version: 66.04
glider: 167
mission: 2
dive: 36
start: 5 27 109 11 27 25
data:
$ID,167
$MISSION,2
$DIVE,36
$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,-4501.1665
$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,64
$R_STBD_OVSHOOT,36
$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
$GPS1,111107,2523.071,12324.541,38,1.2,39,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.7
$GPS2,112702,2523.242,12324.678,14,1.2,14,-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,262.8,13964,-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,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,-47.15,0.000,2,0.000,0.000,145,2411,2799
$GC,67,-0.94,-194.7,3.6,-3.9,8,115,8.68,2.12,-31.90,0.000,4,0.255,0.061,2229,3764,3990
$GC,284,-0.01,-194.7,67.6,-33.1,46,292,1.08,1.95,0.00,0.000,6,0.189,0.027,2534,2425,3991
$GC,630,-0.75,-194.7,99.6,-11.3,107,636,0.62,0.00,0.00,0.000,6,0.084,0.000,2303,2425,3992
$GC,974,-0.42,-194.7,161.5,-17.3,168,980,0.32,2.05,0.00,0.000,4,0.163,0.047,2395,3760,3992
$GC,998,-0.28,-194.7,165.2,-15.4,172,1005,0.20,1.92,0.00,0.000,6,0.127,0.028,2457,2412,3992
$GC,1343,-1.06,-194.7,189.6,-7.5,233,1351,0.68,2.08,0.00,0.000,4,0.092,0.047,2209,3768,3992
$GC,1391,-0.59,-194.7,194.9,-13.3,241,1399,0.47,1.90,0.00,0.000,6,0.160,0.026,2352,2425,3992
$GC,1737,-0.65,-194.7,229.4,-11.5,302,1743,0.00,1.98,0.00,0.000,4,0.000,0.030,2353,1044,3992
$GC,1892,-0.76,-194.7,244.7,-8.0,329,1900,0.15,2.03,0.00,0.000,6,0.067,0.034,2281,2424,3992
$GC,2237,-0.55,-194.7,288.1,-12.2,390,2243,0.25,0.00,0.00,0.000,6,0.163,0.000,2359,2424,3992
$GC,2577,-0.71,-194.7,316.6,-8.2,433,2581,0.15,2.03,0.00,0.000,4,0.070,0.050,2291,3755,3992
$GC,2615,-0.61,-194.7,320.9,-11.5,436,2622,0.17,1.92,0.00,0.000,6,0.150,0.029,2342,2406,3992
$GC,2941,-0.71,-194.7,349.5,-7.0,467,2944,0.00,1.98,0.00,0.000,4,0.000,0.032,2342,1029,3992
$GC,2976,-0.84,-194.7,352.0,-7.1,470,2981,0.20,2.08,0.00,0.000,6,0.065,0.037,2258,2426,3992
$GC,3301,-0.63,-194.7,389.7,-10.8,500,3306,0.22,2.03,0.00,0.000,4,0.158,0.031,2331,1033,3993
$GC,3346,-0.74,-194.7,393.2,-6.8,503,3352,0.00,2.05,0.00,0.000,6,0.000,0.036,2331,2417,3992
$GC,3672,-0.85,-194.7,414.7,-7.8,534,3676,0.17,2.05,0.00,0.000,4,0.071,0.051,2257,3762,3991
$GC,3728,-0.69,-194.7,421.2,-12.6,539,3732,0.22,1.92,0.00,0.000,6,0.153,0.028,2323,2412,3991
$GC,4059,-0.79,-194.7,449.4,-6.4,570,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2412,3990
$GC,4378,-0.91,-194.7,465.7,-5.8,600,4383,0.17,1.98,0.00,0.000,4,0.069,0.032,2242,1049,3988
