version: 66.04
glider: 167
mission: 2
dive: 35
start: 5 27 109 5 49 11
data:
$ID,167
$MISSION,2
$DIVE,35
$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,-4486.0327
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,053337,2523.516,12323.515,30,1.1,30,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-66.5
$GPS2,054850,2523.500,12323.624,13,1.4,13,-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,255.5,13482,-15.7,-10.000
$D_GRID,1255
$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,15,begin dive
$GC,17,-0.94,-194.7,0.0,0.0,0,53,0.00,0.00,-33.70,0.000,2,0.000,0.000,144,2420,2612
$GC,56,-0.94,-194.7,3.2,-3.3,6,115,8.75,2.10,-43.35,0.000,4,0.257,0.061,2230,3764,3987
$GC,318,0.05,-194.7,88.6,-36.7,52,326,1.15,1.98,0.00,0.000,6,0.193,0.026,2553,2393,3988
$GC,664,-0.65,-194.7,119.4,-8.5,113,671,0.60,1.95,0.00,0.000,4,0.081,0.030,2331,1041,3989
$GC,717,-0.65,-194.7,124.0,-8.3,122,724,0.00,2.08,0.00,0.000,6,0.000,0.034,2330,2436,3989
$GC,1063,-0.47,-194.7,171.7,-13.0,183,1070,0.17,2.03,0.00,0.000,4,0.151,0.028,2385,1042,3990
$GC,1111,-0.63,-194.7,176.2,-8.3,191,1118,0.12,2.03,0.00,0.000,6,0.077,0.034,2328,2412,3990
$GC,1455,-0.53,-194.7,214.4,-10.6,252,1462,0.17,2.05,0.00,0.000,4,0.146,0.049,2384,3758,3991
$GC,1565,-0.78,-194.7,222.5,-6.3,271,1571,0.25,1.90,0.00,0.000,6,0.058,0.028,2276,2422,3990
$GC,1908,-0.55,-194.7,269.8,-12.6,332,1915,0.28,1.98,0.00,0.000,4,0.153,0.029,2364,1043,3991
$GC,2000,-0.72,-194.7,277.4,-7.8,348,2007,0.15,2.03,0.00,0.000,6,0.069,0.035,2298,2417,3990
$GC,2344,-0.64,-194.7,311.8,-10.0,399,2348,0.15,2.03,0.00,0.000,4,0.157,0.048,2332,3753,3991
$GC,2429,-0.70,-194.7,319.7,-9.0,406,2436,0.00,1.90,0.00,0.000,6,0.000,0.027,2332,2409,3991
$GC,2755,-0.79,-194.7,350.2,-9.1,437,2759,0.12,2.08,0.00,0.000,4,0.079,0.050,2275,3754,3991
$GC,2839,-0.66,-194.7,359.4,-10.5,444,2843,0.20,1.90,0.00,0.000,6,0.152,0.028,2333,2418,3990
$GC,3169,-0.77,-194.7,381.3,-5.6,475,3171,0.12,0.00,0.00,0.000,6,0.077,0.000,2280,2417,3990
$GC,3489,-0.70,-194.7,415.2,-12.3,505,3493,0.15,2.05,0.00,0.000,4,0.159,0.051,2318,3748,3989
$GC,3536,-0.78,-194.7,420.0,-9.9,509,3539,0.00,1.92,0.00,0.000,6,0.000,0.028,2318,2399,3989
$GC,3869,-0.88,-194.7,448.1,-7.2,540,3874,0.15,2.10,0.00,0.000,4,0.074,0.052,2247,3753,3987
$GC,3909,-0.67,-194.7,452.2,-11.0,543,3914,0.28,1.92,0.00,0.000,6,0.158,0.030,2328,2418,3986
$GC,4240,-0.82,-194.7,473.2,-6.3,574,4244,0.15,2.08,0.00,0.000,4,0.074,0.053,2261,3757,3986
$GC,4330,-0.71,-194.7,482.2,-10.2,582,4334,0.17,1.92,0.00,0.000,6,0.156,0.030,2311,2415,3984
