version: 66.04
glider: 167
mission: 2
dive: 185
start: 6 19 109 18 48 34
data:
$ID,167
$MISSION,2
$DIVE,185
$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,770.97791
$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,-8695.3047
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,183307,2454.591,12253.071,30,1.1,31,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-66.2
$GPS2,184814,2455.148,12253.362,14,1.2,14,-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,205.2,28143,-16.8,-10.000
$D_GRID,1633
$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,13,begin dive
$GC,15,-0.96,-170.3,0.0,0.0,0,67,0.00,0.00,-49.72,0.000,2,0.000,0.000,143,2398,2517
$GC,70,-0.96,-170.3,3.5,-3.7,8,125,8.55,2.17,-41.17,0.000,4,0.245,0.058,2223,3764,3989
$GC,149,-0.16,-170.3,14.8,-24.9,21,156,0.93,1.98,0.00,0.000,6,0.179,0.024,2484,2388,3990
$GC,494,-0.52,-170.3,45.9,-6.4,82,502,0.28,2.15,0.00,0.000,4,0.054,0.047,2360,3767,3991
$GC,575,-0.52,-170.3,56.0,-12.7,96,581,0.00,1.88,0.00,0.000,6,0.000,0.025,2360,2442,3991
$GC,919,-0.52,-170.3,90.7,-9.1,157,925,0.00,2.05,0.00,0.000,4,0.000,0.047,2358,3771,3992
$GC,982,-0.52,-170.3,96.9,-9.7,168,988,0.00,1.85,0.00,0.000,6,0.000,0.024,2358,2453,3992
$GC,1326,-0.62,-170.3,130.9,-8.2,229,1332,0.00,2.03,0.00,0.000,4,0.000,0.046,2355,3773,3992
$GC,1401,-0.75,-170.3,136.3,-6.7,242,1409,0.15,1.83,0.00,0.000,6,0.069,0.025,2286,2480,3993
$GC,1747,-0.65,-170.3,171.4,-10.2,303,1753,0.17,1.98,0.00,0.000,4,0.145,0.046,2344,3763,3993
$GC,1795,-0.83,-170.3,175.2,-7.1,311,1802,0.20,1.80,0.00,0.000,6,0.062,0.026,2257,2494,3993
$GC,2140,-0.63,-170.3,221.1,-14.4,372,2147,0.22,1.98,0.00,0.000,4,0.143,0.047,2330,3775,3993
$GC,2164,-0.63,-170.3,223.9,-11.2,376,2170,0.00,1.83,0.00,0.000,6,0.000,0.025,2330,2482,3993
$GC,2509,-0.77,-170.3,250.7,-6.1,437,2515,0.00,2.00,0.00,0.000,4,0.000,0.049,2331,3775,3993
$GC,2675,-0.95,-170.3,260.8,-6.2,466,2683,0.25,1.80,0.00,0.000,6,0.061,0.027,2224,2514,3993
$GC,3024,-0.69,-170.3,303.9,-11.8,525,3026,0.32,0.00,0.00,0.000,6,0.148,0.000,2322,2513,3992
$GC,3347,-0.84,-170.3,328.4,-8.9,555,3352,0.15,1.95,0.00,0.000,4,0.072,0.051,2259,3768,3992
$GC,3386,-0.72,-170.3,333.3,-12.2,558,3394,0.17,1.77,0.00,0.000,6,0.147,0.027,2310,2525,3991
$GC,3711,-0.83,-170.3,364.7,-10.2,589,3715,0.00,1.92,0.00,0.000,4,0.000,0.051,2303,3764,3990
$GC,3802,-0.94,-170.3,374.2,-10.6,597,3806,0.17,1.73,0.00,0.000,6,0.069,0.028,2227,2561,3989
$GC,4132,-0.75,-170.3,414.5,-10.8,628,4136,0.22,2.17,0.00,0.000,4,0.153,0.029,2297,1065,3987
$GC,4172,-0.84,-170.3,417.8,-7.6,631,4176,0.00,2.25,0.00,0.000,6,0.000,0.036,2297,2554,3987
$GC,4497,-0.95,-170.3,437.7,-5.5,661,4499,0.17,0.00,0.00,0.000,6,0.071,0.000,2225,2556,3985
