version: 66.04
glider: 167
mission: 2
dive: 77
start: 6 3 109 18 57 21
data:
$ID,167
$MISSION,2
$DIVE,77
$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,-5319.2207
$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,74
$R_STBD_OVSHOOT,39
$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
$GPS1,184736,2507.031,12336.141,40,1.1,41,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-67.9
$GPS2,185700,2506.979,12336.125,17,1.3,21,-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,249.3,40633,-18.3,-12.000
$D_GRID,2041
$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,14,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.10,0.000,2,0.000,0.000,145,2439,2647
$GC,54,-1.05,-194.7,3.1,-3.3,6,114,8.50,2.12,-42.35,0.000,4,0.254,0.044,2198,1037,3990
$GC,228,-0.29,-194.7,40.9,-33.1,36,235,0.93,2.12,0.00,0.000,6,0.193,0.037,2447,2435,3991
$GC,573,-0.69,-194.7,69.3,-5.4,97,579,0.32,2.05,0.00,0.000,4,0.054,0.028,2306,1037,3992
$GC,602,-0.69,-194.7,72.5,-12.2,102,608,0.00,2.10,0.00,0.000,6,0.000,0.035,2302,2438,3993
$GC,946,-0.43,-194.7,131.4,-18.0,163,953,0.32,2.05,0.00,0.000,4,0.165,0.027,2402,1027,3993
$GC,983,-0.57,-194.7,136.2,-10.4,169,989,0.12,2.05,0.00,0.000,6,0.077,0.034,2344,2411,3993
$GC,1327,-0.62,-194.7,175.6,-12.4,230,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2411,3994
$GC,1670,-0.71,-194.7,210.4,-8.5,291,1677,0.00,2.05,0.00,0.000,4,0.000,0.050,2343,3755,3995
$GC,1701,-0.83,-194.7,213.1,-9.0,296,1708,0.17,1.98,0.00,0.000,6,0.068,0.026,2269,2364,3995
$GC,2046,-0.62,-194.7,263.0,-13.7,357,2052,0.22,2.15,0.00,0.000,4,0.155,0.048,2331,3762,3995
$GC,2121,-0.74,-194.7,270.5,-8.7,370,2128,0.00,1.98,0.00,0.000,6,0.000,0.027,2331,2372,3995
$GC,2465,-0.85,-194.7,302.1,-9.1,429,2470,0.17,2.12,0.00,0.000,4,0.071,0.049,2247,3747,3995
$GC,2516,-0.58,-194.7,309.2,-15.2,433,2520,0.35,1.92,0.00,0.000,6,0.159,0.026,2350,2390,3995
$GC,2841,-0.82,-194.7,335.7,-7.6,463,2845,0.17,1.92,0.00,0.000,4,0.068,0.028,2271,1046,3995
$GC,2891,-0.78,-194.7,341.3,-11.8,467,2898,0.00,2.03,0.00,0.000,6,0.000,0.036,2271,2404,3995
$GC,3216,-0.67,-194.7,386.0,-13.6,498,3220,0.17,2.00,0.00,0.000,4,0.166,0.029,2326,1033,3995
$GC,3266,-0.84,-194.7,391.3,-9.5,502,3272,0.15,2.05,0.00,0.000,6,0.073,0.036,2263,2412,3995
$GC,3591,-0.75,-194.7,429.3,-12.0,533,3595,0.15,2.05,0.00,0.000,4,0.161,0.051,2302,3750,3995
$GC,3681,-0.86,-194.7,438.7,-9.1,541,3685,0.10,1.90,0.00,0.000,6,0.088,0.028,2258,2422,3995
$GC,4011,-0.78,-194.7,480.9,-13.9,572,4015,0.12,2.00,0.00,0.000,4,0.163,0.031,2292,1040,3994
