version: 66.04
glider: 167
mission: 2
dive: 180
start: 6 18 109 14 38 25
data:
$ID,167
$MISSION,2
$DIVE,180
$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,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,-8575.3545
$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,83
$R_STBD_OVSHOOT,29
$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
$GPS1,143007,2449.843,12235.903,29,1.4,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-70.2
$GPS2,143806,2450.090,12236.109,13,1.1,29,-3.5
$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,137.2,43442,-16.8,-10.000
$D_GRID,1257
$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,13,begin dive
$GC,16,-0.96,-170.3,0.0,0.0,0,40,0.00,0.00,-21.98,0.000,2,0.000,0.000,144,2402,2126
$GC,43,-0.96,-170.3,3.0,-2.3,4,123,8.75,2.03,-62.95,0.000,4,0.249,0.043,2224,1038,3989
$GC,187,-0.33,-170.3,24.7,-26.6,28,196,0.75,2.12,0.00,0.000,6,0.172,0.032,2430,2441,3990
$GC,535,-0.81,-170.3,58.2,-8.2,89,541,0.38,2.03,0.00,0.000,4,0.061,0.047,2278,3757,3992
$GC,778,-0.62,-170.3,93.1,-13.0,132,786,0.22,1.88,0.00,0.000,6,0.141,0.025,2344,2436,3993
$GC,1126,-0.68,-170.3,123.9,-8.2,193,1132,0.00,2.05,0.00,0.000,4,0.000,0.047,2344,3764,3995
$GC,1229,-0.82,-170.3,132.8,-8.2,211,1235,0.17,1.83,0.00,0.000,6,0.067,0.025,2268,2480,3995
$GC,1573,-0.64,-170.3,174.7,-12.2,272,1581,0.20,1.98,0.00,0.000,4,0.147,0.046,2329,3760,3995
$GC,1678,-0.75,-170.3,184.9,-9.9,290,1684,0.00,1.80,0.00,0.000,6,0.000,0.025,2330,2482,3995
$GC,2022,-0.84,-170.3,215.4,-8.2,351,2029,0.15,1.95,0.00,0.000,4,0.074,0.047,2261,3757,3995
$GC,2064,-0.68,-170.3,219.8,-11.1,358,2070,0.20,1.77,0.00,0.000,6,0.145,0.025,2320,2502,3995
$GC,2408,-0.77,-170.3,247.5,-6.4,419,2414,0.00,1.95,0.00,0.000,4,0.000,0.048,2318,3762,3995
$GC,2477,-0.88,-170.3,252.3,-6.8,431,2483,0.17,1.75,0.00,0.000,6,0.070,0.026,2243,2528,3995
$GC,2821,-0.70,-170.3,290.1,-9.1,492,2829,0.22,1.90,0.00,0.000,4,0.150,0.048,2315,3754,3995
$GC,2870,-0.83,-170.3,294.1,-7.8,500,2878,0.12,1.75,0.00,0.000,6,0.078,0.027,2260,2522,3995
$GC,3207,-0.74,-170.3,328.8,-10.6,537,3211,0.15,1.92,0.00,0.000,4,0.149,0.048,2302,3763,3995
$GC,3253,-0.83,-170.3,333.1,-9.2,541,3256,0.00,1.75,0.00,0.000,6,0.000,0.027,2302,2534,3995
$GC,3586,-0.93,-170.3,359.8,-8.0,572,3587,0.17,0.00,0.00,0.000,6,0.072,0.000,2229,2534,3993
$GC,3903,-0.74,-170.3,396.5,-11.6,602,3908,0.22,2.15,0.00,0.000,4,0.155,0.028,2299,1046,3993
$GC,3931,-0.74,-170.3,399.1,-9.1,604,3935,0.00,2.25,0.00,0.000,6,0.000,0.036,2299,2538,3993
$GC,4256,-0.85,-170.3,419.8,-6.3,634,4260,0.00,1.88,0.00,0.000,4,0.000,0.053,2291,3761,3991