$GC,4818,-0.77,-170.3,467.0,-10.3,691,4822,0.20,1.88,0.00,0.000,4,0.156,0.052,2287,3767,3982
$GC,4875,-0.86,-170.3,471.8,-7.8,696,4879,0.00,1.73,0.00,0.000,6,0.000,0.028,2287,2571,3982
$GC,5208,-0.95,-170.3,498.8,-9.2,727,5212,0.15,1.88,0.00,0.000,4,0.077,0.053,2221,3767,3980
$GC,5263,-0.78,-170.3,505.9,-13.0,730,5267,0.25,1.73,0.00,0.000,6,0.151,0.029,2294,2577,3979
$GC,5584,-0.89,-170.3,536.4,-9.4,746,5586,0.10,0.00,0.00,0.000,6,0.087,0.000,2252,2576,3976
$GC,5893,-0.89,-170.3,567.8,-10.3,761,5897,0.00,2.22,0.00,0.000,4,0.000,0.031,2251,1066,3974
$GC,5933,-0.89,-170.3,572.1,-11.4,762,5940,0.00,2.28,0.00,0.000,6,0.000,0.038,2247,2555,3974
$GC,6248,-0.82,-170.3,604.4,-10.3,778,6252,0.12,1.88,0.00,0.000,4,0.166,0.054,2275,3763,3971
$GC,6310,-0.90,-170.3,610.0,-8.7,780,6316,0.00,1.70,0.00,0.000,6,0.000,0.030,2275,2595,3971
$GC,6626,-0.97,-170.3,638.7,-9.2,796,6628,0.12,0.00,0.00,0.000,6,0.084,0.000,2223,2593,3969
$GC,6937,-0.84,-170.3,675.6,-12.2,811,6941,0.17,1.85,0.00,0.000,4,0.157,0.055,2275,3764,3967
$GC,7020,-0.93,-170.3,684.3,-9.6,814,7027,0.00,1.70,0.00,0.000,6,0.000,0.031,2275,2601,3966
$GC,7336,-1.01,-170.3,712.7,-8.6,830,7341,0.15,2.28,0.00,0.000,4,0.079,0.031,2214,1056,3965
$GC,7376,-0.86,-170.3,717.1,-11.5,832,7381,0.20,2.33,0.00,0.000,6,0.157,0.040,2269,2575,3964
$GC,7704,-0.92,-170.3,745.0,-8.2,848,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2576,3963
$GC,8012,-0.98,-170.3,767.6,-7.3,863,8016,0.12,1.85,0.00,0.000,4,0.087,0.057,2221,3760,3961
$GC,8046,-0.85,-170.3,770.6,-9.0,864,8050,0.17,1.73,0.00,0.000,6,0.156,0.032,2268,2588,3961
$GC,8367,-0.92,-170.3,792.2,-7.0,880,8371,0.00,2.25,0.00,0.000,4,0.000,0.031,2269,1062,3959
$GC,8394,-0.99,-170.3,794.4,-8.1,881,8399,0.12,2.30,0.00,0.000,6,0.088,0.039,2218,2564,3959
$GC,8711,-0.86,-170.3,826.7,-10.8,896,8715,0.17,1.90,0.00,0.000,4,0.167,0.058,2270,3770,3958
$GC,8738,-0.86,-170.3,829.4,-9.1,897,8742,0.00,1.75,0.00,0.000,6,0.000,0.031,2270,2582,3958
$GC,9066,-0.95,-170.3,851.7,-6.3,913,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2582,3956
$GC,9375,-1.04,-170.3,870.2,-5.9,928,9380,0.17,2.22,0.00,0.000,4,0.077,0.031,2202,1066,3955
$GC,9403,-0.93,-170.3,872.5,-9.5,929,9407,0.15,2.30,0.00,0.000,6,0.170,0.041,2239,2558,3954
$GC,9723,-0.93,-170.3,897.5,-8.3,945,9727,0.00,1.90,0.00,0.000,4,0.000,0.058,2239,3768,3954
$GC,9757,-0.93,-170.3,900.3,-9.6,946,9761,0.00,1.75,0.00,0.000,6,0.000,0.032,2239,2585,3953
$GC,10078,-0.93,-170.3,929.6,-9.1,962,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2585,3952
$GC,10388,-0.93,-170.3,957.7,-9.0,977,10391,0.00,2.25,0.00,0.000,4,0.000,0.032,2239,1073,3951