$GC,4118,-0.90,-194.7,492.7,-10.3,581,4124,0.00,2.05,0.00,0.000,6,0.000,0.038,2289,2405,3994
$GC,4449,-0.97,-194.7,525.9,-10.2,601,4453,0.17,2.08,0.00,0.000,4,0.076,0.053,2207,3754,3993
$GC,4521,-0.71,-194.7,536.6,-15.4,604,4525,0.35,1.98,0.00,0.000,6,0.164,0.028,2310,2385,3993
$GC,4837,-0.90,-194.7,560.3,-6.5,619,4839,0.17,0.00,0.00,0.000,6,0.072,0.000,2239,2385,3991
$GC,5146,-0.84,-194.7,593.6,-10.7,634,5150,0.12,2.15,0.00,0.000,4,0.167,0.054,2271,3758,3990
$GC,5219,-0.90,-194.7,600.5,-8.9,637,5223,0.00,1.98,0.00,0.000,6,0.000,0.031,2271,2398,3990
$GC,5546,-0.97,-194.7,630.4,-9.3,653,5548,0.12,0.00,0.00,0.000,6,0.081,0.000,2219,2398,3987
$GC,5856,-0.83,-194.7,668.0,-12.3,668,5858,0.20,0.00,0.00,0.000,6,0.173,0.000,2273,2397,3985
$GC,6165,-0.93,-194.7,693.6,-7.9,683,6169,0.00,2.15,0.00,0.000,4,0.000,0.058,2273,3763,3983
$GC,6221,-1.06,-194.7,698.1,-8.2,685,6225,0.20,1.98,0.00,0.000,6,0.073,0.031,2194,2411,3983
$GC,6543,-0.86,-194.7,738.1,-13.0,701,6548,0.22,2.00,0.00,0.000,4,0.166,0.033,2262,1027,3981
$GC,6627,-0.97,-194.7,747.1,-9.6,704,6633,0.00,2.08,0.00,0.000,6,0.000,0.040,2261,2400,3981
$GC,6944,-1.04,-194.7,775.4,-8.7,720,6946,0.15,0.00,0.00,0.000,6,0.082,0.000,2202,2401,3978
$GC,7252,-0.88,-194.7,811.0,-12.1,735,7256,0.17,2.03,0.00,0.000,4,0.180,0.033,2253,1040,3976
$GC,7291,-0.95,-194.7,815.3,-10.0,736,7297,0.00,2.08,0.00,0.000,6,0.000,0.041,2253,2401,3976
$GC,7607,-1.00,-194.7,843.2,-8.6,752,7611,0.00,2.12,0.00,0.000,4,0.000,0.058,2253,3764,3975
$GC,7658,-1.05,-194.7,848.1,-9.3,754,7662,0.15,2.03,0.00,0.000,6,0.082,0.031,2194,2382,3974
$GC,7984,-0.88,-194.7,889.3,-12.7,770,7989,0.20,2.17,0.00,0.000,4,0.169,0.055,2247,3763,3972
$GC,8011,-0.88,-194.7,892.6,-11.8,771,8015,0.00,2.05,0.00,0.000,6,0.000,0.032,2247,2396,3972
$GC,8333,-0.88,-194.7,923.3,-9.4,787,8337,0.00,2.15,0.00,0.000,4,0.000,0.058,2247,3755,3970
$GC,8371,-0.88,-194.7,927.3,-10.4,788,8377,0.00,2.00,0.00,0.000,6,0.000,0.034,2246,2399,3970
$GC,8688,-0.93,-194.7,957.7,-9.7,804,8692,0.00,2.15,0.00,0.000,4,0.000,0.058,2246,3759,3969
$GC,8726,-0.93,-194.7,961.7,-10.2,805,8732,0.00,2.00,0.00,0.000,6,0.000,0.034,2245,2403,3969
$STATE,9039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9039,begin apogee
$GC,9046,-0.22,0.0,990.8,8.7,821,9141,0.73,0.00,88.38,1.440,6,0.155,0.000,2469,2506,3531
$STATE,9142,end apogee,CONTROL_FINISHED_OK
$STATE,9142,begin climb
$GC,9144,1.05,194.7,993.8,0.0,826,9313,1.17,2.20,159.50,1.398,4,0.058,0.057,2889,3764,2737
$GC,9415,0.30,194.7,963.2,24.8,839,9421,0.98,1.95,0.00,0.000,6,0.217,0.031,2649,2500,2733