$GC,4669,-0.82,-194.7,507.1,-6.5,609,4673,0.00,2.08,0.00,0.000,4,0.000,0.057,2311,3747,3982
$GC,4742,-0.96,-194.7,511.6,-5.9,612,4746,0.20,1.90,0.00,0.000,6,0.069,0.032,2228,2434,3982
$GC,5068,-0.75,-194.7,543.4,-10.7,628,5073,0.22,2.05,0.00,0.000,4,0.163,0.033,2296,1021,3980
$GC,5118,-0.84,-194.7,547.5,-7.2,630,5122,0.00,2.12,0.00,0.000,6,0.000,0.039,2295,2437,3980
$GC,5440,-0.90,-194.7,571.9,-8.1,646,5441,0.12,0.00,0.00,0.000,6,0.085,0.000,2243,2439,3977
$GC,5749,-0.76,-194.7,602.9,-9.8,661,5753,0.17,2.08,0.00,0.000,4,0.170,0.033,2296,1030,3975
$GC,5804,-0.86,-194.7,607.5,-7.8,663,5810,0.00,2.12,0.00,0.000,6,0.000,0.041,2296,2436,3975
$GC,6120,-0.94,-194.7,629.7,-7.1,679,6125,0.15,2.05,0.00,0.000,4,0.081,0.057,2233,3764,3972
$GC,6159,-0.77,-194.7,633.8,-11.0,680,6166,0.22,1.95,0.00,0.000,6,0.164,0.033,2297,2426,3972
$GC,6475,-0.87,-194.7,656.2,-6.9,696,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2426,3969
$GC,6785,-0.97,-194.7,680.0,-7.9,711,6789,0.20,2.10,0.00,0.000,4,0.074,0.058,2208,3764,3967
$GC,6828,-0.72,-194.7,685.0,-12.4,713,6833,0.35,1.95,0.00,0.000,6,0.167,0.033,2311,2433,3967
$GC,7151,-0.88,-194.7,711.7,-8.3,729,7155,0.15,2.08,0.00,0.000,4,0.081,0.058,2251,3764,3965
$GC,7189,-0.80,-194.7,716.1,-11.9,730,7197,0.12,1.95,0.00,0.000,6,0.169,0.034,2284,2433,3965
$GC,7505,-0.85,-194.7,747.0,-9.2,746,7509,0.00,2.10,0.00,0.000,4,0.000,0.061,2278,3766,3964
$GC,7589,-0.85,-194.7,754.9,-8.8,749,7595,0.00,1.95,0.00,0.000,6,0.000,0.034,2278,2439,3963
$GC,7905,-0.85,-194.7,783.0,-9.0,765,7908,0.00,2.10,0.00,0.000,4,0.000,0.062,2278,3766,3962
$GC,7973,-0.90,-194.7,789.2,-9.1,768,7977,0.00,1.95,0.00,0.000,6,0.000,0.036,2278,2443,3961
$GC,8305,-0.90,-194.7,816.1,-7.6,784,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2443,3960
$GC,8615,-0.96,-194.7,839.7,-7.8,799,8620,0.12,2.08,0.00,0.000,4,0.087,0.037,2227,1033,3958
$GC,8710,-0.83,-194.7,849.6,-11.2,803,8718,0.20,2.17,0.00,0.000,6,0.173,0.044,2279,2454,3958
$GC,9044,-0.88,-194.7,875.1,-7.7,819,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2454,3957
$GC,9349,-0.93,-194.7,899.3,-8.1,834,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2455,3956
$GC,9659,-0.99,-194.7,923.4,-8.2,849,9663,0.15,2.05,0.00,0.000,4,0.087,0.061,2220,3767,3955
$GC,9731,-0.81,-194.7,931.6,-12.3,852,9735,0.22,1.95,0.00,0.000,6,0.174,0.037,2282,2449,3953
$GC,10059,-0.89,-194.7,959.7,-8.7,868,10063,0.00,2.08,0.00,0.000,4,0.000,0.061,2275,3764,3952
$GC,10105,-0.93,-194.7,964.0,-9.8,870,10109,0.00,1.92,0.00,0.000,6,0.000,0.035,2275,2468,3952
