version: 66.04
glider: 167
mission: 2
dive: 34
start: 5 27 109 0 8 59
data:
$ID,167
$MISSION,2
$DIVE,34
$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,-4471.7891
$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,65
$R_STBD_OVSHOOT,25
$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
$GPS1,000201,2524.122,12322.731,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-62.6
$GPS2,000838,2524.144,12322.785,13,1.3,13,-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,248.1,14029,-15.7,-10.000
$D_GRID,1348
$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,-47.08,0.000,2,0.000,0.000,146,2415,2678
$GC,67,-0.94,-194.7,3.2,-2.8,8,121,8.93,2.12,-38.08,0.000,4,0.265,0.060,2226,3776,3989
$GC,245,0.17,-194.7,57.4,-40.1,39,253,1.30,1.98,0.00,0.000,6,0.189,0.026,2594,2430,3990
$GC,588,-0.66,-194.7,90.0,-5.9,100,595,0.70,2.05,0.00,0.000,4,0.081,0.030,2335,1018,3991
$GC,714,-0.46,-194.7,100.6,-11.9,122,721,0.22,1.90,0.00,0.000,6,0.147,0.035,2396,2297,3990
$GC,1060,-0.56,-194.7,130.9,-10.0,183,1066,0.00,2.25,0.00,0.000,4,0.000,0.050,2396,3774,3991
$GC,1152,-0.76,-194.7,140.1,-10.2,199,1158,0.28,2.17,0.00,0.000,6,0.056,0.027,2280,2249,3991
$GC,1496,-0.44,-194.7,203.8,-14.7,260,1502,0.35,0.00,0.00,0.000,6,0.153,0.000,2392,2248,3992
$GC,1840,-0.70,-194.7,217.4,-2.8,321,1846,0.17,2.33,0.00,0.000,4,0.064,0.048,2306,3765,3992
$GC,1977,-0.61,-194.7,232.0,-13.1,345,1984,0.15,2.17,0.00,0.000,6,0.143,0.027,2349,2243,3993
$GC,2322,-0.69,-194.7,272.4,-11.2,406,2329,0.00,2.35,0.00,0.000,4,0.000,0.050,2345,3773,3993
$GC,2403,-0.78,-194.7,281.1,-10.3,420,2410,0.15,2.17,0.00,0.000,6,0.071,0.028,2278,2255,3992
$GC,2738,-0.59,-194.7,325.6,-12.9,463,2740,0.25,0.00,0.00,0.000,6,0.149,0.000,2353,2254,3993
$GC,3058,-0.76,-194.7,353.5,-9.3,493,3063,0.15,2.35,0.00,0.000,4,0.071,0.051,2287,3778,3993
$GC,3158,-0.66,-194.7,366.7,-13.2,501,3165,0.15,2.15,0.00,0.000,6,0.145,0.028,2331,2272,3993
$GC,3484,-0.77,-194.7,393.9,-6.4,532,3488,0.00,2.30,0.00,0.000,4,0.000,0.051,2331,3765,3992
$GC,3540,-0.90,-194.7,397.6,-6.3,536,3546,0.22,2.10,0.00,0.000,6,0.064,0.028,2234,2294,3993
$GC,3865,-0.65,-194.7,434.6,-10.7,567,3870,0.30,2.28,0.00,0.000,4,0.157,0.051,2329,3764,3993
$GC,3887,-0.58,-194.7,436.5,-8.1,568,3893,0.00,2.10,0.00,0.000,6,0.000,0.028,2329,2297,3992
$GC,4214,-0.75,-194.7,458.3,-8.2,599,4218,0.00,2.28,0.00,0.000,4,0.000,0.052,2329,3770,3991
$GC,4303,-0.94,-194.7,466.6,-8.8,606,4311,0.25,2.10,0.00,0.000,6,0.063,0.028,2224,2307,3991
$GC,4626,-0.72,-194.7,507.3,-11.2,634,4630,0.28,2.25,0.00,0.000,4,0.156,0.051,2302,3767,3989
