version: 66.04
glider: 167
mission: 2
dive: 182
start: 6 19 109 1 54 53
data:
$ID,167
$MISSION,2
$DIVE,182
$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,-8624.9355
$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,84
$R_STBD_OVSHOOT,33
$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
$GPS1,014730,2450.810,12242.694,41,1.8,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-69.9
$GPS2,015434,2451.055,12242.939,11,99.0,30,-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,170.9,34019,-16.8,-10.000
$D_GRID,1196
$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,-0.96,-170.3,0.0,0.0,0,46,0.00,0.00,-29.67,0.000,2,0.000,0.000,142,2464,2205
$GC,50,-0.96,-170.3,3.1,-2.1,5,124,8.60,2.10,-57.83,0.000,4,0.245,0.041,2230,1043,3989
$GC,304,-0.42,-170.3,57.9,-21.8,49,311,0.62,2.10,0.00,0.000,6,0.170,0.031,2403,2441,3991
$GC,649,-0.62,-170.3,86.3,-7.7,110,655,0.17,2.03,0.00,0.000,4,0.066,0.047,2318,3762,3992
$GC,758,-0.56,-170.3,98.2,-12.6,129,764,0.17,1.88,0.00,0.000,6,0.141,0.024,2368,2438,3993
$GC,1102,-0.73,-170.3,126.4,-7.5,190,1109,0.17,2.05,0.00,0.000,4,0.065,0.046,2282,3767,3994
$GC,1228,-0.61,-170.3,141.2,-12.7,212,1235,0.22,1.85,0.00,0.000,6,0.140,0.024,2350,2458,3994
$GC,1573,-0.74,-170.3,172.4,-8.4,273,1580,0.12,2.00,0.00,0.000,4,0.076,0.046,2290,3757,3995
$GC,1643,-0.67,-170.3,179.4,-10.3,285,1649,0.12,1.83,0.00,0.000,6,0.142,0.025,2325,2466,3995
$GC,1988,-0.75,-170.3,209.2,-8.3,346,1994,0.00,1.98,0.00,0.000,4,0.000,0.048,2325,3761,3995
$GC,2040,-0.88,-170.3,213.7,-7.9,355,2048,0.17,1.83,0.00,0.000,6,0.067,0.025,2248,2478,3995
$GC,2386,-0.69,-170.3,257.0,-13.0,416,2392,0.20,0.00,0.00,0.000,6,0.148,0.000,2313,2478,3995
$GC,2730,-0.77,-170.3,288.0,-8.9,477,2736,0.00,1.98,0.00,0.000,4,0.000,0.049,2305,3755,3995
$GC,2855,-0.87,-170.3,299.5,-9.0,499,2867,0.12,1.80,0.00,0.000,6,0.077,0.027,2250,2488,3995
$GC,3181,-0.73,-170.3,334.7,-10.1,530,3186,0.20,1.95,0.00,0.000,4,0.145,0.047,2307,3757,3994
$GC,3238,-0.84,-170.3,339.4,-7.5,535,3242,0.00,1.80,0.00,0.000,6,0.000,0.027,2307,2497,3994
$GC,3571,-0.94,-170.3,361.3,-7.6,566,3575,0.17,1.95,0.00,0.000,4,0.071,0.049,2220,3753,3993
$GC,3632,-0.69,-170.3,368.4,-12.1,571,3640,0.32,1.77,0.00,0.000,6,0.150,0.027,2318,2514,3993
$GC,3958,-0.85,-170.3,393.8,-7.7,602,3962,0.15,1.92,0.00,0.000,4,0.073,0.050,2254,3760,3992
$GC,4059,-0.78,-170.3,404.6,-10.5,611,4063,0.15,1.75,0.00,0.000,6,0.145,0.027,2297,2540,3991
$GC,4389,-0.86,-170.3,432.1,-8.1,642,4393,0.00,1.90,0.00,0.000,4,0.000,0.051,2289,3761,3990
$GC,4458,-0.94,-170.3,437.9,-8.3,648,4462,0.10,1.77,0.00,0.000,6,0.066,0.028,2235,2558,3989
