version: 66.04
glider: 167
mission: 2
dive: 184
start: 6 19 109 13 7 59
data:
$ID,167
$MISSION,2
$DIVE,184
$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,-8679.9951
$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,58
$R_STBD_OVSHOOT,44
$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
$GPS1,130020,2454.008,12250.052,38,2.2,58,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-71.4
$GPS2,130740,2454.238,12250.312,17,2.4,36,-3.6
$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,194.6,29134,-16.8,-10.000
$D_GRID,1584
$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,-0.96,-170.3,0.0,0.0,0,49,0.00,0.00,-32.28,0.000,2,0.000,0.000,142,2452,2327
$GC,52,-0.96,-170.3,3.4,-2.5,5,119,8.62,2.20,-48.35,0.000,4,0.246,0.039,2230,1005,3989
$GC,184,-0.24,-170.3,27.9,-30.0,27,191,0.85,2.15,0.00,0.000,6,0.177,0.032,2463,2428,3990
$GC,529,-0.59,-170.3,59.8,-7.1,88,535,0.28,2.05,0.00,0.000,4,0.054,0.048,2341,3758,3992
$GC,734,-0.59,-170.3,84.5,-9.7,124,740,0.00,1.90,0.00,0.000,6,0.000,0.025,2341,2417,3992
$GC,1077,-0.59,-170.3,120.8,-13.1,185,1083,0.00,2.08,0.00,0.000,4,0.000,0.045,2332,3765,3993
$GC,1254,-0.59,-170.3,142.3,-12.0,216,1260,0.00,1.83,0.00,0.000,6,0.000,0.025,2331,2466,3994
$GC,1599,-0.64,-170.3,172.5,-8.7,277,1604,0.00,1.98,0.00,0.000,4,0.000,0.047,2329,3762,3995
$GC,1673,-0.70,-170.3,178.6,-8.3,290,1680,0.00,1.77,0.00,0.000,6,0.000,0.025,2329,2505,3995
$GC,2019,-0.78,-170.3,204.3,-7.2,351,2025,0.12,1.92,0.00,0.000,4,0.075,0.047,2263,3754,3994
$GC,2194,-0.63,-170.3,226.3,-13.9,382,2201,0.25,1.70,0.00,0.000,6,0.140,0.026,2339,2549,3995
$GC,2540,-0.80,-170.3,260.1,-8.9,443,2547,0.15,1.88,0.00,0.000,4,0.070,0.049,2275,3761,3995
$GC,2569,-0.80,-170.3,263.1,-10.5,448,2575,0.00,1.73,0.00,0.000,6,0.000,0.027,2275,2545,3995
$GC,2914,-0.72,-170.3,298.1,-9.6,509,2920,0.12,1.88,0.00,0.000,4,0.153,0.048,2304,3760,3995
$GC,2984,-0.80,-170.3,304.3,-8.5,517,2987,0.00,1.73,0.00,0.000,6,0.000,0.028,2303,2554,3995
$GC,3316,-0.87,-170.3,331.4,-7.7,548,3320,0.12,1.88,0.00,0.000,4,0.081,0.050,2246,3761,3994
$GC,3407,-0.70,-170.3,340.6,-9.8,556,3412,0.22,1.70,0.00,0.000,6,0.146,0.028,2313,2572,3993
$GC,3739,-0.82,-170.3,365.0,-7.3,587,3742,0.00,1.85,0.00,0.000,4,0.000,0.051,2308,3762,3993
$GC,3841,-0.94,-170.3,373.1,-7.9,596,3845,0.17,1.70,0.00,0.000,6,0.071,0.028,2232,2580,3992
$GC,4172,-0.76,-170.3,412.4,-11.9,627,4177,0.20,2.22,0.00,0.000,4,0.152,0.028,2295,1046,3991
$GC,4200,-0.76,-170.3,415.4,-10.5,629,4204,0.00,2.30,0.00,0.000,6,0.000,0.037,2295,2571,3991
$GC,4526,-0.83,-170.3,444.7,-8.7,659,4529,0.00,1.83,0.00,0.000,4,0.000,0.052,2293,3760,3989
