$GPS2,073802,2527.075,12317.740,14,1.1,14,-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,217.3,19038,-15.7,-10.000
$D_GRID,1415
$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,-0.94,-194.7,0.0,0.0,0,72,0.00,0.00,-54.03,0.000,2,0.000,0.000,146,2399,2706
$GC,75,-0.94,-194.7,3.2,-3.3,9,129,8.77,2.00,-37.85,0.000,4,0.258,0.041,2237,1030,3990
$GC,174,-0.14,-194.7,21.4,-31.1,26,181,0.95,2.12,0.00,0.000,6,0.195,0.032,2491,2441,3990
$GC,520,-0.47,-194.7,52.3,-6.9,87,526,0.25,2.03,0.00,0.000,4,0.061,0.048,2382,3768,3991
$GC,549,-0.47,-194.7,55.8,-13.0,92,557,0.00,1.92,0.00,0.000,6,0.000,0.024,2382,2406,3991
$GC,895,-0.34,-194.7,118.2,-15.3,153,902,0.17,1.92,0.00,0.000,4,0.153,0.026,2435,1054,3991
$GC,948,-0.59,-194.7,124.0,-8.6,162,955,0.22,2.05,0.00,0.000,6,0.062,0.031,2341,2445,3992
$GC,1293,-0.46,-194.7,167.1,-11.2,223,1299,0.17,2.00,0.00,0.000,4,0.158,0.026,2394,1056,3993
$GC,1334,-0.60,-194.7,171.2,-8.9,230,1341,0.12,2.03,0.00,0.000,6,0.077,0.033,2334,2436,3992
$GC,1678,-0.60,-194.7,212.3,-11.0,291,1684,0.00,1.98,0.00,0.000,4,0.000,0.027,2334,1060,3993
$GC,1713,-0.60,-194.7,216.3,-11.2,297,1719,0.00,2.00,0.00,0.000,6,0.000,0.031,2332,2424,3993
$GC,2057,-0.60,-194.7,254.1,-9.4,358,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2424,3993
$GC,2399,-0.60,-194.7,281.3,-7.7,419,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2424,3993
$GC,2743,-0.60,-194.7,305.4,-7.1,474,2747,0.00,2.00,0.00,0.000,4,0.000,0.049,2331,3751,3993
$GC,2804,-0.67,-194.7,310.9,-9.6,479,2811,0.00,1.90,0.00,0.000,6,0.000,0.027,2331,2407,3993
$GC,3130,-0.74,-194.7,341.2,-9.7,510,3134,0.00,1.95,0.00,0.000,4,0.000,0.029,2331,1028,3993
$GC,3231,-0.82,-194.7,351.5,-10.4,519,3235,0.15,2.03,0.00,0.000,6,0.075,0.033,2268,2405,3993
$GC,3561,-0.66,-194.7,391.3,-10.1,550,3565,0.17,2.03,0.00,0.000,4,0.163,0.048,2316,3753,3993
$GC,3627,-0.72,-194.7,396.5,-7.3,555,3633,0.00,1.92,0.00,0.000,6,0.000,0.027,2316,2392,3993
$GC,3954,-0.77,-194.7,418.8,-7.5,586,3958,0.00,1.92,0.00,0.000,4,0.000,0.030,2316,1043,3991
$GC,4038,-0.85,-194.7,426.1,-8.2,593,4045,0.12,2.00,0.00,0.000,6,0.082,0.034,2263,2401,3990
$GC,4363,-0.72,-194.7,462.6,-11.8,624,4368,0.17,2.05,0.00,0.000,4,0.160,0.050,2316,3747,3990
$GC,4392,-0.72,-194.7,465.3,-9.1,626,4395,0.00,1.95,0.00,0.000,6,0.000,0.028,2316,2378,3990
$GC,4725,-0.82,-194.7,487.5,-6.3,657,4729,0.10,2.10,0.00,0.000,4,0.091,0.051,2271,3747,3987
$GC,4793,-0.76,-194.7,493.6,-9.0,663,4797,0.00,1.95,0.00,0.000,6,0.000,0.028,2271,2370,3987
$GC,5127,-0.69,-194.7,526.6,-10.3,682,5131,0.17,2.12,0.00,0.000,4,0.156,0.051,2327,3748,3986
