version: 66.04
glider: 167
mission: 2
dive: 75
start: 6 3 109 9 30 30
data:
$ID,167
$MISSION,2
$DIVE,75
$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,275
$T_MISSION,330
$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,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,-5281.8569
$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,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
$GPS1,092037,2512.254,12338.867,31,1.0,32,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.1
$GPS2,093008,2512.003,12338.925,15,1.0,15,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2448.000,12324.000
$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,241.6,51047,-18.3,-12.000
$D_GRID,2023
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.05,-194.7,0.0,0.0,0,49,0.00,0.00,-30.33,0.000,2,0.000,0.000,144,2426,2459
$GC,52,-1.05,-194.7,3.1,-2.8,5,124,8.43,2.10,-55.40,0.000,4,0.249,0.061,2194,3765,3989
$GC,361,-0.18,-194.7,88.4,-31.1,58,368,1.00,1.98,0.00,0.000,6,0.180,0.025,2481,2413,3991
$GC,705,-1.02,-194.7,120.4,-9.1,119,713,0.70,2.00,0.00,0.000,4,0.083,0.028,2222,1021,3993
$GC,731,-1.26,-194.7,123.2,-10.8,123,738,0.22,2.10,0.00,0.000,6,0.068,0.034,2130,2429,3993
$GC,1075,-0.45,-194.7,222.7,-28.9,184,1082,0.93,0.00,0.00,0.000,6,0.202,0.000,2391,2429,3993
$GC,1421,-0.84,-194.7,249.3,-5.1,245,1426,0.30,0.00,0.00,0.000,6,0.056,0.000,2259,2432,3994
$GC,1765,-0.60,-194.7,299.9,-13.6,306,1772,0.28,0.00,0.00,0.000,6,0.163,0.000,2344,2432,3994
$GC,2090,-0.80,-194.7,326.1,-7.7,337,2094,0.17,2.03,0.00,0.000,4,0.070,0.051,2262,3751,3994
$GC,2136,-0.65,-194.7,331.3,-12.9,341,2141,0.25,1.92,0.00,0.000,6,0.153,0.028,2335,2408,3994
$GC,2467,-0.84,-194.7,360.0,-8.3,372,2472,0.17,2.10,0.00,0.000,4,0.071,0.051,2257,3763,3994
$GC,2530,-0.70,-194.7,368.0,-14.2,377,2534,0.20,1.90,0.00,0.000,6,0.157,0.028,2314,2433,3994
$GC,2861,-0.83,-194.7,400.6,-9.0,408,2863,0.12,0.00,0.00,0.000,6,0.080,0.000,2262,2433,3994
$GC,3182,-0.75,-194.7,440.2,-12.0,438,3186,0.15,2.05,0.00,0.000,4,0.166,0.052,2302,3754,3993
$GC,3250,-0.88,-194.7,447.6,-8.9,444,3254,0.12,1.90,0.00,0.000,6,0.084,0.028,2248,2433,3994
$GC,3580,-0.76,-194.7,489.5,-12.5,475,3585,0.17,2.05,0.00,0.000,4,0.162,0.053,2302,3756,3993
$GC,3614,-0.82,-194.7,493.2,-9.9,478,3618,0.00,1.88,0.00,0.000,6,0.000,0.029,2302,2449,3993
$GC,3950,-0.97,-194.7,520.4,-8.3,498,3954,0.17,2.03,0.00,0.000,4,0.076,0.053,2221,3750,3992
$GC,4005,-0.77,-194.7,527.7,-14.1,500,4009,0.25,1.85,0.00,0.000,6,0.163,0.030,2292,2468,3991
$GC,4328,-0.91,-194.7,555.9,-8.2,516,4332,0.12,2.00,0.00,0.000,4,0.084,0.054,2243,3763,3990
$GC,4366,-0.85,-194.7,560.2,-11.3,517,4372,0.00,1.88,0.00,0.000,6,0.000,0.029,2243,2464,3989
$GC,4683,-0.79,-194.7,596.6,-11.4,533,4687,0.17,2.08,0.00,0.000,4,0.165,0.030,2298,1033,3988
$GC,4761,-0.99,-194.7,603.8,-8.4,536,4769,0.20,2.15,0.00,0.000,6,0.075,0.038,2218,2461,3987
$GC,5076,-0.85,-194.7,641.9,-12.2,552,5078,0.20,0.00,0.00,0.000,6,0.171,0.000,2274,2461,3985