$GC,4653,-0.72,-194.7,509.7,-8.0,635,4657,0.00,2.10,0.00,0.000,6,0.000,0.028,2302,2306,3989
$GC,4981,-0.81,-194.7,529.7,-6.1,651,4985,0.00,2.28,0.00,0.000,4,0.000,0.054,2302,3770,3987
$GC,5043,-0.93,-194.7,534.0,-7.6,654,5048,0.17,2.08,0.00,0.000,6,0.073,0.030,2229,2319,3987
$GC,5375,-0.74,-194.7,568.7,-11.0,670,5377,0.25,0.00,0.00,0.000,6,0.160,0.000,2302,2319,3985
$GC,5685,-0.84,-194.7,591.1,-7.0,685,5689,0.00,2.25,0.00,0.000,4,0.000,0.058,2302,3765,3982
$GC,5753,-0.96,-194.7,595.6,-6.9,688,5758,0.20,2.10,0.00,0.000,6,0.071,0.031,2221,2326,3981
$GC,6082,-0.74,-194.7,631.8,-11.5,704,6086,0.25,2.25,0.00,0.000,4,0.163,0.054,2290,3765,3978
$GC,6114,-0.74,-194.7,635.6,-9.8,705,6120,0.00,2.10,0.00,0.000,6,0.000,0.031,2290,2327,3978
$GC,6431,-0.82,-194.7,659.8,-8.4,721,6435,0.00,2.25,0.00,0.000,4,0.000,0.057,2289,3763,3976
$GC,6520,-0.91,-194.7,667.5,-9.0,725,6524,0.10,2.08,0.00,0.000,6,0.092,0.033,2247,2349,3975
$GC,6848,-0.81,-194.7,699.8,-9.0,741,6850,0.12,0.00,0.00,0.000,6,0.172,0.000,2279,2348,3973
$GC,7155,-0.81,-194.7,720.7,-6.4,756,7159,0.00,2.22,0.00,0.000,4,0.000,0.059,2278,3763,3970
$GC,7224,-0.88,-194.7,725.4,-6.8,759,7228,0.00,2.08,0.00,0.000,6,0.000,0.034,2278,2350,3970
$GC,7557,-0.88,-194.7,748.0,-7.3,775,7561,0.00,2.22,0.00,0.000,4,0.000,0.060,2278,3762,3968
$GC,7619,-0.94,-194.7,752.7,-7.5,777,7625,0.12,2.08,0.00,0.000,6,0.089,0.034,2228,2353,3968
$GC,7935,-0.80,-194.7,785.7,-10.7,793,7939,0.17,1.95,0.00,0.000,4,0.170,0.036,2282,1023,3966
$GC,7974,-0.88,-194.7,789.0,-7.8,794,7981,0.00,2.05,0.00,0.000,6,0.000,0.041,2280,2377,3966
$GC,8290,-0.93,-194.7,809.7,-6.1,810,8293,0.00,2.15,0.00,0.000,4,0.000,0.059,2278,3758,3965
$GC,8329,-0.99,-194.7,812.2,-5.9,811,8335,0.15,2.05,0.00,0.000,6,0.084,0.034,2219,2367,3964
$GC,8645,-0.83,-194.7,838.3,-7.8,827,8647,0.20,0.00,0.00,0.000,6,0.170,0.000,2275,2367,3964
$GC,8954,-0.87,-194.7,854.7,-5.0,842,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2368,3962
$GC,9263,-0.87,-194.7,871.0,-5.4,857,9266,0.00,2.20,0.00,0.000,4,0.000,0.063,2275,3755,3960
$GC,9291,-0.93,-194.7,872.8,-6.6,858,9294,0.00,2.05,0.00,0.000,6,0.000,0.035,2275,2363,3960
$GC,9618,-0.99,-194.7,890.4,-5.7,874,9619,0.15,0.00,0.00,0.000,6,0.083,0.000,2217,2361,3960
$GC,9927,-0.82,-194.7,918.0,-9.4,889,9929,0.22,0.00,0.00,0.000,6,0.177,0.000,2278,2361,3958
$GC,10236,-0.90,-194.7,937.4,-6.3,904,10240,0.00,2.22,0.00,0.000,4,0.000,0.064,2278,3757,3957
$GC,10282,-1.01,-194.7,940.1,-6.0,906,10287,0.17,2.08,0.00,0.000,6,0.081,0.037,2209,2364,3956
$GC,10610,-0.82,-194.7,973.5,-10.5,922,10615,0.20,2.22,0.00,0.000,4,0.174,0.061,2260,3763,3955
