version: 66.04
glider: 167
mission: 2
dive: 76
start: 6 3 109 14 10 25
data:
$ID,167
$MISSION,2
$DIVE,76
$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,-5296.9199
$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,38
$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
$GPS1,140407,2509.370,12337.623,26,1.2,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.7
$GPS2,141002,2509.292,12337.513,14,1.2,14,-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,246.3,45508,-18.3,-12.000
$D_GRID,2045
$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,-1.05,-194.7,0.0,0.0,0,53,0.00,0.00,-36.15,0.000,2,0.000,0.000,145,2428,2629
$GC,56,-1.05,-194.7,3.1,-2.3,6,115,8.48,2.12,-42.53,0.000,4,0.252,0.061,2193,3762,3989
$GC,368,-0.17,-194.7,100.4,-32.1,61,377,1.02,1.95,0.00,0.000,6,0.186,0.025,2485,2391,3991
$GC,715,-1.13,-194.7,131.4,-9.0,122,721,0.82,2.12,0.00,0.000,4,0.081,0.048,2179,3760,3992
$GC,823,-0.39,-194.7,153.4,-27.5,141,830,0.82,1.90,0.00,0.000,6,0.179,0.025,2417,2422,3992
$GC,1168,-0.81,-194.7,178.7,-4.5,202,1175,0.35,2.08,0.00,0.000,4,0.054,0.048,2263,3764,3993
$GC,1209,-0.56,-194.7,183.9,-15.7,209,1216,0.32,1.88,0.00,0.000,6,0.156,0.025,2360,2443,3993
$GC,1555,-0.75,-194.7,216.7,-9.0,270,1561,0.17,2.03,0.00,0.000,4,0.067,0.048,2275,3757,3994
$GC,1601,-0.59,-194.7,222.8,-14.0,278,1608,0.28,1.85,0.00,0.000,6,0.153,0.027,2356,2455,3994
$GC,1947,-0.79,-194.7,251.4,-7.1,339,1954,0.17,2.03,0.00,0.000,4,0.069,0.050,2275,3766,3994
$GC,1983,-0.68,-194.7,255.6,-12.6,345,1990,0.17,1.85,0.00,0.000,6,0.156,0.026,2324,2463,3994
$GC,2329,-0.74,-194.7,292.6,-11.0,406,2334,0.00,2.05,0.00,0.000,4,0.000,0.029,2325,1032,3995
$GC,2353,-0.82,-194.7,295.2,-10.6,410,2359,0.12,2.17,0.00,0.000,6,0.080,0.036,2270,2489,3994
$GC,2681,-0.64,-194.7,344.2,-15.8,444,2685,0.20,1.95,0.00,0.000,4,0.168,0.051,2330,3766,3994
$GC,2811,-0.80,-194.7,358.1,-9.4,455,2818,0.12,1.85,0.00,0.000,6,0.081,0.028,2275,2470,3994
$GC,3136,-0.75,-194.7,397.1,-11.6,486,3139,0.00,2.00,0.00,0.000,4,0.000,0.051,2275,3764,3995
$GC,3174,-0.68,-194.7,402.0,-12.1,489,3181,0.12,1.85,0.00,0.000,6,0.150,0.028,2316,2494,3994
$GC,3500,-0.84,-194.7,430.9,-9.1,520,3504,0.12,1.95,0.00,0.000,4,0.080,0.051,2261,3753,3995
$GC,3550,-0.77,-194.7,437.0,-12.4,524,3557,0.12,1.80,0.00,0.000,6,0.163,0.028,2294,2497,3994
$GC,3876,-0.85,-194.7,470.1,-8.8,555,3879,0.00,2.10,0.00,0.000,4,0.000,0.031,2294,1037,3994
$GC,3915,-0.97,-194.7,473.8,-8.9,558,3921,0.17,2.17,0.00,0.000,6,0.073,0.038,2220,2488,3994
$GC,4237,-0.74,-194.7,518.0,-14.1,583,4241,0.25,1.95,0.00,0.000,4,0.173,0.051,2289,3760,3993
$GC,4276,-0.74,-194.7,522.8,-10.8,584,4282,0.00,1.83,0.00,0.000,6,0.000,0.029,2289,2492,3993
$GC,4594,-0.85,-194.7,550.4,-8.9,600,4598,0.00,1.98,0.00,0.000,4,0.000,0.054,2290,3761,3992
$GC,4622,-0.96,-194.7,553.4,-9.4,601,4626,0.15,1.83,0.00,0.000,6,0.079,0.030,2228,2497,3992
$GC,4948,-0.82,-194.7,594.6,-12.9,617,4952,0.17,1.98,0.00,0.000,4,0.165,0.054,2275,3762,3991
$GC,4994,-0.87,-194.7,599.6,-9.9,619,5002,0.00,1.83,0.00,0.000,6,0.000,0.031,2275,2503,3990