$GC,5171,-0.88,-194.7,530.4,-7.7,684,5175,0.20,1.92,0.00,0.000,6,0.070,0.029,2245,2408,3985
$GC,5497,-0.73,-194.7,567.4,-11.4,700,5499,0.22,0.00,0.00,0.000,6,0.158,0.000,2310,2406,3983
$GC,5807,-0.85,-194.7,588.5,-5.9,715,5811,0.12,2.08,0.00,0.000,4,0.086,0.052,2261,3746,3981
$GC,5933,-0.79,-194.7,600.4,-9.9,720,5941,0.10,1.92,0.00,0.000,6,0.169,0.029,2286,2413,3980
$GC,6249,-0.79,-194.7,626.8,-7.8,736,6253,0.00,2.08,0.00,0.000,4,0.000,0.054,2285,3751,3977
$GC,6295,-0.84,-194.7,630.2,-7.4,738,6298,0.00,1.92,0.00,0.000,6,0.000,0.030,2285,2421,3977
$GC,6627,-0.84,-194.7,648.6,-4.9,754,6631,0.00,2.00,0.00,0.000,4,0.000,0.032,2285,1034,3975
$GC,6751,-0.89,-194.7,654.3,-4.4,759,6755,0.00,2.05,0.00,0.000,6,0.000,0.038,2285,2406,3974
$GC,7072,-0.89,-194.7,669.4,-5.3,775,7076,0.00,2.08,0.00,0.000,4,0.000,0.055,2280,3766,3972
$GC,7139,-0.89,-194.7,673.6,-6.3,778,7143,0.00,1.98,0.00,0.000,6,0.000,0.031,2280,2412,3971
$GC,7472,-0.89,-194.7,695.0,-5.9,794,7476,0.00,2.10,0.00,0.000,4,0.000,0.054,2276,3761,3969
$GC,7517,-0.89,-194.7,698.0,-6.7,796,7521,0.00,1.98,0.00,0.000,6,0.000,0.031,2276,2406,3969
$GC,7849,-0.89,-194.7,721.0,-7.5,812,7853,0.00,1.98,0.00,0.000,4,0.000,0.034,2276,1035,3968
$GC,7877,-0.89,-194.7,723.2,-8.3,813,7881,0.00,2.10,0.00,0.000,6,0.000,0.040,2276,2429,3967
$GC,8204,-0.89,-194.7,748.6,-7.7,829,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2429,3966
$GC,8514,-0.89,-194.7,775.5,-9.3,844,8517,0.00,2.05,0.00,0.000,4,0.000,0.033,2276,1036,3964
$GC,8546,-0.89,-194.7,778.7,-10.1,845,8550,0.00,2.10,0.00,0.000,6,0.000,0.041,2276,2426,3964
$GC,8868,-0.89,-194.7,808.0,-9.1,861,8872,0.00,2.08,0.00,0.000,4,0.000,0.059,2276,3765,3963
$GC,8914,-0.89,-194.7,812.2,-9.2,863,8918,0.00,1.98,0.00,0.000,6,0.000,0.033,2276,2420,3963
$GC,9246,-0.89,-194.7,840.7,-8.2,879,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2419,3961
$GC,9555,-0.89,-194.7,865.3,-8.0,894,9559,0.00,2.10,0.00,0.000,4,0.000,0.058,2276,3757,3960
$GC,9617,-0.89,-194.7,870.5,-8.7,896,9624,0.00,1.98,0.00,0.000,6,0.000,0.033,2276,2411,3960
$GC,9932,-0.94,-194.7,895.0,-7.1,912,9934,0.10,0.00,0.00,0.000,6,0.100,0.000,2236,2409,3958
$GC,10242,-0.84,-194.7,921.9,-8.7,927,10246,0.15,2.00,0.00,0.000,4,0.179,0.035,2275,1043,3957
$GC,10274,-0.84,-194.7,924.5,-7.5,928,10278,0.00,2.10,0.00,0.000,6,0.000,0.041,2275,2429,3957
$GC,10596,-0.89,-194.7,948.7,-8.3,944,10599,0.00,2.05,0.00,0.000,4,0.000,0.035,2275,1042,3956
$GC,10642,-0.95,-194.7,952.5,-8.5,946,10646,0.12,2.08,0.00,0.000,6,0.093,0.041,2227,2419,3956