$GC,4788,-0.79,-170.3,472.4,-9.8,679,4793,0.17,2.20,0.00,0.000,4,0.155,0.028,2291,1045,3987
$GC,4816,-0.79,-170.3,475.0,-8.4,681,4821,0.00,2.25,0.00,0.000,6,0.000,0.037,2290,2533,3987
$GC,5149,-0.88,-170.3,496.3,-6.2,712,5152,0.00,1.90,0.00,0.000,4,0.000,0.054,2289,3763,3986
$GC,5239,-0.99,-170.3,502.3,-6.2,719,5243,0.17,1.77,0.00,0.000,6,0.072,0.030,2217,2544,3985
$GC,5572,-0.80,-170.3,536.2,-10.7,735,5577,0.20,1.90,0.00,0.000,4,0.156,0.052,2275,3754,3982
$GC,5623,-0.85,-170.3,540.8,-8.0,737,5626,0.00,1.73,0.00,0.000,6,0.000,0.029,2275,2562,3982
$GC,5950,-0.90,-170.3,566.2,-7.7,753,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2562,3980
$GC,6260,-0.94,-170.3,586.6,-6.1,768,6264,0.10,1.88,0.00,0.000,4,0.091,0.054,2230,3752,3978
$GC,6321,-0.82,-170.3,591.9,-9.2,770,6328,0.17,1.73,0.00,0.000,6,0.156,0.031,2279,2575,3977
$GC,6637,-0.91,-170.3,613.0,-7.0,786,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2575,3975
$GC,6946,-1.00,-170.3,634.5,-7.4,801,6948,0.17,0.00,0.00,0.000,6,0.077,0.000,2210,2575,3974
$GC,7256,-0.81,-170.3,668.1,-11.0,816,7258,0.25,0.00,0.00,0.000,6,0.164,0.000,2281,2575,3972
$GC,7565,-0.91,-170.3,689.8,-7.4,831,7569,0.00,2.25,0.00,0.000,4,0.000,0.031,2281,1046,3971
$GC,7593,-1.02,-170.3,691.7,-7.4,832,7597,0.20,2.30,0.00,0.000,6,0.077,0.040,2203,2551,3970
$GC,7915,-0.83,-170.3,725.7,-10.5,848,7917,0.25,0.00,0.00,0.000,6,0.166,0.000,2273,2551,3968
$GC,8223,-0.90,-170.3,747.6,-7.2,863,8227,0.00,1.88,0.00,0.000,4,0.000,0.058,2273,3748,3967
$GC,8269,-1.01,-170.3,751.0,-7.7,865,8273,0.15,1.73,0.00,0.000,6,0.081,0.032,2215,2580,3967
$GC,8602,-0.85,-170.3,786.6,-11.6,881,8604,0.20,0.00,0.00,0.000,6,0.159,0.000,2271,2579,3965
$GC,8912,-0.93,-170.3,811.2,-7.9,896,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2579,3964
$GC,9221,-1.00,-170.3,832.1,-6.5,911,9222,0.15,0.00,0.00,0.000,6,0.081,0.000,2214,2579,3963
$GC,9530,-0.86,-170.3,860.0,-9.9,926,9535,0.20,2.28,0.00,0.000,4,0.168,0.031,2274,1046,3962
$GC,9571,-0.96,-170.3,863.1,-6.8,928,9575,0.12,2.35,0.00,0.000,6,0.090,0.043,2227,2562,3962
$GC,9900,-0.87,-170.3,890.2,-7.9,944,9904,0.12,2.28,0.00,0.000,4,0.172,0.031,2258,1047,3961
$GC,9926,-0.87,-170.3,892.3,-7.6,945,9931,0.00,2.35,0.00,0.000,6,0.000,0.043,2258,2564,3961
$GC,10243,-0.87,-170.3,914.7,-7.7,960,10246,0.00,2.28,0.00,0.000,4,0.000,0.032,2258,1052,3959
$GC,10305,-0.93,-170.3,919.8,-8.9,962,10311,0.00,2.33,0.00,0.000,6,0.000,0.042,2259,2549,3959
$GC,10621,-0.98,-170.3,946.0,-8.0,978,10624,0.00,2.22,0.00,0.000,4,0.000,0.031,2258,1064,3958
$GC,10654,-1.03,-170.3,948.7,-8.1,979,10659,0.15,2.30,0.00,0.000,6,0.081,0.041,2203,2546,3959