$STATE,10435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10435,begin apogee
$GC,10441,-0.22,0.0,990.4,7.9,886,10529,0.62,0.00,84.82,1.466,6,0.146,0.000,2471,2502,3532
$STATE,10530,end apogee,CONTROL_FINISHED_OK
$STATE,10530,begin climb
$GC,10532,0.94,194.7,993.5,0.0,890,10704,1.05,2.30,160.98,1.433,4,0.064,0.040,2856,1105,2737
$GC,10957,0.35,194.7,942.5,19.2,909,10962,0.73,2.25,0.00,0.000,6,0.204,0.046,2664,2518,2731
$GC,11280,0.35,238.0,911.7,8.5,925,11324,0.00,2.08,35.35,1.366,4,0.000,0.063,2664,3767,2561
$GC,11369,0.27,238.0,902.0,11.8,929,11374,0.12,1.95,0.00,0.000,6,0.179,0.035,2634,2513,2559
$GC,11702,0.43,280.1,873.7,8.5,945,11746,0.15,2.22,35.22,1.351,4,0.081,0.040,2692,1105,2388
$GC,11791,0.43,280.1,863.6,11.6,949,11796,0.00,2.28,0.00,0.000,6,0.000,0.043,2692,2518,2385
$GC,12118,0.43,280.1,824.2,12.2,965,12121,0.00,2.17,0.00,0.000,4,0.000,0.041,2692,1112,2382
$GC,12156,0.43,280.1,819.4,11.1,966,12164,0.00,2.22,0.00,0.000,6,0.000,0.044,2693,2521,2382
$GC,12472,0.43,280.1,782.3,11.4,982,12475,0.00,1.98,0.00,0.000,4,0.000,0.062,2693,3766,2380
$GC,12527,0.33,280.1,775.1,12.8,984,12532,0.15,1.90,0.00,0.000,6,0.175,0.035,2654,2502,2380
$GC,12849,0.48,318.6,747.2,8.7,1000,12886,0.15,2.10,31.10,1.291,4,0.084,0.061,2710,3764,2232
$GC,12955,0.37,318.6,733.8,14.0,1004,12960,0.20,1.90,0.00,0.000,6,0.173,0.035,2665,2527,2229
$GC,13288,0.49,318.6,698.0,10.7,1020,13292,0.12,2.00,0.00,0.000,4,0.086,0.060,2710,3763,2226
$GC,13320,0.40,318.6,693.5,14.0,1021,13325,0.15,1.88,0.00,0.000,6,0.178,0.035,2679,2524,2226
$GC,13642,0.51,334.0,661.0,9.5,1037,13664,0.00,2.20,13.05,1.181,4,0.000,0.041,2681,1112,2169
$GC,13748,0.65,344.3,650.9,9.6,1041,13763,0.20,2.22,9.93,1.124,6,0.077,0.042,2756,2534,2128
$GC,14086,0.53,344.3,598.5,16.6,1058,14088,0.15,0.00,0.00,0.000,6,0.175,0.000,2719,2535,2124
$GC,14394,0.53,344.3,551.9,14.8,1073,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2535,2123
$GC,14703,0.53,344.3,511.9,11.3,1088,14707,0.00,1.92,0.00,0.000,4,0.000,0.064,2719,3765,2123
$GC,14754,0.48,344.3,505.7,12.9,1090,14758,0.00,1.90,0.00,0.000,6,0.000,0.036,2719,2497,2122
$GC,15080,0.48,344.3,471.2,10.7,1118,15083,0.00,2.03,0.00,0.000,4,0.000,0.060,2719,3769,2122
$GC,15107,0.48,344.3,467.7,13.2,1120,15113,0.00,1.90,0.00,0.000,6,0.000,0.035,2719,2517,2122
$GC,15434,0.48,344.3,427.6,13.5,1151,15438,0.00,2.10,0.00,0.000,4,0.000,0.040,2719,1105,2121
$GC,15491,0.59,344.3,419.8,13.0,1156,15495,0.00,2.17,0.00,0.000,6,0.000,0.041,2719,2528,2121