$GC,10653,-0.82,-194.7,977.4,-7.7,924,10657,0.00,2.03,0.00,0.000,6,0.000,0.036,2261,2388,3955
$STATE,10833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10833,begin apogee
$GC,10839,-0.22,0.0,990.8,7.6,933,10928,0.68,0.00,85.70,1.462,6,0.156,0.000,2469,2504,3532
$STATE,10929,end apogee,CONTROL_FINISHED_OK
$STATE,10929,begin climb
$GC,10931,0.94,194.7,993.4,0.0,937,11101,1.05,0.00,161.00,1.420,6,0.060,0.000,2848,2505,2737
$GC,11411,0.31,194.7,932.8,18.7,960,11416,0.73,2.05,0.00,0.000,4,0.203,0.061,2647,3767,2731
$GC,11578,0.22,194.7,912.0,11.6,967,11585,0.05,1.92,0.00,0.000,6,0.193,0.036,2621,2524,2730
$GC,11895,0.36,238.2,884.8,8.5,983,11938,0.12,2.05,35.17,1.357,4,0.087,0.061,2666,3757,2561
$GC,11971,0.26,238.2,876.1,12.5,986,11976,0.15,1.92,0.00,0.000,6,0.176,0.035,2630,2521,2559
$GC,12293,0.41,252.9,845.5,9.5,1002,12317,0.15,2.22,12.88,1.262,4,0.082,0.042,2692,1108,2499
$GC,12350,0.41,252.9,838.7,11.7,1004,12354,0.00,2.25,0.00,0.000,6,0.000,0.044,2692,2527,2498
$GC,12672,0.35,252.9,799.8,11.8,1020,12676,0.12,1.98,0.00,0.000,4,0.183,0.060,2662,3769,2496
$GC,12732,0.35,252.9,792.5,12.2,1022,12740,0.00,1.88,0.00,0.000,6,0.000,0.035,2663,2529,2496
$GC,13048,0.37,273.4,763.0,9.3,1038,13072,0.00,2.08,17.55,1.269,4,0.000,0.062,2663,3758,2417
$GC,13172,0.37,273.4,749.8,10.5,1043,13176,0.00,1.88,0.00,0.000,6,0.000,0.036,2664,2531,2414
$GC,13495,0.43,277.1,718.9,9.9,1059,13504,0.00,2.03,4.28,0.892,4,0.000,0.064,2664,3752,2402
$GC,13555,0.43,277.1,712.0,11.2,1061,13561,0.00,1.83,0.00,0.000,6,0.000,0.036,2664,2568,2402
$GC,13871,0.52,290.4,681.9,9.5,1077,13893,0.15,2.30,12.50,1.190,4,0.084,0.041,2724,1103,2347
$GC,13939,0.52,290.4,673.4,13.5,1080,13943,0.00,2.30,0.00,0.000,6,0.000,0.044,2724,2564,2347
$GC,14266,0.41,290.4,628.5,14.2,1096,14270,0.17,1.90,0.00,0.000,4,0.166,0.061,2672,3767,2345
$GC,14293,0.34,290.4,624.6,13.2,1097,14296,0.00,1.83,0.00,0.000,6,0.000,0.036,2678,2557,2345
$GC,14620,0.41,294.1,589.5,9.9,1113,14626,0.00,0.00,4.32,0.851,6,0.000,0.000,2677,2556,2333
$GC,14929,0.51,316.1,560.5,9.2,1128,14950,0.00,0.00,19.55,1.148,6,0.000,0.000,2678,2556,2242
$GC,15258,0.72,409.9,533.9,6.8,1144,15343,0.25,2.10,76.47,1.134,4,0.071,0.064,2777,3759,1860
$GC,15395,0.57,409.9,515.5,16.3,1150,15400,0.15,1.90,0.00,0.000,6,0.160,0.036,2729,2565,1854
$GC,15717,0.61,409.9,483.2,11.7,1172,15721,0.00,2.25,0.00,0.000,4,0.000,0.041,2732,1098,1849
$GC,15745,0.70,409.9,479.5,12.4,1174,15753,0.12,2.33,0.00,0.000,6,0.086,0.043,2778,2577,1848
