version: 66.04
glider: 167
mission: 2
dive: 24
start: 5 24 109 22 53 53
data:
$ID,167
$MISSION,2
$DIVE,24
$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,-4303.8623
$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,58
$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
$GPS1,224707,2533.436,12258.968,28,1.3,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-64.9
$GPS2,225331,2533.456,12259.151,16,1.3,16,-3.7
$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,140.8,46344,-15.7,-10.000
$D_GRID,831
$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,-46.92,0.000,2,0.000,0.000,147,2383,2772
$GC,67,-0.94,-194.7,3.0,-3.5,7,116,8.90,2.05,-33.90,0.000,4,0.265,0.045,2235,1025,3990
$GC,173,-0.15,-194.7,27.4,-34.4,25,180,0.98,2.17,0.00,0.000,6,0.198,0.039,2494,2446,3991
$GC,518,-0.58,-194.7,52.7,-4.3,86,526,0.35,2.03,0.00,0.000,4,0.062,0.051,2351,3765,3992
$GC,577,-0.37,-194.7,59.6,-14.5,96,584,0.25,1.92,0.00,0.000,6,0.158,0.028,2421,2425,3992
$GC,922,-0.51,-194.7,93.1,-8.4,157,928,0.12,2.00,0.00,0.000,4,0.076,0.030,2368,1037,3993
$GC,957,-0.51,-194.7,97.1,-11.9,163,963,0.00,2.12,0.00,0.000,6,0.000,0.035,2367,2462,3993
$GC,1301,-0.51,-194.7,130.3,-7.6,224,1307,0.00,1.98,0.00,0.000,4,0.000,0.051,2359,3765,3993
$GC,1415,-0.56,-194.7,139.3,-8.5,244,1421,0.00,1.88,0.00,0.000,6,0.000,0.027,2359,2438,3994
$GC,1758,-0.61,-194.7,172.3,-10.6,305,1764,0.00,2.03,0.00,0.000,4,0.000,0.051,2358,3756,3995
$GC,1793,-0.61,-194.7,175.8,-10.3,311,1799,0.00,1.85,0.00,0.000,6,0.000,0.028,2358,2445,3995
$GC,2137,-0.72,-194.7,205.2,-9.2,372,2143,0.12,2.03,0.00,0.000,4,0.078,0.050,2301,3765,3995
$GC,2167,-0.66,-194.7,208.1,-9.6,377,2174,0.12,1.85,0.00,0.000,6,0.160,0.027,2334,2458,3995
$GC,2513,-0.66,-194.7,239.2,-9.0,438,2520,0.00,2.03,0.00,0.000,4,0.000,0.030,2334,1040,3995
$GC,2629,-0.73,-194.7,249.5,-9.0,458,2637,0.00,2.08,0.00,0.000,6,0.000,0.036,2332,2441,3995
$GC,2976,-0.80,-194.7,283.1,-8.4,519,2983,0.12,2.00,0.00,0.000,4,0.082,0.051,2275,3759,3995
$GC,3056,-0.63,-194.7,292.0,-10.6,533,3063,0.22,1.88,0.00,0.000,6,0.156,0.029,2341,2443,3995
$GC,3395,-0.77,-194.7,310.4,-5.3,576,3400,0.12,2.03,0.00,0.000,4,0.078,0.053,2286,3768,3995
$GC,3430,-0.71,-194.7,312.9,-8.2,579,3434,0.00,1.90,0.00,0.000,6,0.000,0.029,2286,2431,3995
$GC,3761,-0.65,-194.7,342.9,-9.9,610,3763,0.17,0.00,0.00,0.000,6,0.159,0.000,2336,2428,3995