$GC,4573,-0.92,-170.3,448.5,-8.4,663,4577,0.12,1.70,0.00,0.000,6,0.081,0.028,2239,2580,3988
$GC,4903,-0.79,-170.3,479.8,-8.9,694,4908,0.17,1.85,0.00,0.000,4,0.148,0.051,2289,3766,3986
$GC,4977,-0.87,-170.3,484.5,-5.3,700,4982,0.00,1.67,0.00,0.000,6,0.000,0.028,2288,2599,3986
$GC,5306,-0.96,-170.3,500.2,-5.1,731,5310,0.15,1.83,0.00,0.000,4,0.077,0.053,2221,3765,3983
$GC,5357,-0.77,-170.3,504.6,-8.4,733,5361,0.25,1.67,0.00,0.000,6,0.151,0.029,2293,2606,3983
$GC,5686,-0.87,-170.3,525.9,-6.9,749,5690,0.00,2.28,0.00,0.000,4,0.000,0.030,2294,1050,3981
$GC,5720,-1.01,-170.3,528.7,-7.7,750,5728,0.22,2.33,0.00,0.000,6,0.068,0.037,2205,2582,3980
$GC,6036,-0.80,-170.3,563.9,-10.4,766,6040,0.25,1.80,0.00,0.000,4,0.159,0.051,2275,3753,3978
$GC,6086,-0.85,-170.3,568.3,-8.1,768,6089,0.00,1.65,0.00,0.000,6,0.000,0.030,2275,2614,3978
$GC,6413,-0.90,-170.3,593.6,-8.4,784,6417,0.00,1.80,0.00,0.000,4,0.000,0.057,2275,3756,3976
$GC,6459,-0.97,-170.3,597.4,-8.4,786,6463,0.12,1.67,0.00,0.000,6,0.085,0.032,2223,2617,3975
$GC,6793,-0.82,-170.3,634.7,-10.8,802,6795,0.20,0.00,0.00,0.000,6,0.155,0.000,2280,2616,3973
$GC,7101,-0.91,-170.3,659.1,-7.6,817,7104,0.00,1.83,0.00,0.000,4,0.000,0.058,2278,3750,3971
$GC,7241,-1.01,-170.3,669.3,-7.1,823,7245,0.17,1.62,0.00,0.000,6,0.077,0.032,2207,2642,3970
$GC,7569,-0.81,-170.3,706.5,-11.7,839,7574,0.22,1.77,0.00,0.000,4,0.161,0.055,2275,3763,3969
$GC,7615,-0.88,-170.3,711.0,-8.7,841,7618,0.00,1.67,0.00,0.000,6,0.000,0.032,2275,2646,3969
$GC,7948,-0.97,-170.3,736.5,-7.5,857,7950,0.12,0.00,0.00,0.000,6,0.085,0.000,2224,2646,3967
$GC,8257,-0.85,-170.3,766.5,-9.7,872,8261,0.17,1.77,0.00,0.000,4,0.162,0.057,2274,3761,3965
$GC,8302,-0.93,-170.3,770.2,-7.6,874,8306,0.00,1.67,0.00,0.000,6,0.000,0.033,2275,2650,3965
$GC,8635,-1.02,-170.3,795.0,-7.9,890,8637,0.17,0.00,0.00,0.000,6,0.076,0.000,2205,2650,3963
$GC,8944,-0.83,-170.3,833.2,-12.8,905,8948,0.20,1.77,0.00,0.000,4,0.166,0.057,2261,3761,3963
$GC,9005,-0.83,-170.3,839.8,-9.1,907,9011,0.00,1.65,0.00,0.000,6,0.000,0.033,2261,2664,3963
$GC,9322,-0.83,-170.3,867.2,-8.2,923,9326,0.00,2.38,0.00,0.000,4,0.000,0.033,2261,1061,3961
$GC,9350,-0.88,-170.3,869.6,-8.8,924,9354,0.00,2.40,0.00,0.000,6,0.000,0.041,2261,2616,3961
$GC,9666,-0.93,-170.3,893.9,-7.4,939,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2617,3960
$GC,9975,-0.97,-170.3,914.7,-6.2,954,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2617,3959
$GC,10284,-0.97,-170.3,934.0,-7.0,969,10287,0.00,1.80,0.00,0.000,4,0.000,0.060,2261,3761,3958
$GC,10323,-1.03,-170.3,937.1,-7.6,970,10331,0.15,1.62,0.00,0.000,6,0.085,0.034,2203,2663,3957