$GC,4435,-0.73,-194.7,471.0,-10.2,605,4440,0.25,2.08,0.00,0.000,6,0.161,0.037,2307,2434,3988
$GC,4760,-0.81,-194.7,495.9,-7.3,635,4764,0.00,2.05,0.00,0.000,4,0.000,0.032,2308,1031,3986
$GC,4897,-0.90,-194.7,507.1,-8.5,644,4902,0.15,2.10,0.00,0.000,6,0.076,0.038,2243,2434,3985
$GC,5224,-0.77,-194.7,546.4,-11.8,660,5228,0.17,2.03,0.00,0.000,4,0.166,0.054,2291,3751,3983
$GC,5314,-0.77,-194.7,555.5,-10.0,664,5318,0.00,1.90,0.00,0.000,6,0.000,0.031,2290,2441,3982
$GC,5647,-0.82,-194.7,583.1,-7.0,680,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2440,3980
$GC,5956,-0.86,-194.7,603.5,-6.4,695,5960,0.00,2.05,0.00,0.000,4,0.000,0.058,2289,3753,3978
$GC,5990,-0.91,-194.7,605.8,-6.9,696,5994,0.12,1.92,0.00,0.000,6,0.084,0.033,2235,2432,3977
$GC,6310,-0.76,-194.7,636.4,-10.0,712,6315,0.17,2.05,0.00,0.000,4,0.164,0.035,2291,1026,3975
$GC,6351,-0.83,-194.7,639.5,-7.3,714,6355,0.00,2.12,0.00,0.000,6,0.000,0.041,2291,2431,3975
$GC,6684,-0.90,-194.7,661.3,-6.2,730,6686,0.10,0.00,0.00,0.000,6,0.090,0.000,2249,2434,3972
$GC,6993,-0.82,-194.7,686.5,-8.6,745,6997,0.12,2.08,0.00,0.000,4,0.169,0.058,2277,3767,3970
$GC,7020,-0.82,-194.7,688.8,-8.3,746,7024,0.00,1.98,0.00,0.000,6,0.000,0.034,2276,2421,3970
$GC,7347,-0.82,-194.7,713.8,-8.1,762,7351,0.00,2.05,0.00,0.000,4,0.000,0.037,2277,1021,3968
$GC,7386,-0.82,-194.7,717.4,-9.5,763,7392,0.00,2.12,0.00,0.000,6,0.000,0.041,2277,2424,3968
$GC,7702,-0.82,-194.7,743.7,-8.4,779,7705,0.00,2.08,0.00,0.000,4,0.000,0.061,2277,3758,3965
$GC,7735,-0.88,-194.7,746.3,-7.7,780,7739,0.00,1.98,0.00,0.000,6,0.000,0.035,2277,2420,3965
$GC,8056,-0.88,-194.7,768.4,-6.5,796,8059,0.00,2.05,0.00,0.000,4,0.000,0.038,2277,1024,3964
$GC,8128,-0.88,-194.7,773.6,-6.9,799,8132,0.00,2.12,0.00,0.000,6,0.000,0.044,2277,2424,3964
$GC,8455,-0.93,-194.7,793.3,-6.6,815,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2423,3962
$GC,8765,-0.93,-194.7,815.5,-7.9,830,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2423,3960
$GC,9074,-0.98,-194.7,836.7,-5.9,845,9078,0.15,2.10,0.00,0.000,4,0.084,0.063,2217,3763,3959
$GC,9108,-0.79,-194.7,839.6,-9.7,846,9115,0.25,2.00,0.00,0.000,6,0.166,0.038,2288,2413,3959
$GC,9425,-0.89,-194.7,860.0,-6.6,862,9428,0.00,2.05,0.00,0.000,4,0.000,0.039,2288,1024,3957
$GC,9453,-1.00,-194.7,862.1,-6.9,863,9457,0.17,2.12,0.00,0.000,6,0.080,0.043,2219,2431,3957
$GC,9779,-0.82,-194.7,894.2,-10.3,879,9781,0.22,0.00,0.00,0.000,6,0.176,0.000,2281,2431,3956
$GC,10089,-0.90,-194.7,917.0,-7.6,894,10093,0.00,2.08,0.00,0.000,4,0.000,0.039,2281,1030,3954