$GC,5386,-0.95,-194.7,666.6,-7.9,567,5390,0.00,2.00,0.00,0.000,4,0.000,0.058,2273,3754,3983
$GC,5432,-1.07,-194.7,670.3,-8.3,569,5437,0.20,1.88,0.00,0.000,6,0.074,0.031,2195,2470,3983
$GC,5767,-0.87,-194.7,712.4,-12.5,585,5769,0.25,0.00,0.00,0.000,6,0.166,0.000,2265,2470,3981
$GC,6074,-0.95,-194.7,736.4,-7.3,600,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2470,3979
$GC,6383,-1.04,-194.7,760.2,-8.5,615,6387,0.17,2.03,0.00,0.000,4,0.081,0.058,2195,3755,3976
$GC,6444,-0.84,-194.7,768.0,-13.4,617,6451,0.28,1.88,0.00,0.000,6,0.172,0.033,2273,2479,3976
$GC,6761,-0.97,-194.7,795.9,-8.8,633,6763,0.12,0.00,0.00,0.000,6,0.087,0.000,2225,2478,3974
$GC,7070,-0.92,-194.7,830.0,-11.0,648,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2478,3972
$GC,7379,-0.87,-194.7,862.7,-10.2,663,7383,0.15,2.03,0.00,0.000,4,0.177,0.059,2261,3754,3970
$GC,7429,-0.96,-194.7,867.3,-8.8,665,7433,0.00,1.88,0.00,0.000,6,0.000,0.034,2261,2485,3970
$GC,7757,-1.06,-194.7,893.6,-8.0,681,7761,0.17,2.12,0.00,0.000,4,0.083,0.034,2188,1028,3969
$GC,7784,-0.95,-194.7,896.5,-11.1,682,7789,0.17,2.22,0.00,0.000,6,0.179,0.043,2234,2483,3969
$GC,8105,-0.95,-194.7,927.7,-9.5,698,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2482,3967
$GC,8414,-0.95,-194.7,956.7,-9.2,713,8418,0.00,2.00,0.00,0.000,4,0.000,0.061,2232,3763,3966
$GC,8447,-0.95,-194.7,960.1,-9.6,714,8451,0.00,1.90,0.00,0.000,6,0.000,0.034,2232,2480,3966
$GC,8769,-0.95,-194.7,988.9,-8.9,730,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2479,3964
$STATE,8786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8786,begin apogee
$GC,8792,-0.22,0.0,990.7,8.9,731,8883,0.77,0.00,87.60,1.453,6,0.160,0.000,2469,2478,3532
$STATE,8883,end apogee,CONTROL_FINISHED_OK
$STATE,8883,begin climb
$GC,8886,1.05,194.7,992.7,0.0,735,9059,1.17,2.22,159.70,1.407,4,0.066,0.038,2892,1128,2737
$GC,9307,0.48,194.7,937.8,19.6,754,9312,0.70,2.20,0.00,0.000,6,0.208,0.045,2708,2508,2732
$GC,9634,0.45,230.6,901.0,10.5,770,9666,0.00,0.00,29.75,1.331,6,0.000,0.000,2708,2509,2590
$GC,9964,0.46,238.0,863.7,11.7,786,9977,0.00,2.08,6.78,1.108,4,0.000,0.061,2708,3757,2561
$GC,10018,0.35,238.0,857.0,13.4,788,10022,0.20,1.90,0.00,0.000,6,0.187,0.033,2656,2510,2560
$GC,10339,0.61,318.4,828.7,8.7,804,10411,0.20,2.15,66.43,1.322,4,0.081,0.060,2736,3749,2233
$GC,10452,0.51,318.4,813.1,16.1,809,10457,0.15,1.95,0.00,0.000,6,0.186,0.031,2709,2491,2228
$GC,10780,0.58,318.4,772.2,12.2,825,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2490,2225
$GC,11088,0.66,318.4,734.8,12.3,840,11093,0.15,2.05,0.00,0.000,4,0.087,0.059,2766,3762,2223
$GC,11179,0.49,318.4,718.8,19.4,844,11183,0.25,1.92,0.00,0.000,6,0.186,0.035,2706,2488,2223
$GC,11513,0.61,333.2,678.5,11.4,860,11535,0.10,2.12,11.80,1.160,4,0.099,0.060,2743,3762,2172
$GC,11569,0.51,333.2,670.0,16.2,862,11573,0.15,1.92,0.00,0.000,6,0.189,0.035,2710,2495,2171
$GC,11890,0.62,333.2,630.5,12.2,878,11894,0.10,2.03,0.00,0.000,4,0.097,0.060,2746,3762,2169