$GC,10972,-0.87,-170.3,980.6,-10.1,994,10974,0.22,0.00,0.00,0.000,6,0.166,0.000,2265,2547,3957
$STATE,11111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11111,begin apogee
$GC,11117,-0.22,0.0,991.1,6.9,1001,11207,0.65,0.00,86.62,1.441,6,0.144,0.000,2467,2547,3532
$STATE,11207,end apogee,CONTROL_FINISHED_OK
$STATE,11207,begin climb
$GC,11210,0.96,170.3,993.3,0.0,1005,11361,1.08,2.08,143.00,1.391,4,0.060,0.054,2854,3751,2835
$GC,11468,0.17,170.3,970.7,20.9,1017,11475,1.02,1.90,0.00,0.000,6,0.206,0.029,2602,2526,2831
$GC,11784,0.41,211.6,942.7,8.4,1033,11827,0.20,2.10,33.67,1.342,4,0.075,0.058,2682,3752,2668
$GC,11866,0.26,211.6,933.2,13.1,1036,11872,0.20,1.90,0.00,0.000,6,0.176,0.030,2632,2513,2666
$GC,12183,0.45,248.6,905.6,8.5,1052,12219,0.17,2.17,30.60,1.329,4,0.078,0.035,2703,1109,2517
$GC,12252,0.45,248.6,898.3,10.9,1054,12256,0.00,2.25,0.00,0.000,6,0.000,0.039,2703,2515,2514
$GC,12574,0.39,248.6,861.7,11.6,1070,12579,0.12,2.15,0.00,0.000,4,0.162,0.033,2677,1113,2511
$GC,12624,0.49,259.9,856.1,9.6,1072,12638,0.00,2.17,9.80,1.194,6,0.000,0.040,2677,2507,2472
$GC,12968,0.53,259.9,821.4,10.0,1089,12973,0.12,1.98,0.00,0.000,4,0.089,0.054,2724,3764,2469
$GC,13002,0.31,259.9,816.5,15.3,1090,13006,0.30,1.90,0.00,0.000,6,0.176,0.030,2650,2489,2469
$GC,13323,0.52,296.6,787.6,8.6,1106,13360,0.17,2.12,31.33,1.285,4,0.082,0.035,2726,1120,2322
$GC,13399,0.52,296.6,778.2,13.0,1108,13405,0.00,2.20,0.00,0.000,6,0.000,0.039,2726,2503,2320
$GC,13715,0.52,296.6,744.0,10.6,1124,13719,0.00,2.12,0.00,0.000,4,0.000,0.034,2732,1113,2317
$GC,13885,0.47,296.6,722.5,12.7,1131,13890,0.15,2.08,0.00,0.000,6,0.163,0.038,2693,2454,2316
$GC,14201,0.53,296.6,684.3,11.5,1146,14205,0.00,2.08,0.00,0.000,4,0.000,0.056,2694,3769,2315
$GC,14284,0.53,296.6,673.2,13.3,1149,14291,0.00,1.95,0.00,0.000,6,0.000,0.030,2694,2460,2314
$GC,14601,0.59,296.6,636.6,11.4,1165,14605,0.12,2.08,0.00,0.000,4,0.088,0.055,2740,3758,2314
$GC,14644,0.38,296.6,629.7,15.9,1167,14649,0.28,1.92,0.00,0.000,6,0.174,0.031,2670,2465,2314
$GC,14971,0.55,308.6,597.1,9.5,1183,14987,0.15,2.05,10.27,1.099,4,0.082,0.034,2732,1098,2272
$GC,15014,0.55,308.6,591.7,12.4,1184,15018,0.00,2.12,0.00,0.000,6,0.000,0.038,2732,2471,2271
$GC,15343,0.49,308.6,553.8,11.1,1200,15346,0.00,2.05,0.00,0.000,4,0.000,0.057,2732,3767,2270
$GC,15449,0.35,308.6,539.4,14.4,1204,15456,0.28,1.95,0.00,0.000,6,0.167,0.031,2661,2456,2270
$GC,15765,0.61,345.1,514.5,8.6,1220,15798,0.20,0.00,30.17,1.113,6,0.074,0.000,2745,2455,2125
$GC,16102,0.61,345.1,471.1,13.1,1246,16105,0.00,2.10,0.00,0.000,4,0.000,0.054,2745,3761,2119