$GC,10975,-0.83,-194.7,980.6,-8.4,962,10977,0.17,0.00,0.00,0.000,6,0.183,0.000,2274,2419,3954
$STATE,11136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11136,begin apogee
$GC,11142,-0.22,0.0,990.9,5.9,970,11230,0.62,0.00,85.32,1.470,6,0.153,0.000,2470,2465,3532
$STATE,11231,end apogee,CONTROL_FINISHED_OK
$STATE,11231,begin climb
$GC,11234,0.94,194.7,993.0,0.0,974,11407,1.05,2.30,160.93,1.439,4,0.061,0.037,2855,1083,2737
$GC,11520,0.34,194.7,965.6,18.9,987,11526,0.75,2.22,0.00,0.000,6,0.202,0.044,2659,2475,2732
$GC,11847,0.39,235.1,935.5,8.6,1003,11890,0.00,2.15,33.45,1.384,4,0.000,0.060,2659,3752,2572
$GC,11946,0.32,235.1,925.4,11.0,1007,11950,0.00,1.95,0.00,0.000,6,0.000,0.032,2662,2482,2569
$GC,12267,0.32,235.1,892.5,10.3,1023,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2481,2567
$GC,12576,0.34,246.9,863.8,9.6,1038,12591,0.00,2.10,9.75,1.253,4,0.000,0.058,2663,3769,2525
$GC,12767,0.28,246.9,842.4,11.4,1046,12771,0.00,1.95,0.00,0.000,6,0.000,0.033,2664,2474,2523
$GC,13088,0.29,254.4,810.4,9.7,1062,13102,0.00,2.12,7.47,1.175,4,0.000,0.058,2664,3758,2494
$GC,13187,0.24,254.4,799.5,10.9,1066,13191,0.15,1.90,0.00,0.000,6,0.175,0.034,2626,2494,2493
$GC,13508,0.49,324.7,775.3,7.6,1082,13573,0.20,2.22,58.50,1.333,4,0.079,0.061,2706,3765,2207
$GC,13590,0.41,324.7,765.4,13.3,1085,13596,0.00,1.98,0.00,0.000,6,0.000,0.033,2706,2506,2204
$GC,13905,0.41,324.7,723.4,13.5,1101,13909,0.00,2.05,0.00,0.000,4,0.000,0.058,2706,3767,2199
$GC,13978,0.32,324.7,712.2,15.5,1104,13982,0.20,1.90,0.00,0.000,6,0.172,0.033,2653,2511,2199
$GC,14304,0.50,335.5,679.3,9.6,1120,14316,0.15,0.00,9.20,1.147,6,0.085,0.000,2708,2509,2164
$GC,14613,0.50,335.5,641.3,12.5,1135,14616,0.00,2.00,0.00,0.000,4,0.000,0.059,2709,3758,2161
$GC,14708,0.44,335.5,628.2,14.4,1139,14711,0.00,1.85,0.00,0.000,6,0.000,0.034,2710,2521,2161
$GC,15034,0.44,335.5,587.6,12.1,1155,15038,0.00,1.98,0.00,0.000,4,0.000,0.059,2710,3761,2160
$GC,15113,0.38,335.5,576.7,13.2,1158,15117,0.17,1.83,0.00,0.000,6,0.171,0.035,2670,2535,2160
$GC,15434,0.52,342.7,545.2,9.8,1174,15448,0.12,2.25,7.05,1.025,4,0.088,0.038,2719,1074,2134
$GC,15487,0.52,342.7,538.9,11.9,1176,15491,0.00,2.28,0.00,0.000,6,0.000,0.042,2719,2543,2133
$GC,15808,0.52,342.7,500.3,11.1,1192,15812,0.00,1.90,0.00,0.000,4,0.000,0.059,2719,3761,2132
$GC,16022,0.43,342.7,471.4,14.6,1210,16026,0.12,1.80,0.00,0.000,6,0.181,0.035,2689,2552,2132
$GC,16353,0.56,342.7,433.6,10.4,1241,16358,0.12,1.92,0.00,0.000,4,0.090,0.058,2737,3766,2131
$GC,16380,0.56,342.7,429.8,14.6,1243,16386,0.00,1.83,0.00,0.000,6,0.000,0.034,2744,2555,2132