$GC,10128,-0.98,-194.7,920.1,-7.7,895,10134,0.15,2.12,0.00,0.000,6,0.088,0.046,2222,2422,3954
$GC,10444,-0.84,-194.7,952.4,-10.3,911,10446,0.20,0.00,0.00,0.000,6,0.170,0.000,2277,2422,3952
$GC,10754,-0.92,-194.7,976.2,-7.5,926,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2422,3951
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10962,-0.22,0.0,990.8,7.6,936,11050,0.62,0.00,84.80,1.463,6,0.151,0.000,2473,2505,3532
$STATE,11051,end apogee,CONTROL_FINISHED_OK
$STATE,11051,begin climb
$GC,11053,0.94,194.7,994.0,0.0,940,11225,1.02,2.33,160.88,1.421,4,0.060,0.040,2852,1110,2737
$GC,11311,0.35,194.7,975.6,17.9,952,11318,0.73,2.25,0.00,0.000,6,0.201,0.044,2663,2507,2732
$GC,11627,0.31,213.6,943.7,9.3,968,11649,0.00,2.03,16.20,1.315,4,0.000,0.060,2663,3760,2660
$GC,11717,0.19,213.6,934.1,11.8,972,11721,0.20,1.92,0.00,0.000,6,0.170,0.035,2611,2510,2657
$GC,12051,0.45,309.5,910.6,6.7,988,12137,0.20,2.20,79.40,1.381,4,0.076,0.061,2692,3757,2269
$GC,12189,0.36,309.5,894.8,13.6,994,12193,0.00,1.92,0.00,0.000,6,0.000,0.035,2693,2521,2264
$GC,12515,0.36,309.5,857.9,10.9,1010,12519,0.00,2.00,0.00,0.000,4,0.000,0.061,2692,3758,2260
$GC,12567,0.28,309.5,851.2,13.4,1012,12571,0.20,1.88,0.00,0.000,6,0.168,0.038,2639,2529,2259
$GC,12893,0.54,364.6,822.8,8.1,1028,12946,0.20,2.12,45.03,1.334,4,0.075,0.063,2721,3755,2044
$GC,12985,0.46,364.6,810.5,15.8,1032,12989,0.00,1.90,0.00,0.000,6,0.000,0.037,2722,2544,2040
$GC,13312,0.46,364.6,765.5,13.9,1048,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2541,2036
$GC,13621,0.46,364.6,721.4,14.3,1063,13624,0.00,1.98,0.00,0.000,4,0.000,0.063,2722,3762,2035
$GC,13682,0.35,364.6,711.9,15.4,1065,13690,0.25,1.85,0.00,0.000,6,0.168,0.038,2657,2538,2034
$GC,13997,0.55,364.6,679.9,10.2,1081,13999,0.20,0.00,0.00,0.000,6,0.074,0.000,2734,2537,2034
$GC,14307,0.49,364.6,631.2,15.7,1096,14311,0.00,1.98,0.00,0.000,4,0.000,0.064,2734,3765,2033
$GC,14443,0.38,364.6,607.6,18.4,1102,14447,0.25,1.80,0.00,0.000,6,0.169,0.036,2669,2566,2033
$GC,14775,0.56,364.6,570.6,10.1,1118,14780,0.17,2.20,0.00,0.000,4,0.078,0.041,2743,1099,2032
$GC,14796,0.63,364.6,568.0,11.0,1119,14801,0.00,2.28,0.00,0.000,6,0.000,0.043,2743,2578,2033
$GC,15118,0.56,364.6,522.4,13.8,1135,15121,0.00,1.85,0.00,0.000,4,0.000,0.063,2743,3758,2032
$GC,15208,0.44,364.6,509.1,14.9,1139,15212,0.22,1.77,0.00,0.000,6,0.172,0.037,2684,2569,2032
$GC,15536,0.59,364.6,477.1,10.8,1165,15541,0.15,2.20,0.00,0.000,4,0.084,0.041,2743,1096,2031
$GC,15613,0.59,364.6,466.0,15.0,1171,15620,0.00,2.30,0.00,0.000,6,0.000,0.044,2743,2585,2031