$GC,16147,0.49,345.1,464.6,14.7,1250,16151,0.15,1.92,0.00,0.000,6,0.174,0.031,2708,2483,2118
$GC,16477,0.66,370.7,431.2,9.0,1281,16501,0.15,0.00,21.23,1.035,6,0.080,0.000,2766,2481,2020
$GC,16815,0.61,370.7,386.7,13.1,1313,16819,0.00,2.08,0.00,0.000,4,0.000,0.055,2766,3769,2014
$GC,16838,0.52,370.7,383.3,14.4,1315,16843,0.22,1.95,0.00,0.000,6,0.167,0.030,2712,2469,2013
$GC,17170,0.71,385.8,349.3,9.4,1346,17193,0.17,2.10,12.38,0.931,4,0.073,0.035,2785,1113,1957
$GC,17288,0.71,385.8,333.2,15.6,1356,17294,0.00,2.12,0.00,0.000,6,0.000,0.038,2785,2480,1957
$GC,17616,0.65,385.8,290.2,11.9,1393,17622,0.00,2.08,0.00,0.000,4,0.000,0.033,2785,1103,1955
$GC,17645,0.65,385.8,286.3,12.4,1398,17651,0.00,2.12,0.00,0.000,6,0.000,0.037,2785,2488,1955
$GC,17988,0.65,385.8,240.9,13.1,1459,17995,0.00,2.08,0.00,0.000,4,0.000,0.032,2785,1100,1955
$GC,18091,0.65,385.8,227.7,12.5,1477,18097,0.00,2.05,0.00,0.000,6,0.000,0.035,2785,2451,1955
$GC,18435,0.65,385.8,184.7,12.7,1538,18440,0.00,2.05,0.00,0.000,4,0.000,0.054,2785,3766,1955
$GC,18565,0.59,385.8,165.8,14.2,1561,18572,0.20,1.92,0.00,0.000,6,0.159,0.027,2734,2455,1955
$GC,18912,0.98,491.5,138.7,5.8,1622,19002,0.30,2.08,82.32,0.769,4,0.059,0.031,2871,1106,1527
$GC,19033,0.88,491.5,121.5,17.4,1642,19040,0.15,2.12,0.00,0.000,6,0.163,0.035,2834,2463,1523
$GC,19377,1.01,491.5,74.8,12.1,1703,19385,0.12,2.05,0.00,0.000,4,0.072,0.051,2886,3767,1519
$GC,19481,0.90,491.5,57.8,16.8,1721,19488,0.20,1.95,0.00,0.000,6,0.160,0.026,2839,2430,1519
$GC,19826,1.29,560.8,28.6,7.3,1782,19887,0.30,2.05,53.25,0.645,4,0.058,0.029,2975,1098,1243
$STATE,19998,end climb,SURFACE_DEPTH_REACHED
$STATE,19998,begin surface coast
$FINISH,1.7,1.008364
$STATE,20022,end surface coast,CONTROL_FINISHED_OK
$STATE,20022,begin surface
$SM_CCo,20101,0.00,0.000,0,0,1236,563.21
$SM_GC,2.62,7.72,0.00,0.00,0.058,0.000,0.000,142,2448,1236,-7.50,0.59,563.21
$IRIDIUM_FIX,2439.44,12242.83,120998,202011
$TT8_MAMPS,0.028379
$HUMID,1576
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.4,32.738
$10V_AH,10.7,18.752
$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,29.775,162.350,544.650,0.000,0.000,25.522,36.414,203.647,8.000,0.000,0.000,31.100,3217.326,12868.979,686.202,3111.064,624.823,0.000,2268.428,0.000,3029.092,0.000,54.424,0.000
$DEVICE_MAMPS,244.673,57.525,1441.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.452,1248.759,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97764,1816
$CAP_FILE_SIZE,205863,0
$CFSIZE,260165632,211251200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.412, 40.1,1
$GPS,190609,073106,2451.968,12246.483,37,0.9,37,-3.6