$GC,10639,-0.84,-170.3,972.0,-11.3,986,10644,0.20,2.38,0.00,0.000,4,0.165,0.031,2264,1067,3956
$GC,10689,-0.94,-170.3,977.1,-9.2,988,10693,0.00,2.38,0.00,0.000,6,0.000,0.041,2261,2608,3955
$STATE,10863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10863,begin apogee
$GC,10869,-0.22,0.0,990.4,7.4,997,10959,0.68,0.00,86.47,1.434,6,0.143,0.000,2470,2609,3532
$STATE,10960,end apogee,CONTROL_FINISHED_OK
$STATE,10960,begin climb
$GC,10962,0.96,170.3,991.7,0.0,1001,11113,1.08,1.95,142.18,1.384,4,0.061,0.058,2856,3748,2837
$GC,11244,0.17,170.3,964.1,20.8,1013,11251,1.00,1.88,0.00,0.000,6,0.205,0.031,2607,2532,2831
$GC,11560,0.43,240.3,938.6,7.2,1029,11625,0.17,2.28,56.85,1.348,4,0.078,0.035,2680,1106,2550
$GC,11641,0.43,240.3,930.0,10.9,1032,11648,0.00,2.25,0.00,0.000,6,0.000,0.038,2680,2497,2548
$GC,11957,0.43,240.3,893.6,11.5,1048,11960,0.00,2.15,0.00,0.000,4,0.000,0.035,2680,1106,2544
$GC,12007,0.48,240.3,887.9,10.9,1050,12010,0.00,2.17,0.00,0.000,6,0.000,0.040,2680,2494,2544
$GC,12334,0.50,251.9,854.6,9.5,1066,12348,0.00,2.17,9.27,1.184,4,0.000,0.037,2681,1109,2505
$GC,12382,0.59,271.9,849.9,9.2,1068,12407,0.17,2.15,18.17,1.266,6,0.078,0.041,2746,2483,2423
$GC,12731,0.42,271.9,801.2,14.4,1085,12735,0.20,2.05,0.00,0.000,4,0.169,0.054,2687,3769,2418
$GC,12752,0.30,271.9,797.9,12.9,1086,12756,0.17,1.98,0.00,0.000,6,0.170,0.031,2645,2459,2418
$GC,13079,0.55,325.8,770.4,7.9,1102,13131,0.20,2.17,44.55,1.273,4,0.074,0.035,2732,1104,2202
$GC,13166,0.55,325.8,760.4,11.7,1106,13170,0.00,2.20,0.00,0.000,6,0.000,0.039,2732,2477,2199
$GC,13492,0.51,325.8,719.8,12.4,1122,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2477,2195
$GC,13801,0.51,325.8,680.6,12.9,1137,13805,0.00,2.10,0.00,0.000,4,0.000,0.037,2733,1106,2194
$GC,13840,0.51,325.8,675.6,12.3,1138,13847,0.00,2.12,0.00,0.000,6,0.000,0.039,2732,2475,2193
$GC,14155,0.51,325.8,634.9,12.9,1154,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2475,2193
$GC,14465,0.51,325.8,595.6,12.6,1169,14468,0.00,2.08,0.00,0.000,4,0.000,0.037,2732,1112,2192
$GC,14487,0.51,325.8,592.7,12.5,1170,14491,0.00,2.10,0.00,0.000,6,0.000,0.040,2732,2469,2192
$GC,14819,0.51,325.8,549.7,13.1,1186,14823,0.00,2.08,0.00,0.000,4,0.000,0.037,2732,1103,2192
$GC,14875,0.51,325.8,542.4,12.2,1188,14878,0.00,2.08,0.00,0.000,6,0.000,0.039,2732,2454,2192
$GC,15196,0.51,325.8,501.7,11.7,1204,15199,0.00,2.05,0.00,0.000,4,0.000,0.035,2732,1101,2192
$GC,15257,0.52,334.5,495.4,9.7,1208,15268,0.00,2.05,6.88,0.957,6,0.000,0.038,2732,2438,2168
$GC,15588,0.54,353.9,465.2,9.2,1239,15610,0.00,2.17,17.27,1.054,4,0.000,0.055,2732,3768,2088
$GC,15634,0.54,353.9,460.3,10.6,1243,15637,0.00,2.03,0.00,0.000,6,0.000,0.030,2732,2430,2086