$GC,16707,0.56,342.7,392.7,10.3,1274,16710,0.00,1.90,0.00,0.000,4,0.000,0.058,2744,3762,2131
$GC,16745,0.47,342.7,387.9,12.6,1277,16752,0.20,1.77,0.00,0.000,6,0.174,0.033,2697,2554,2131
$GC,17072,0.60,342.7,355.9,10.9,1308,17074,0.12,0.00,0.00,0.000,6,0.087,0.000,2745,2553,2131
$GC,17390,0.60,342.7,311.0,14.2,1338,17394,0.00,2.20,0.00,0.000,4,0.000,0.038,2746,1069,2131
$GC,17417,0.60,342.7,306.8,14.8,1340,17425,0.00,2.30,0.00,0.000,6,0.000,0.040,2746,2578,2131
$GC,17757,0.60,342.7,263.3,11.6,1396,17764,0.00,1.83,0.00,0.000,4,0.000,0.058,2746,3767,2132
$GC,17917,0.60,342.7,243.8,12.0,1424,17924,0.00,1.75,0.00,0.000,6,0.000,0.031,2753,2559,2132
$GC,18263,0.60,342.7,204.3,11.6,1485,18268,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2559,2133
$GC,18606,0.71,367.3,165.3,9.2,1546,18635,0.00,2.25,20.42,0.796,4,0.000,0.035,2759,1074,2033
$GC,18653,0.87,390.4,160.9,9.2,1554,18679,0.20,2.30,18.95,0.772,6,0.072,0.038,2838,2583,1939
$GC,19019,0.73,390.4,113.4,11.2,1618,19025,0.17,1.83,0.00,0.000,4,0.161,0.052,2786,3768,1935
$GC,19099,0.73,390.4,102.3,12.5,1632,19106,0.00,1.77,0.00,0.000,6,0.000,0.029,2789,2541,1935
$GC,19446,0.88,390.4,66.0,10.0,1693,19452,0.12,2.17,0.00,0.000,4,0.084,0.032,2842,1054,1935
$GC,19481,0.88,390.4,62.0,11.8,1699,19487,0.00,2.25,0.00,0.000,6,0.000,0.035,2842,2556,1935
$GC,19825,0.89,397.8,22.1,9.7,1760,19838,0.00,1.85,7.53,0.571,4,0.000,0.049,2842,3772,1909
$GC,19929,0.89,397.8,9.8,10.7,1778,19935,0.00,1.77,0.00,0.000,6,0.000,0.027,2844,2541,1908
$STATE,20012,end climb,SURFACE_DEPTH_REACHED
$STATE,20012,begin surface coast
$FINISH,1.6,1.021660
$STATE,20061,end surface coast,CONTROL_FINISHED_OK
$STATE,20061,begin surface
$SM_CCo,20078,18.23,0.617,0,0,1798,425.10
$SM_GC,2.72,0.00,0.00,18.23,0.000,0.000,0.617,146,2404,1798,-7.50,-0.88,425.10
$IRIDIUM_FIX,2517.50,12318.24,200898,070704
$TT8_MAMPS,0.028379
$HUMID,1512
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.8,9.349
$10V_AH,10.8,6.528
$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,24.375,165.250,418.575,18.225,0.000,54.097,78.310,261.991,8.000,0.000,0.000,14.394,3234.930,12937.083,597.130,3184.747,726.760,0.000,2209.858,0.000,3111.309,0.000,54.419,0.000
$DEVICE_MAMPS,257.712,117.351,1470.339,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1219.586,1217.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94764,1801
$CAP_FILE_SIZE,203515,0
$CFSIZE,260165632,222523392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.318, 61.0,1
$GPS,260509,131436,2526.203,12319.647,37,1.2,38,-3.8