$GC,15942,0.59,364.6,412.2,15.1,1202,15946,0.00,1.85,0.00,0.000,4,0.000,0.064,2742,3762,2031
$GC,16095,0.52,364.6,387.7,15.1,1215,16101,0.12,1.80,0.00,0.000,6,0.179,0.038,2715,2552,2030
$GC,16420,0.61,367.9,354.1,9.9,1246,16424,0.00,2.15,0.00,0.000,4,0.000,0.041,2719,1104,2031
$GC,16467,0.77,373.2,349.2,9.8,1250,16479,0.20,2.25,5.95,0.830,6,0.074,0.042,2798,2572,2010
$GC,16800,0.62,373.2,285.0,21.3,1287,16807,0.17,1.85,0.00,0.000,4,0.177,0.057,2747,3767,2010
$GC,16858,0.56,373.2,274.4,15.4,1297,16866,0.00,1.80,0.00,0.000,6,0.000,0.035,2749,2549,2009
$GC,17203,0.59,391.9,232.1,9.4,1358,17227,0.00,1.95,16.58,0.854,4,0.000,0.056,2749,3772,1933
$GC,17301,0.59,391.9,221.6,10.1,1375,17306,0.00,1.80,0.00,0.000,6,0.000,0.033,2749,2558,1931
$GC,17644,0.69,391.9,183.3,13.2,1436,17650,0.00,2.15,0.00,0.000,4,0.000,0.037,2749,1104,1930
$GC,17674,0.86,391.9,179.6,13.4,1441,17682,0.20,2.25,0.00,0.000,6,0.069,0.039,2830,2578,1931
$GC,18020,0.75,391.9,129.6,13.6,1502,18027,0.17,1.83,0.00,0.000,4,0.159,0.056,2777,3762,1930
$GC,18045,0.75,391.9,126.8,10.6,1506,18051,0.00,1.75,0.00,0.000,6,0.000,0.031,2777,2561,1931
$GC,18389,0.89,391.9,92.1,11.4,1567,18395,0.15,1.88,0.00,0.000,4,0.076,0.054,2840,3761,1932
$GC,18475,0.74,391.9,77.9,16.3,1582,18482,0.22,1.75,0.00,0.000,6,0.166,0.031,2782,2548,1932
$GC,18820,1.01,433.5,47.9,8.6,1643,18862,0.20,2.15,33.17,0.667,4,0.064,0.035,2883,1104,1763
$GC,18891,1.01,434.7,39.6,10.0,1655,18897,0.00,2.25,0.00,0.000,6,0.000,0.036,2883,2581,1760
$STATE,19136,end climb,SURFACE_DEPTH_REACHED
$STATE,19136,begin surface coast
$FINISH,1.6,1.008042
$STATE,19160,end surface coast,CONTROL_FINISHED_OK
$STATE,19160,begin surface
$SM_CCo,19238,0.00,0.000,0,0,1757,435.16
$SM_GC,2.62,7.35,0.00,0.00,0.061,0.000,0.000,145,2442,1757,-7.49,0.42,435.16
$IRIDIUM_FIX,2515.12,12323.54,210898,111158
$TT8_MAMPS,0.028379
$HUMID,1509
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.9,10.306
$10V_AH,10.8,7.047
$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,29.250,153.775,442.000,0.000,0.000,110.631,122.677,394.619,8.000,0.000,0.000,14.504,3057.965,12639.532,585.640,2942.937,953.671,0.000,2083.621,0.000,2877.689,0.000,54.421,0.000
$DEVICE_MAMPS,254.644,95.108,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.086,1145.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91430,1703
$CAP_FILE_SIZE,200140,0
$CFSIZE,260165632,222056448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265, 68.1,1
$GPS,270509,164907,2523.443,12324.161,29,1.2,30,-3.7