$GC,11928,0.54,333.2,624.5,16.3,879,11934,0.12,1.90,0.00,0.000,6,0.190,0.035,2720,2501,2169
$GC,12244,0.63,333.2,584.0,12.7,895,12247,0.00,2.10,0.00,0.000,4,0.000,0.039,2720,1100,2168
$GC,12299,0.79,333.2,577.1,12.1,897,12304,0.22,2.15,0.00,0.000,6,0.074,0.040,2806,2499,2168
$GC,12615,0.61,333.2,520.5,17.7,912,12619,0.20,1.98,0.00,0.000,4,0.189,0.056,2748,3763,2168
$GC,12751,0.53,333.2,499.1,15.0,918,12756,0.08,1.88,0.00,0.000,6,0.185,0.033,2716,2518,2167
$GC,13082,0.68,346.8,461.4,11.4,949,13096,0.15,0.00,11.57,1.018,6,0.081,0.000,2773,2516,2117
$GC,13410,0.68,346.8,410.9,15.7,980,13414,0.00,2.00,0.00,0.000,4,0.000,0.059,2773,3768,2115
$GC,13444,0.57,346.8,404.9,19.2,983,13448,0.17,1.85,0.00,0.000,6,0.183,0.032,2730,2524,2115
$GC,13775,0.74,386.1,364.8,10.4,1014,13809,0.15,0.00,31.95,0.976,6,0.080,0.000,2788,2521,1957
$GC,14123,0.74,386.1,311.9,15.6,1047,14127,0.00,1.98,0.00,0.000,4,0.000,0.056,2788,3759,1951
$GC,14185,0.65,386.1,301.4,16.8,1052,14193,0.12,1.83,0.00,0.000,6,0.187,0.031,2759,2530,1951
$GC,14527,0.75,386.1,255.8,13.5,1112,14534,0.00,2.10,0.00,0.000,4,0.000,0.035,2762,1114,1950
$GC,14569,0.93,390.4,250.8,11.8,1119,14583,0.22,2.17,4.00,0.599,6,0.071,0.038,2851,2536,1941
$GC,14922,0.77,390.4,184.3,19.2,1181,14929,0.17,1.90,0.00,0.000,4,0.176,0.054,2801,3764,1941
$GC,14963,0.77,390.4,176.7,16.4,1188,14970,0.00,1.80,0.00,0.000,6,0.000,0.031,2803,2529,1941
$GC,15308,0.77,390.4,128.5,13.4,1249,15314,0.00,2.08,0.00,0.000,4,0.000,0.035,2803,1117,1941
$GC,15371,0.90,390.4,120.4,12.5,1260,15378,0.00,2.15,0.00,0.000,6,0.000,0.038,2804,2539,1941
$GC,15717,1.04,426.3,76.5,10.5,1321,15753,0.17,2.15,29.27,0.703,4,0.071,0.033,2882,1109,1794
$GC,15771,0.93,426.3,68.4,15.7,1330,15778,0.15,2.17,0.00,0.000,6,0.173,0.038,2845,2521,1793
$GC,16116,1.00,426.3,22.1,12.2,1391,16122,0.00,2.10,0.00,0.000,4,0.000,0.032,2848,1107,1790
$GC,16168,1.13,440.6,15.9,11.4,1400,16187,0.17,2.12,12.45,0.614,6,0.072,0.035,2918,2519,1734
$STATE,16253,end climb,SURFACE_DEPTH_REACHED
$STATE,16253,begin surface coast
$FINISH,1.5,1.006730
$STATE,16279,end surface coast,CONTROL_FINISHED_OK
$STATE,16279,begin surface
$SM_CCo,16356,0.00,0.000,0,0,1730,441.79
$SM_GC,2.57,7.50,0.00,0.00,0.062,0.000,0.000,144,2428,1730,-7.50,0.03,441.79
$IRIDIUM_FIX,2500.82,12338.76,280898,090926
$TT8_MAMPS,0.029146
$HUMID,1542
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,16.763
$10V_AH,10.8,10.349
$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,29.450,116.950,451.300,0.000,0.000,55.743,66.838,247.798,8.000,0.000,0.000,15.836,2559.708,10660.287,566.252,2469.671,662.435,0.000,1834.166,0.000,2411.952,0.000,54.419,0.000
$DEVICE_MAMPS,248.508,61.360,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,961.485,941.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75815,1419
$CAP_FILE_SIZE,167142,0
$CFSIZE,260165632,218976256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,137.7,1
$GPS,030609,140407,2509.370,12337.623,26,1.2,27,-3.7