$GC,4081,-0.82,-194.7,366.1,-7.0,640,4083,0.17,0.00,0.00,0.000,6,0.074,0.000,2264,2428,3995
$GC,4399,-0.71,-194.7,396.7,-9.7,670,4404,0.17,2.08,0.00,0.000,4,0.162,0.054,2317,3768,3994
$GC,4474,-0.81,-194.7,402.5,-7.3,676,4477,0.00,1.88,0.00,0.000,6,0.000,0.031,2316,2462,3993
$GC,4807,-0.94,-194.7,422.9,-6.6,707,4811,0.20,2.00,0.00,0.000,4,0.073,0.055,2227,3757,3992
$GC,4879,-0.70,-194.7,431.1,-12.0,713,4885,0.30,1.85,0.00,0.000,6,0.166,0.031,2315,2471,3992
$GC,5204,-0.82,-194.7,454.3,-6.4,744,5208,0.12,2.00,0.00,0.000,4,0.084,0.055,2261,3761,3990
$GC,5287,-0.74,-194.7,462.1,-10.2,751,5294,0.15,1.85,0.00,0.000,6,0.163,0.032,2302,2482,3989
$GC,5612,-0.82,-194.7,489.2,-8.4,782,5616,0.00,2.00,0.00,0.000,4,0.000,0.058,2302,3767,3988
$GC,5682,-0.93,-194.7,494.6,-7.9,788,5686,0.17,1.85,0.00,0.000,6,0.078,0.034,2231,2493,3987
$GC,6016,-0.73,-194.7,531.5,-11.7,807,6021,0.22,2.10,0.00,0.000,4,0.170,0.035,2300,1042,3984
$GC,6117,-0.83,-194.7,540.4,-8.0,811,6121,0.00,2.17,0.00,0.000,6,0.000,0.040,2300,2493,3984
$GC,6439,-0.91,-194.7,563.4,-7.2,827,6443,0.15,2.15,0.00,0.000,4,0.084,0.034,2241,1030,3981
$GC,6506,-0.79,-194.7,569.9,-10.7,830,6511,0.20,2.17,0.00,0.000,6,0.171,0.041,2291,2474,3981
$GC,6834,-0.85,-194.7,593.2,-7.6,846,6838,0.00,2.00,0.00,0.000,4,0.000,0.061,2289,3769,3979
$GC,6925,-0.90,-194.7,601.3,-9.5,850,6929,0.00,1.88,0.00,0.000,6,0.000,0.035,2289,2488,3978
$GC,7258,-0.96,-194.7,631.9,-8.7,866,7263,0.15,2.10,0.00,0.000,4,0.087,0.035,2229,1042,3976
$GC,7303,-0.80,-194.7,636.5,-11.0,868,7307,0.20,2.17,0.00,0.000,6,0.176,0.041,2282,2489,3976
$GC,7635,-0.80,-194.7,663.6,-7.7,884,7638,0.00,2.15,0.00,0.000,4,0.000,0.035,2282,1033,3974
$GC,7658,-0.80,-194.7,665.2,-7.4,885,7662,0.00,2.20,0.00,0.000,6,0.000,0.041,2282,2486,3974
$GC,7984,-0.80,-194.7,691.3,-8.8,901,7988,0.00,1.98,0.00,0.000,4,0.000,0.061,2276,3764,3972
$GC,8052,-0.80,-194.7,697.1,-8.2,904,8056,0.00,1.88,0.00,0.000,6,0.000,0.035,2276,2485,3972
$GC,8386,-0.80,-194.7,726.4,-8.6,920,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2485,3970
$GC,8695,-0.80,-194.7,753.0,-9.0,935,8698,0.00,2.00,0.00,0.000,4,0.000,0.061,2276,3758,3969
$GC,8728,-0.80,-194.7,756.0,-9.7,936,8731,0.00,1.85,0.00,0.000,6,0.000,0.036,2276,2500,3969
$GC,9049,-0.80,-194.7,785.7,-8.9,952,9053,0.00,2.15,0.00,0.000,4,0.000,0.037,2276,1028,3968
$GC,9088,-0.85,-194.7,789.7,-9.6,953,9094,0.00,2.22,0.00,0.000,6,0.000,0.044,2276,2495,3967