$GC,15966,0.59,353.9,425.3,11.0,1274,15970,0.00,1.98,0.00,0.000,4,0.000,0.035,2732,1106,2084
$GC,15993,0.67,353.9,422.0,10.7,1276,15999,0.00,2.05,0.00,0.000,6,0.000,0.037,2732,2440,2084
$GC,16321,0.74,353.9,385.7,11.2,1307,16325,0.15,2.00,0.00,0.000,4,0.076,0.032,2795,1112,2083
$GC,16382,0.64,353.9,377.2,13.5,1312,16388,0.17,1.98,0.00,0.000,6,0.167,0.036,2749,2410,2083
$GC,16707,0.64,353.9,341.4,10.3,1343,16711,0.00,2.12,0.00,0.000,4,0.000,0.054,2749,3769,2083
$GC,16754,0.56,353.9,336.4,12.0,1347,16758,0.00,2.03,0.00,0.000,6,0.000,0.028,2749,2410,2083
$GC,17087,0.71,432.4,308.7,6.9,1378,17154,0.00,2.08,61.78,0.937,4,0.000,0.033,2749,1101,1768
$GC,17201,0.95,488.0,300.3,7.8,1388,17254,0.28,2.03,45.65,0.899,6,0.063,0.035,2855,2399,1540
$GC,17591,0.75,488.0,230.5,18.2,1456,17598,0.22,1.98,0.00,0.000,4,0.166,0.031,2795,1098,1531
$GC,17616,0.68,488.0,226.3,16.6,1460,17622,0.12,2.03,0.00,0.000,6,0.156,0.035,2763,2418,1529
$GC,17960,0.95,523.9,191.5,8.6,1521,17991,0.22,0.00,28.05,0.810,6,0.062,0.000,2859,2419,1395
$GC,18329,0.95,523.9,129.2,16.1,1586,18336,0.00,1.98,0.00,0.000,4,0.000,0.031,2866,1101,1389
$GC,18376,0.95,523.9,121.9,14.1,1594,18383,0.00,2.00,0.00,0.000,6,0.000,0.034,2865,2417,1389
$GC,18722,0.95,523.9,72.9,12.5,1655,18728,0.00,2.12,0.00,0.000,4,0.000,0.052,2866,3771,1388
$GC,18756,0.95,523.9,68.4,11.8,1661,18762,0.00,2.05,0.00,0.000,6,0.000,0.026,2871,2371,1387
$GC,19101,1.19,561.8,33.2,8.5,1722,19138,0.15,1.88,29.50,0.655,4,0.076,0.031,2937,1107,1241
$GC,19245,1.19,561.8,15.4,12.6,1747,19252,0.00,1.95,0.00,0.000,6,0.000,0.033,2937,2394,1238
$STATE,19340,end climb,SURFACE_DEPTH_REACHED
$STATE,19340,begin surface coast
$FINISH,1.6,1.013398
$STATE,19364,end surface coast,CONTROL_FINISHED_OK
$STATE,19366,begin surface
$SM_CCo,19443,0.00,0.000,0,0,1235,563.45
$SM_GC,2.64,7.50,0.00,0.00,0.054,0.000,0.000,143,2398,1235,-7.50,-0.82,563.45
$IRIDIUM_FIX,2441.81,12247.40,130998,070709
$TT8_MAMPS,0.028379
$HUMID,1611
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.5,33.129
$10V_AH,10.7,18.964
$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,26.550,165.700,546.625,0.000,0.000,28.252,33.682,211.090,8.000,0.000,0.000,37.892,3132.498,12375.110,659.462,3076.874,620.509,0.000,2232.428,0.000,2977.582,0.000,54.414,0.000
$DEVICE_MAMPS,246.207,59.826,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.360,1211.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94592,1768
$CAP_FILE_SIZE,199359,0
$CFSIZE,260165632,211058688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.414, 50.4,1
$GPS,190609,183307,2454.591,12253.071,30,1.1,31,-3.6