$GC,4341,-0.96,-170.3,425.6,-6.7,641,4347,0.17,1.73,0.00,0.000,6,0.073,0.028,2220,2564,3990
$GC,4665,-0.77,-170.3,460.4,-11.3,672,4667,0.25,0.00,0.00,0.000,6,0.151,0.000,2293,2564,3989
$GC,4988,-0.88,-170.3,483.5,-6.6,702,4991,0.00,1.88,0.00,0.000,4,0.000,0.054,2289,3761,3987
$GC,5034,-1.00,-170.3,486.8,-6.8,706,5038,0.17,1.73,0.00,0.000,6,0.073,0.030,2217,2576,3986
$GC,5371,-0.81,-170.3,520.4,-10.1,729,5376,0.17,2.22,0.00,0.000,4,0.160,0.028,2273,1051,3984
$GC,5398,-0.81,-170.3,523.0,-8.3,730,5402,0.00,2.28,0.00,0.000,6,0.000,0.038,2273,2547,3984
$GC,5714,-0.81,-170.3,549.9,-8.8,745,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2547,3982
$GC,6026,-0.81,-170.3,576.4,-9.3,760,6029,0.00,1.88,0.00,0.000,4,0.000,0.054,2273,3757,3980
$GC,6065,-0.88,-170.3,580.5,-9.7,761,6071,0.00,1.73,0.00,0.000,6,0.000,0.030,2272,2573,3980
$GC,6382,-0.93,-170.3,603.9,-6.3,777,6385,0.00,2.22,0.00,0.000,4,0.000,0.031,2272,1060,3977
$GC,6450,-1.01,-170.3,609.0,-7.8,780,6455,0.15,2.28,0.00,0.000,6,0.078,0.038,2215,2543,3977
$GC,6777,-0.83,-170.3,646.4,-11.4,796,6781,0.17,1.90,0.00,0.000,4,0.165,0.053,2261,3765,3975
$GC,6822,-0.83,-170.3,650.8,-8.8,798,6826,0.00,1.77,0.00,0.000,6,0.000,0.030,2261,2576,3975
$GC,7155,-0.83,-170.3,677.6,-7.5,814,7158,0.00,2.22,0.00,0.000,4,0.000,0.029,2261,1063,3973
$GC,7223,-0.83,-170.3,682.9,-7.4,817,7227,0.00,2.28,0.00,0.000,6,0.000,0.039,2261,2543,3973
$GC,7550,-0.83,-170.3,708.6,-7.7,833,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2543,3971
$GC,7859,-0.83,-170.3,732.0,-7.8,848,7862,0.00,2.20,0.00,0.000,4,0.000,0.030,2261,1064,3970
$GC,7892,-0.83,-170.3,734.8,-7.9,849,7895,0.00,2.28,0.00,0.000,6,0.000,0.039,2261,2540,3970
$GC,8214,-0.83,-170.3,762.0,-8.6,865,8217,0.00,2.20,0.00,0.000,4,0.000,0.031,2261,1064,3968
$GC,8252,-0.83,-170.3,765.4,-8.7,866,8258,0.00,2.25,0.00,0.000,6,0.000,0.039,2261,2527,3968
$GC,8568,-0.83,-170.3,792.1,-8.5,882,8572,0.00,2.17,0.00,0.000,4,0.000,0.030,2261,1060,3967
$GC,8607,-0.83,-170.3,795.6,-8.8,883,8613,0.00,2.25,0.00,0.000,6,0.000,0.039,2261,2527,3967
$GC,8923,-0.83,-170.3,821.2,-7.8,899,8926,0.00,1.92,0.00,0.000,4,0.000,0.058,2261,3760,3966
$GC,8961,-0.83,-170.3,824.3,-7.9,900,8968,0.00,1.77,0.00,0.000,6,0.000,0.031,2261,2557,3965
$GC,9277,-0.83,-170.3,847.0,-7.4,916,9281,0.00,2.20,0.00,0.000,4,0.000,0.031,2261,1062,3964
$GC,9323,-0.88,-170.3,850.5,-7.3,918,9327,0.00,2.25,0.00,0.000,6,0.000,0.040,2261,2522,3964
$GC,9650,-0.88,-170.3,873.5,-7.0,934,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2522,3963
$GC,9959,-0.88,-170.3,895.6,-6.9,949,9963,0.00,1.92,0.00,0.000,4,0.000,0.058,2261,3754,3962
$GC,10015,-0.94,-170.3,899.7,-7.4,951,10023,0.00,1.77,0.00,0.000,6,0.000,0.031,2261,2558,3962