$GC,15815,0.64,344.3,377.1,11.7,1186,15819,0.00,1.92,0.00,0.000,4,0.000,0.058,2719,3768,2121
$GC,15860,0.64,344.3,371.6,12.4,1190,15864,0.00,1.85,0.00,0.000,6,0.000,0.035,2719,2516,2121
$GC,16191,0.72,344.3,337.5,11.3,1221,16195,0.15,1.98,0.00,0.000,4,0.079,0.059,2779,3765,2121
$GC,16247,0.50,344.3,328.6,17.1,1226,16251,0.28,1.80,0.00,0.000,6,0.171,0.034,2708,2545,2121
$GC,16576,0.66,354.9,292.9,9.6,1263,16593,0.15,2.17,9.25,0.846,4,0.077,0.039,2772,1112,2084
$GC,16668,0.66,356.3,282.4,10.0,1279,16674,0.00,2.20,0.00,0.000,6,0.000,0.041,2772,2552,2083
$GC,17011,0.60,356.3,239.0,12.2,1340,17017,0.12,0.00,0.00,0.000,6,0.174,0.000,2740,2555,2084
$GC,17355,0.71,368.6,204.1,9.6,1401,17374,0.10,2.17,12.60,0.785,4,0.087,0.035,2788,1103,2028
$GC,17448,0.71,368.6,193.0,12.2,1417,17454,0.00,2.22,0.00,0.000,6,0.000,0.039,2788,2561,2027
$GC,17791,0.71,368.6,155.5,10.1,1478,17798,0.00,2.17,0.00,0.000,4,0.000,0.036,2789,1104,2026
$GC,17861,0.80,395.3,149.0,9.1,1490,17892,0.00,2.20,21.92,0.753,6,0.000,0.039,2789,2556,1919
$GC,18231,0.87,395.3,107.3,10.2,1555,18237,0.10,0.00,0.00,0.000,6,0.089,0.000,2830,2557,1916
$GC,18574,0.87,395.3,64.7,12.7,1616,18580,0.00,2.15,0.00,0.000,4,0.000,0.035,2830,1109,1916
$GC,18643,0.94,395.3,57.3,11.6,1628,18649,0.00,2.12,0.00,0.000,6,0.000,0.036,2831,2523,1916
$GC,18986,1.04,476.3,25.3,7.2,1689,19057,0.15,2.22,60.97,0.638,4,0.070,0.034,2900,1104,1588
$GC,19086,1.04,476.3,10.8,17.3,1706,19093,0.00,2.17,0.00,0.000,6,0.000,0.037,2899,2515,1585
$STATE,19142,end climb,SURFACE_DEPTH_REACHED
$STATE,19142,begin surface coast
$FINISH,1.5,0.998608
$STATE,19166,end surface coast,CONTROL_FINISHED_OK
$STATE,19166,begin surface
$SM_CCo,19243,0.00,0.000,0,0,1578,479.07
$SM_GC,2.45,7.45,0.00,0.00,0.058,0.000,0.000,144,2410,1578,-7.49,-0.45,479.07
$IRIDIUM_FIX,2515.12,12325.53,210898,050507
$TT8_MAMPS,0.029146
$HUMID,1485
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,10.107
$10V_AH,10.8,6.941
$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,28.075,160.000,475.200,0.000,0.000,112.826,229.668,249.556,8.000,0.000,0.000,13.615,3083.981,12515.882,607.050,3017.922,917.329,0.000,2149.699,0.000,2949.423,0.000,54.428,0.000
$DEVICE_MAMPS,256.945,117.351,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1163.599,1154.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91471,1720
$CAP_FILE_SIZE,200455,0
$CFSIZE,260165632,222150656
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.352, 85.0,1
$GPS,270509,111107,2523.071,12324.541,38,1.2,39,-3.7