$GC,5329,-0.96,-194.7,629.2,-8.5,635,5334,0.12,2.12,0.00,0.000,4,0.084,0.031,2223,1043,3988
$GC,5385,-0.86,-194.7,635.6,-11.8,637,5392,0.17,2.20,0.00,0.000,6,0.166,0.039,2268,2497,3988
$GC,5702,-0.92,-194.7,666.3,-9.6,653,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2497,3986
$GC,6011,-1.00,-194.7,692.3,-8.2,668,6013,0.15,0.00,0.00,0.000,6,0.082,0.000,2210,2498,3984
$GC,6320,-0.85,-194.7,729.5,-12.6,683,6324,0.20,1.95,0.00,0.000,4,0.176,0.055,2261,3757,3982
$GC,6358,-0.85,-194.7,733.9,-10.0,684,6364,0.00,1.85,0.00,0.000,6,0.000,0.033,2262,2497,3982
$GC,6675,-0.92,-194.7,761.5,-8.5,700,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2497,3980
$GC,6984,-1.00,-194.7,786.7,-8.4,715,6988,0.12,1.98,0.00,0.000,4,0.089,0.058,2209,3750,3978
$GC,7034,-0.86,-194.7,792.5,-11.8,717,7038,0.20,1.83,0.00,0.000,6,0.172,0.033,2263,2507,3977
$GC,7362,-0.95,-194.7,821.2,-8.6,733,7366,0.00,2.15,0.00,0.000,4,0.000,0.034,2263,1042,3976
$GC,7386,-1.06,-194.7,823.4,-8.5,734,7390,0.17,2.22,0.00,0.000,6,0.080,0.041,2193,2500,3975
$GC,7713,-0.89,-194.7,863.4,-12.2,750,7718,0.20,1.95,0.00,0.000,4,0.177,0.057,2246,3754,3974
$GC,7747,-0.89,-194.7,867.5,-10.8,751,7750,0.00,1.83,0.00,0.000,6,0.000,0.033,2246,2511,3974
$GC,8068,-0.89,-194.7,896.3,-8.9,767,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2511,3972
$GC,8377,-0.89,-194.7,924.9,-9.4,782,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2510,3970
$GC,8686,-0.89,-194.7,953.7,-9.1,797,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2510,3969
$GC,8996,-0.89,-194.7,981.8,-9.0,812,9000,0.00,1.98,0.00,0.000,4,0.000,0.061,2246,3754,3968
$GC,9029,-0.89,-194.7,985.1,-9.9,813,9033,0.00,1.85,0.00,0.000,6,0.000,0.035,2246,2523,3968
$STATE,9100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9106,-0.22,0.0,991.7,9.1,817,9197,0.73,0.00,88.28,1.447,6,0.154,0.000,2469,2521,3532
$STATE,9198,end apogee,CONTROL_FINISHED_OK
$STATE,9198,begin climb
$GC,9200,1.05,194.7,994.2,0.0,821,9371,1.15,2.30,159.52,1.400,4,0.060,0.038,2885,1139,2737
$GC,9540,0.50,194.7,956.8,19.3,837,9545,0.68,2.17,0.00,0.000,6,0.203,0.043,2708,2504,2732
$GC,9861,0.43,215.9,919.1,11.1,853,9881,0.00,0.00,17.67,1.297,6,0.000,0.000,2708,2504,2652
$GC,10190,0.41,243.5,882.5,10.9,869,10220,0.00,2.08,23.35,1.310,4,0.000,0.059,2708,3751,2538
$GC,10243,0.31,243.5,876.2,13.0,871,10247,0.22,1.88,0.00,0.000,6,0.182,0.031,2649,2531,2536
$GC,10564,0.61,335.0,849.9,8.2,887,10647,0.25,0.00,75.90,1.319,6,0.077,0.000,2745,2528,2165
$GC,10958,0.61,335.0,791.2,15.1,906,10961,0.00,2.00,0.00,0.000,4,0.000,0.058,2745,3757,2156
$GC,11013,0.49,335.0,781.5,17.7,908,11018,0.15,1.90,0.00,0.000,6,0.187,0.033,2710,2500,2155
$GC,11335,0.61,349.8,743.2,11.4,924,11356,0.00,2.17,11.82,1.176,4,0.000,0.037,2718,1106,2104
$GC,11380,0.77,356.5,737.8,11.7,926,11394,0.20,2.22,7.22,1.056,6,0.078,0.042,2791,2520,2078
$GC,11712,0.61,356.5,674.1,21.0,942,11716,0.17,1.98,0.00,0.000,4,0.189,0.058,2743,3766,2074
$GC,11761,0.61,356.5,663.5,20.4,944,11764,0.00,1.90,0.00,0.000,6,0.000,0.033,2745,2527,2073