$GC,10339,-1.00,-170.3,923.2,-7.5,967,10341,0.12,0.00,0.00,0.000,6,0.092,0.000,2212,2557,3961
$GC,10649,-0.85,-170.3,951.8,-9.3,982,10651,0.20,0.00,0.00,0.000,6,0.162,0.000,2267,2556,3960
$GC,10958,-0.94,-170.3,972.5,-6.5,997,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2557,3959
$STATE,11222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11222,begin apogee
$GC,11228,-0.22,0.0,990.2,6.8,1010,11318,0.65,0.00,86.88,1.437,6,0.142,0.000,2470,2556,3532
$STATE,11319,end apogee,CONTROL_FINISHED_OK
$STATE,11319,begin climb
$GC,11321,0.96,170.3,992.1,0.0,1014,11472,1.08,2.15,142.50,1.391,4,0.065,0.056,2851,3754,2836
$GC,11706,0.18,170.3,949.4,17.1,1031,11712,0.98,1.90,0.00,0.000,6,0.207,0.029,2607,2526,2830
$GC,12030,0.48,274.5,929.5,5.9,1047,12122,0.22,2.15,84.65,1.359,4,0.077,0.056,2698,3755,2411
$GC,12159,0.37,274.5,916.9,12.7,1053,12163,0.15,1.95,0.00,0.000,6,0.179,0.030,2670,2501,2408
$GC,12492,0.48,298.3,887.3,9.1,1069,12515,0.00,0.00,20.35,1.289,6,0.000,0.000,2670,2500,2314
$GC,12821,0.60,298.3,853.7,10.5,1085,12823,0.20,0.00,0.00,0.000,6,0.075,0.000,2745,2499,2310
$GC,13130,0.45,298.3,813.2,12.8,1100,13135,0.17,2.10,0.00,0.000,4,0.168,0.034,2701,1100,2309
$GC,13170,0.51,298.3,809.0,10.0,1102,13173,0.00,2.20,0.00,0.000,6,0.000,0.038,2702,2518,2308
$GC,13502,0.51,298.3,774.0,10.5,1118,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2518,2308
$GC,13812,0.51,299.8,743.3,9.9,1133,13815,0.00,2.12,0.00,0.000,4,0.000,0.036,2703,1110,2307
$GC,13907,0.62,336.8,734.2,8.5,1137,13945,0.12,2.17,31.25,1.260,6,0.093,0.041,2754,2520,2157
$GC,14255,0.48,336.8,685.5,15.5,1154,14257,0.20,0.00,0.00,0.000,6,0.167,0.000,2701,2521,2152
$GC,14563,0.57,346.6,654.1,9.6,1169,14577,0.00,2.20,8.52,1.085,4,0.000,0.036,2706,1117,2119
$GC,14623,0.71,373.9,648.5,8.9,1171,14653,0.20,2.15,24.12,1.182,6,0.074,0.040,2782,2498,2007
$GC,14961,0.54,373.9,597.6,16.0,1188,14965,0.20,2.12,0.00,0.000,4,0.170,0.034,2732,1111,2001
$GC,15000,0.60,373.9,592.2,11.5,1190,15004,0.00,2.17,0.00,0.000,6,0.000,0.040,2732,2503,2001
$GC,15332,0.60,373.9,552.9,11.3,1206,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2503,1999
$GC,15642,0.60,373.9,514.3,13.0,1221,15646,0.00,2.12,0.00,0.000,4,0.000,0.035,2732,1105,1999
$GC,15676,0.67,373.9,510.0,12.4,1222,15680,0.00,2.15,0.00,0.000,6,0.000,0.039,2732,2498,1998
$GC,16005,0.67,373.9,472.4,10.4,1249,16009,0.00,1.98,0.00,0.000,4,0.000,0.057,2732,3756,1998
$GC,16107,0.67,373.9,459.7,13.5,1258,16111,0.00,1.85,0.00,0.000,6,0.000,0.030,2732,2507,1997
$GC,16439,0.74,373.9,421.8,11.2,1289,16444,0.15,2.08,0.00,0.000,4,0.079,0.033,2797,1114,1997