$GC,9404,-0.85,-194.7,817.1,-7.5,969,9407,0.00,1.98,0.00,0.000,4,0.000,0.063,2276,3768,3966
$GC,9442,-0.85,-194.7,821.2,-11.2,970,9449,0.00,1.90,0.00,0.000,6,0.000,0.036,2276,2503,3965
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9569,begin apogee
$GC,9575,-0.22,0.0,832.7,8.4,977,9664,0.62,0.00,85.78,1.358,6,0.150,0.000,2471,2502,3532
$STATE,9665,end apogee,CONTROL_FINISHED_OK
$STATE,9665,begin climb
$GC,9667,0.94,194.7,836.0,0.0,981,9833,1.05,2.12,157.15,1.322,4,0.066,0.058,2846,3754,2738
$GC,9902,0.16,194.7,824.2,18.0,991,9908,1.00,1.98,0.00,0.000,6,0.218,0.032,2601,2486,2734
$GC,10232,0.45,289.9,803.0,6.7,1007,10316,0.22,0.00,77.72,1.299,6,0.080,0.000,2689,2485,2349
$GC,10625,0.45,289.9,758.0,12.2,1026,10628,0.00,2.08,0.00,0.000,4,0.000,0.062,2689,3758,2341
$GC,10663,0.35,289.9,752.8,12.4,1027,10670,0.12,2.00,0.00,0.000,6,0.186,0.034,2663,2449,2341
$GC,10980,0.44,289.9,718.6,10.5,1043,10983,0.00,2.10,0.00,0.000,4,0.000,0.059,2663,3761,2339
$GC,11018,0.44,289.9,714.3,10.4,1044,11024,0.00,1.98,0.00,0.000,6,0.000,0.037,2663,2462,2339
$GC,11334,0.53,310.2,685.7,9.3,1060,11355,0.15,2.17,16.05,1.213,4,0.090,0.062,2718,3761,2267
$GC,11372,0.42,310.2,680.7,12.5,1061,11379,0.15,1.98,0.00,0.000,6,0.184,0.036,2683,2470,2265
$GC,11687,0.42,310.2,642.4,12.2,1077,11691,0.00,2.08,0.00,0.000,4,0.000,0.061,2683,3767,2263
$GC,11759,0.42,310.2,632.8,13.5,1080,11763,0.00,1.95,0.00,0.000,6,0.000,0.035,2690,2493,2262
$GC,12086,0.42,310.2,590.0,12.8,1096,12090,0.00,2.12,0.00,0.000,4,0.000,0.041,2694,1073,2262
$GC,12136,0.47,310.2,584.0,11.1,1098,12140,0.00,2.20,0.00,0.000,6,0.000,0.041,2694,2503,2261
$GC,12463,0.47,310.2,544.3,11.5,1114,12466,0.00,1.95,0.00,0.000,4,0.000,0.060,2694,3758,2261
$GC,12508,0.41,310.2,538.4,13.6,1116,12512,0.00,1.90,0.00,0.000,6,0.000,0.035,2693,2487,2261
$GC,12840,0.41,310.2,501.2,10.5,1132,12844,0.00,2.12,0.00,0.000,4,0.000,0.041,2694,1061,2260
$GC,12924,0.50,310.2,492.8,10.7,1138,12931,0.00,2.20,0.00,0.000,6,0.000,0.043,2694,2501,2260
$GC,13250,0.50,310.2,456.1,11.9,1169,13254,0.00,1.95,0.00,0.000,4,0.000,0.060,2694,3761,2260
$GC,13300,0.44,310.2,449.3,14.1,1173,13306,0.00,1.90,0.00,0.000,6,0.000,0.035,2694,2482,2260
$GC,13626,0.44,310.2,413.7,10.6,1204,13630,0.00,2.03,0.00,0.000,4,0.000,0.059,2694,3765,2259
$GC,13698,0.44,310.2,404.7,11.7,1210,13706,0.00,1.90,0.00,0.000,6,0.000,0.034,2694,2498,2259