$GC,12088,0.61,356.5,613.4,14.4,960,12092,0.00,2.12,0.00,0.000,4,0.000,0.038,2746,1108,2072
$GC,12161,0.72,356.5,603.5,13.9,963,12164,0.00,2.20,0.00,0.000,6,0.000,0.043,2746,2524,2072
$GC,12487,0.72,356.5,556.7,14.5,979,12491,0.00,1.95,0.00,0.000,4,0.000,0.058,2746,3772,2071
$GC,12582,0.64,356.5,540.9,16.5,983,12586,0.00,1.85,0.00,0.000,6,0.000,0.032,2746,2529,2071
$GC,12900,0.64,356.5,495.5,13.6,1000,12903,0.00,1.95,0.00,0.000,4,0.000,0.057,2746,3760,2070
$GC,12938,0.64,356.5,489.5,15.2,1003,12946,0.00,1.83,0.00,0.000,6,0.000,0.034,2746,2531,2070
$GC,13266,0.70,356.5,443.5,13.7,1034,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2530,2070
$GC,13593,0.75,356.5,400.9,13.2,1065,13597,0.12,1.95,0.00,0.000,4,0.088,0.058,2795,3762,2070
$GC,13687,0.57,356.5,383.8,17.9,1073,13694,0.25,1.80,0.00,0.000,6,0.181,0.033,2734,2537,2070
$GC,14013,0.71,363.8,342.7,11.7,1104,14023,0.12,0.00,6.22,0.816,6,0.085,0.000,2783,2535,2048
$GC,14342,0.71,363.8,293.0,13.9,1139,14349,0.00,1.95,0.00,0.000,4,0.000,0.059,2783,3766,2048
$GC,14373,0.63,363.8,288.1,17.3,1144,14380,0.15,1.80,0.00,0.000,6,0.184,0.031,2751,2534,2048
$GC,14718,0.75,363.8,240.8,12.5,1205,14725,0.10,2.10,0.00,0.000,4,0.093,0.034,2794,1105,2048
$GC,14760,0.80,363.8,235.0,14.8,1212,14766,0.00,2.17,0.00,0.000,6,0.000,0.039,2794,2548,2048
$GC,15103,0.80,363.8,183.7,14.5,1273,15109,0.00,1.88,0.00,0.000,4,0.000,0.053,2794,3772,2049
$GC,15189,0.72,363.8,170.2,16.0,1288,15195,0.00,1.80,0.00,0.000,6,0.000,0.028,2802,2524,2049
$GC,15532,0.72,363.8,126.8,13.7,1349,15538,0.00,2.05,0.00,0.000,4,0.000,0.034,2803,1119,2050
$GC,15573,0.81,363.8,121.7,12.7,1356,15579,0.00,2.15,0.00,0.000,6,0.000,0.037,2803,2551,2050
$GC,15917,0.86,363.8,77.9,12.7,1417,15923,0.00,2.12,0.00,0.000,4,0.000,0.032,2803,1109,2051
$GC,15952,1.02,380.5,73.8,11.3,1423,15973,0.20,2.15,14.93,0.682,6,0.067,0.037,2885,2542,1980
$GC,16312,0.91,380.5,20.3,13.8,1486,16318,0.17,2.10,0.00,0.000,4,0.176,0.031,2841,1120,1979
$STATE,16473,end climb,SURFACE_DEPTH_REACHED
$STATE,16474,begin surface coast
$FINISH,1.6,1.021684
$STATE,16503,end surface coast,CONTROL_FINISHED_OK
$STATE,16503,begin surface
$SM_CCo,16522,31.48,0.635,0,0,1798,425.10
$SM_GC,2.62,0.00,0.00,31.48,0.000,0.000,0.635,145,2439,1798,-7.50,0.34,425.10
$IRIDIUM_FIX,2500.82,12340.74,280898,090942
$TT8_MAMPS,0.029146
$HUMID,1564
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,16.936
$10V_AH,10.8,10.439
$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,27.475,135.500,404.925,31.475,0.000,24.885,36.032,171.210,8.000,0.000,0.000,14.433,2715.181,10503.762,585.886,2580.136,519.859,0.000,1902.598,0.000,2518.592,0.000,54.426,0.000
$DEVICE_MAMPS,251.576,61.360,1447.329,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.974,1033.953,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81921,1520
$CAP_FILE_SIZE,170043,0
$CFSIZE,260165632,218882048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,141.9,1
$GPS,030609,184736,2507.031,12336.141,40,1.1,41,-3.7