$GC,16070,0.60,409.9,422.6,18.2,1205,16074,0.15,1.88,0.00,0.000,4,0.171,0.059,2740,3764,1846
$GC,16159,0.60,409.9,407.2,16.3,1213,16163,0.00,1.80,0.00,0.000,6,0.000,0.035,2745,2564,1846
$GC,16491,0.60,409.9,361.1,12.8,1244,16495,0.00,1.92,0.00,0.000,4,0.000,0.060,2745,3767,1845
$GC,16547,0.60,409.9,352.3,15.9,1249,16551,0.00,1.77,0.00,0.000,6,0.000,0.035,2745,2578,1845
$GC,16879,0.60,409.9,307.3,13.5,1280,16883,0.00,2.22,0.00,0.000,4,0.000,0.040,2745,1096,1845
$GC,16903,0.69,409.9,304.3,12.1,1282,16907,0.00,2.33,0.00,0.000,6,0.000,0.043,2745,2605,1845
$GC,17245,0.75,409.9,262.6,13.6,1339,17251,0.12,1.80,0.00,0.000,4,0.083,0.060,2797,3761,1845
$GC,17292,0.61,409.9,254.3,18.5,1347,17299,0.22,1.75,0.00,0.000,6,0.171,0.033,2740,2571,1845
$GC,17636,0.74,409.9,210.7,10.8,1408,17643,0.12,2.17,0.00,0.000,4,0.084,0.037,2792,1100,1845
$GC,17666,0.79,409.9,207.1,10.9,1413,17672,0.00,2.28,0.00,0.000,6,0.000,0.040,2792,2592,1845
$GC,18009,0.79,409.9,162.9,13.0,1474,18016,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2592,1846
$GC,18354,0.85,409.9,119.0,12.0,1535,18360,0.00,2.22,0.00,0.000,4,0.000,0.035,2791,1100,1846
$GC,18412,1.00,420.5,112.8,9.6,1545,18427,0.20,2.22,7.47,0.656,6,0.069,0.037,2876,2580,1817
$GC,18766,0.88,420.5,63.3,13.6,1607,18773,0.17,1.80,0.00,0.000,4,0.167,0.052,2823,3762,1817
$GC,18891,0.88,420.5,47.8,11.0,1629,18897,0.00,1.73,0.00,0.000,6,0.000,0.030,2828,2562,1817
$GC,19235,1.00,436.8,13.7,9.4,1690,19255,0.12,2.20,14.70,0.613,4,0.078,0.034,2884,1100,1751
$GC,19295,1.00,436.8,5.5,13.1,1700,19301,0.00,2.25,0.00,0.000,6,0.000,0.035,2885,2597,1749
$STATE,19311,end climb,SURFACE_DEPTH_REACHED
$STATE,19311,begin surface coast
$FINISH,1.5,1.012379
$STATE,19336,end surface coast,CONTROL_FINISHED_OK
$STATE,19336,begin surface
$SM_CCo,19413,0.00,0.000,0,0,1745,438.11
$SM_GC,2.69,7.32,0.00,0.00,0.061,0.000,0.000,144,2420,1745,-7.50,-0.20,438.11
$IRIDIUM_FIX,2517.50,12320.23,200898,181828
$TT8_MAMPS,0.028379
$HUMID,1507
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,9.910
$10V_AH,10.8,6.834
$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,28.700,164.225,451.600,0.000,0.000,28.870,36.235,202.766,8.000,0.000,0.000,13.136,3070.732,12566.633,614.813,2966.071,579.548,0.000,2128.343,0.000,2895.389,0.000,54.421,0.000
$DEVICE_MAMPS,264.615,71.331,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.829,1147.605,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91536,1707
$CAP_FILE_SIZE,196953,0
$CFSIZE,260165632,222244864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.299, 79.8,1
$GPS,270509,053337,2523.516,12323.515,30,1.1,30,-3.7