$GC,14025,0.45,317.6,371.7,9.7,1241,14037,0.00,2.00,6.25,0.905,4,0.000,0.058,2694,3762,2236
$GC,14132,0.45,317.6,359.3,11.7,1250,14139,0.00,1.88,0.00,0.000,6,0.000,0.035,2694,2518,2235
$GC,14459,0.58,364.1,329.5,8.4,1281,14504,0.12,2.03,37.88,1.012,4,0.095,0.058,2741,3759,2045
$GC,14521,0.48,364.1,322.3,13.4,1286,14529,0.17,1.88,0.00,0.000,6,0.178,0.034,2702,2528,2042
$GC,14851,0.60,364.1,288.5,11.1,1326,14859,0.12,2.17,0.00,0.000,4,0.092,0.039,2750,1075,2039
$GC,14955,0.60,364.1,275.6,11.9,1344,14961,0.00,2.22,0.00,0.000,6,0.000,0.041,2750,2516,2039
$GC,15298,0.60,364.1,230.7,13.9,1405,15304,0.00,1.95,0.00,0.000,4,0.000,0.061,2750,3758,2037
$GC,15406,0.52,364.1,215.4,13.7,1424,15413,0.15,1.80,0.00,0.000,6,0.175,0.033,2713,2534,2036
$GC,15751,0.72,392.2,182.4,9.0,1485,15781,0.17,2.00,21.60,0.838,4,0.075,0.058,2787,3755,1932
$GC,15804,0.56,392.2,175.0,15.6,1494,15812,0.22,1.77,0.00,0.000,6,0.173,0.032,2730,2561,1931
$GC,16150,0.72,404.5,142.0,9.6,1555,16168,0.15,2.22,11.35,0.750,4,0.077,0.035,2795,1073,1880
$GC,16236,0.72,404.5,131.4,12.4,1570,16243,0.00,2.28,0.00,0.000,6,0.000,0.041,2795,2556,1879
$GC,16581,0.72,404.5,88.2,12.0,1631,16587,0.00,1.88,0.00,0.000,4,0.000,0.058,2795,3765,1878
$GC,16829,0.72,404.5,59.5,11.8,1675,16835,0.00,1.80,0.00,0.000,6,0.000,0.030,2801,2523,1877
$GC,17173,1.05,513.8,31.6,6.2,1736,17262,0.20,2.08,82.38,0.663,4,0.068,0.051,2892,3769,1436
$STATE,17366,end climb,SURFACE_DEPTH_REACHED
$STATE,17366,begin surface coast
$FINISH,1.2,1.014101
$STATE,17384,end surface coast,CONTROL_FINISHED_OK
$STATE,17384,begin surface
$SM_CCo,17463,0.00,0.000,0,0,1426,516.60
$SM_GC,1.93,7.45,0.00,0.00,0.057,0.000,0.000,145,2408,1426,-7.49,-0.76,516.60
$IRIDIUM_FIX,2524.66,12258.33,180898,181838
$TT8_MAMPS,0.028379
$HUMID,1515
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.7,49.4
$24V_AH,23.9,8.081
$10V_AH,10.7,5.845
$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,25.825,161.050,496.150,0.000,0.000,30.048,36.326,185.159,7.000,0.000,0.000,16.281,3095.779,10546.796,647.610,2998.236,547.582,0.000,2165.652,0.000,2921.609,0.000,50.232,0.000
$DEVICE_MAMPS,265.382,62.894,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.655,1252.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94688,1773
$CAP_FILE_SIZE,187115,0
$CFSIZE,260165632,223166464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 22.1,1
$GPS,250509,034607,2532.600,12301.402,36,1.0,37,-3.7