$GC,16478,0.62,373.9,416.1,13.6,1292,16486,0.20,2.17,0.00,0.000,6,0.170,0.040,2744,2521,1997
$GC,16803,0.62,373.9,378.1,11.1,1323,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2521,1997
$GC,17124,0.67,373.9,342.5,10.5,1353,17127,0.00,1.95,0.00,0.000,4,0.000,0.056,2744,3768,1998
$GC,17173,0.67,373.9,336.4,12.7,1357,17180,0.00,1.90,0.00,0.000,6,0.000,0.030,2745,2495,1997
$GC,17501,0.74,373.9,298.3,11.3,1389,17508,0.12,2.05,0.00,0.000,4,0.084,0.033,2802,1105,1997
$GC,17588,0.65,373.9,286.5,13.7,1404,17595,0.17,2.08,0.00,0.000,6,0.164,0.038,2755,2471,1997
$GC,17934,0.71,373.9,248.7,10.6,1465,17940,0.00,2.03,0.00,0.000,4,0.000,0.055,2755,3769,1997
$GC,17997,0.66,373.9,240.0,13.0,1476,18004,0.00,1.90,0.00,0.000,6,0.000,0.029,2759,2463,1997
$GC,18342,0.72,373.9,200.5,11.3,1537,18348,0.00,2.05,0.00,0.000,4,0.000,0.052,2759,3765,1997
$GC,18371,0.72,373.9,197.2,11.4,1542,18377,0.00,1.85,0.00,0.000,6,0.000,0.028,2759,2491,1998
$GC,18715,0.82,373.9,160.9,10.8,1603,18721,0.15,2.00,0.00,0.000,4,0.078,0.031,2825,1122,1998
$GC,18756,0.71,373.9,155.8,13.1,1610,18763,0.17,2.10,0.00,0.000,6,0.162,0.035,2778,2518,1998
$GC,19101,0.78,373.9,118.4,10.8,1671,19107,0.00,2.08,0.00,0.000,4,0.000,0.031,2785,1113,1999
$GC,19181,0.88,373.9,109.6,10.6,1685,19188,0.12,2.08,0.00,0.000,6,0.082,0.035,2835,2490,2000
$GC,19525,0.81,373.9,72.7,11.0,1746,19531,0.00,1.95,0.00,0.000,4,0.000,0.051,2835,3762,2001
$GC,19784,0.84,392.9,48.1,9.3,1792,19804,0.00,1.83,15.38,0.663,6,0.000,0.027,2842,2483,1930
$GC,20143,1.07,483.4,23.6,6.4,1855,20220,0.15,2.05,69.05,0.642,4,0.073,0.049,2908,3756,1559
$STATE,20319,end climb,SURFACE_DEPTH_REACHED
$STATE,20319,begin surface coast
$FINISH,1.7,1.008294
$STATE,20343,end surface coast,CONTROL_FINISHED_OK
$STATE,20343,begin surface
$SM_CCo,20422,0.00,0.000,0,0,1551,485.94
$SM_GC,2.81,7.47,0.00,0.00,0.054,0.000,0.000,144,2427,1551,-7.49,0.03,485.94
$IRIDIUM_FIX,2444.18,12219.71,120998,090936
$TT8_MAMPS,0.029146
$HUMID,1577
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.00
$XPDR_PINGS,2
$24V_AH,23.4,32.355
$10V_AH,10.7,18.540
$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,26.225,157.650,482.700,0.000,0.000,23.445,42.687,256.303,8.500,0.000,0.000,29.510,3311.559,13089.018,627.488,3183.293,671.494,0.000,2227.441,0.000,3095.371,0.000,54.419,0.000
$DEVICE_MAMPS,249.275,57.525,1437.358,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1282.841,1307.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100712,1890
$CAP_FILE_SIZE,202199,0
$CFSIZE,260165632,211443712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196, 38.6,1
$GPS,180609,202005,2449.958,12239.518,38,1.2,44,-3.5