$GC,10427,-0.93,-170.3,961.4,-9.4,978,10434,0.00,2.30,0.00,0.000,6,0.000,0.041,2239,2556,3951
$GC,10742,-0.93,-170.3,989.1,-8.6,994,10746,0.00,2.22,0.00,0.000,4,0.000,0.031,2239,1074,3949
$STATE,10752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10752,begin apogee
$GC,10760,-0.22,0.0,990.1,8.4,994,10852,0.70,0.00,85.43,1.429,6,0.147,0.000,2462,2511,3531
$STATE,10852,end apogee,CONTROL_FINISHED_OK
$STATE,10853,begin climb
$GC,10855,0.96,170.3,993.0,0.0,999,11007,1.08,2.20,142.48,1.387,4,0.064,0.054,2847,3761,2836
$GC,11035,0.18,170.3,986.9,16.6,1007,11042,0.98,1.92,0.00,0.000,6,0.204,0.028,2611,2539,2833
$GC,11351,0.42,232.7,962.7,7.5,1023,11408,0.17,2.28,51.15,1.355,4,0.077,0.033,2685,1106,2582
$GC,11436,0.42,234.5,954.0,9.9,1026,11440,0.00,2.25,0.00,0.000,6,0.000,0.039,2685,2498,2579
$GC,11763,0.42,234.5,919.8,10.1,1042,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2498,2575
$GC,12072,0.43,239.3,889.5,9.8,1057,12082,0.00,2.03,5.70,1.049,4,0.000,0.060,2685,3764,2555
$GC,12161,0.33,239.3,879.1,11.9,1061,12165,0.12,1.88,0.00,0.000,6,0.181,0.031,2655,2510,2554
$GC,12488,0.51,295.6,852.3,7.8,1077,12537,0.15,0.00,47.22,1.328,6,0.083,0.000,2710,2507,2327
$GC,12836,0.51,295.6,814.2,10.7,1094,12840,0.00,2.12,0.00,0.000,4,0.000,0.035,2710,1107,2319
$GC,12882,0.51,297.2,809.4,9.9,1096,12886,0.00,2.20,0.00,0.000,6,0.000,0.040,2710,2510,2319
$GC,13208,0.52,306.6,776.1,9.6,1112,13222,0.00,2.05,9.25,1.159,4,0.000,0.059,2710,3763,2281
$GC,13252,0.44,306.6,771.3,11.1,1114,13255,0.00,1.90,0.00,0.000,6,0.000,0.031,2716,2505,2280
$GC,13584,0.44,306.6,736.3,10.1,1130,13587,0.00,2.10,0.00,0.000,4,0.000,0.035,2716,1106,2279
$GC,13629,0.44,306.6,731.6,10.3,1132,13632,0.00,2.17,0.00,0.000,6,0.000,0.039,2716,2507,2278
$GC,13961,0.44,306.6,697.2,10.3,1148,13964,0.00,1.98,0.00,0.000,4,0.000,0.058,2716,3758,2278
$GC,14000,0.33,306.6,692.5,11.9,1149,14006,0.22,1.85,0.00,0.000,6,0.171,0.031,2655,2510,2278
$GC,14316,0.62,355.3,667.4,8.1,1165,14359,0.25,0.00,40.60,1.218,6,0.070,0.000,2753,2508,2083
$GC,14665,0.56,355.3,617.6,14.5,1182,14669,0.00,2.12,0.00,0.000,4,0.000,0.035,2758,1106,2075
$GC,14715,0.56,355.3,610.1,14.4,1184,14719,0.12,2.20,0.00,0.000,6,0.173,0.040,2728,2512,2075
$GC,15041,0.56,355.3,566.9,12.9,1200,15045,0.00,2.15,0.00,0.000,4,0.000,0.035,2732,1102,2074
$GC,15063,0.56,355.3,564.0,12.6,1201,15067,0.00,2.20,0.00,0.000,6,0.000,0.038,2732,2518,2074
$GC,15395,0.56,355.3,525.9,10.7,1217,15396,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2519,2073
$GC,15707,0.56,355.3,492.3,10.5,1235,15711,0.00,2.15,0.00,0.000,4,0.000,0.036,2732,1104,2073
$GC,15813,0.63,355.3,480.9,10.1,1244,15819,0.00,2.15,0.00,0.000,6,0.000,0.040,2732,2498,2073
$GC,16141,0.68,358.8,447.5,9.9,1275,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2498,2072
$GC,16467,0.75,358.8,414.3,10.5,1306,16472,0.15,2.10,0.00,0.000,4,0.075,0.035,2797,1107,2072
$GC,16522,0.63,358.8,406.7,13.6,1310,16530,0.17,2.15,0.00,0.000,6,0.170,0.041,2751,2507,2072
$GC,16847,0.63,358.8,366.6,12.3,1341,16850,0.00,2.10,0.00,0.000,4,0.000,0.034,2751,1105,2072
$GC,16885,0.69,358.8,361.9,12.1,1344,16892,0.00,2.12,0.00,0.000,6,0.000,0.038,2751,2496,2072
$GC,17212,0.69,358.8,325.0,10.9,1375,17216,0.00,2.08,0.00,0.000,4,0.000,0.034,2751,1113,2072
$GC,17280,0.76,358.8,317.7,10.1,1381,17285,0.12,2.08,0.00,0.000,6,0.083,0.039,2800,2470,2072
$GC,17616,0.63,358.8,274.7,12.4,1429,17622,0.17,0.00,0.00,0.000,6,0.172,0.000,2749,2472,2072
$GC,17959,0.74,375.3,241.5,9.4,1490,17983,0.00,2.12,15.45,0.844,4,0.000,0.035,2750,1106,2000
$GC,18029,0.92,407.5,234.8,8.7,1502,18061,0.25,2.10,26.90,0.846,6,0.064,0.038,2848,2469,1869
$GC,18401,0.73,407.5,175.7,17.6,1567,18408,0.20,2.05,0.00,0.000,4,0.163,0.055,2788,3766,1863
$GC,18481,0.73,407.5,163.9,14.2,1581,18488,0.00,1.92,0.00,0.000,6,0.000,0.028,2789,2460,1863
$GC,18826,0.90,462.6,131.6,7.8,1642,18874,0.12,2.10,42.95,0.755,4,0.081,0.033,2842,1113,1645
$GC,18931,0.90,462.6,121.4,10.5,1660,18937,0.00,2.10,0.00,0.000,6,0.000,0.035,2842,2466,1640
$GC,19274,0.98,462.6,77.1,14.1,1721,19280,0.00,2.05,0.00,0.000,4,0.000,0.054,2842,3765,1637
$GC,19288,1.04,462.6,75.4,12.4,1723,19294,0.00,1.92,0.00,0.000,6,0.000,0.026,2850,2440,1637
$GC,19632,1.24,513.4,42.1,8.0,1784,19680,0.22,2.03,39.20,0.655,4,0.064,0.031,2950,1116,1437
$GC,19763,1.10,513.4,25.1,14.1,1806,19770,0.20,2.03,0.00,0.000,6,0.161,0.033,2898,2443,1433
$STATE,19942,end climb,SURFACE_DEPTH_REACHED
$STATE,19942,begin surface coast
$FINISH,1.7,1.008096
$STATE,19966,end surface coast,CONTROL_FINISHED_OK
$STATE,19966,begin surface
$SM_CCo,19983,193.45,0.604,0,0,389,770.98
$SM_GC,2.37,0.00,0.00,193.45,0.000,0.000,0.604,141,2447,389,-7.51,0.57,770.98
$IRIDIUM_FIX,2446.56,12253.96,130998,181830
$TT8_MAMPS,0.029146
$HUMID,1510
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.5,33.356
$10V_AH,10.7,19.075
$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,27.200,166.450,506.325,193.450,0.000,143.833,375.796,0.000,8.000,0.000,0.000,14.680,3240.881,13022.923,873.428,3056.781,876.633,0.000,2425.440,0.000,2991.236,0.000,54.415,0.000
$DEVICE_MAMPS,245.440,59.826,1428.921,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1247.955,1273.048,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97969,1842
$CAP_FILE_SIZE,200118,0
$CFSIZE,260165632,210923520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.432, 44.4,1
$GPS,200609,002607,2456.112,12255.725,38,1.6,39,-3.6