$GC,9743,0.45,233.8,927.2,10.4,855,9780,0.12,2.12,32.40,1.331,4,0.094,0.058,2696,3768,2578
$GC,9877,0.36,233.8,908.2,15.0,860,9882,0.15,1.92,0.00,0.000,6,0.189,0.032,2667,2509,2574
$GC,10205,0.49,252.1,870.3,11.2,876,10227,0.12,2.05,14.90,1.262,4,0.089,0.058,2713,3768,2504
$GC,10313,0.38,252.1,854.2,15.7,880,10320,0.20,1.90,0.00,0.000,6,0.183,0.033,2668,2518,2502
$GC,10630,0.53,274.2,818.3,11.1,896,10655,0.15,2.08,19.25,1.269,4,0.085,0.060,2723,3755,2414
$GC,10778,0.42,274.2,795.5,16.0,902,10785,0.20,1.85,0.00,0.000,6,0.183,0.033,2678,2531,2411
$GC,11094,0.61,324.8,763.0,9.9,918,11142,0.17,2.08,41.90,1.270,4,0.080,0.061,2751,3758,2207
$GC,11187,0.48,324.8,748.7,17.8,922,11191,0.22,1.85,0.00,0.000,6,0.179,0.034,2701,2561,2204
$GC,11514,0.60,324.8,707.7,12.7,938,11518,0.12,1.95,0.00,0.000,4,0.091,0.059,2747,3765,2200
$GC,11586,0.50,324.8,695.2,18.5,941,11590,0.15,1.80,0.00,0.000,6,0.186,0.033,2713,2569,2200
$GC,11912,0.59,324.8,651.9,13.1,957,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2566,2199
$GC,12222,0.69,324.8,612.2,12.7,972,12227,0.15,1.90,0.00,0.000,4,0.081,0.058,2771,3761,2198
$GC,12381,0.49,324.8,583.8,17.8,979,12385,0.20,1.83,0.00,0.000,6,0.181,0.035,2703,2564,2197
$GC,12713,0.67,347.0,545.2,11.1,995,12735,0.17,0.00,17.75,1.108,6,0.075,0.000,2771,2563,2117
$GC,13043,0.60,347.0,494.3,15.2,1012,13047,0.12,1.92,0.00,0.000,4,0.187,0.058,2742,3762,2113
$GC,13122,0.60,347.0,481.9,15.2,1019,13126,0.00,1.77,0.00,0.000,6,0.000,0.034,2745,2571,2112
$GC,13454,0.66,347.0,434.8,13.5,1050,13458,0.00,1.90,0.00,0.000,4,0.000,0.057,2745,3768,2111
$GC,13522,0.66,347.0,424.7,14.5,1056,13526,0.00,1.75,0.00,0.000,6,0.000,0.033,2745,2582,2111
$GC,13854,0.73,347.0,381.2,12.7,1087,13859,0.10,2.20,0.00,0.000,4,0.096,0.036,2786,1106,2111
$GC,13875,0.73,347.0,378.0,13.4,1088,13881,0.00,2.28,0.00,0.000,6,0.000,0.041,2786,2586,2111
$GC,14202,0.68,347.0,329.8,14.8,1119,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2586,2111
$GC,14525,0.68,347.0,277.2,17.3,1161,14531,0.00,1.83,0.00,0.000,4,0.000,0.058,2786,3766,2111
$GC,14576,0.59,347.0,268.2,17.2,1170,14583,0.20,1.75,0.00,0.000,6,0.175,0.031,2733,2561,2111
$GC,14921,0.81,396.8,231.1,9.9,1231,14969,0.17,1.98,39.10,0.845,4,0.073,0.056,2810,3757,1913
$GC,15045,0.72,396.8,210.9,18.1,1252,15052,0.15,1.77,0.00,0.000,6,0.179,0.030,2778,2561,1909
$GC,15390,0.83,396.8,162.9,13.4,1313,15396,0.00,2.15,0.00,0.000,4,0.000,0.034,2786,1112,1908
$GC,15436,1.01,396.8,157.0,12.7,1321,15442,0.22,2.25,0.00,0.000,6,0.066,0.039,2877,2577,1908
$GC,15780,0.83,396.8,94.8,17.9,1382,15787,0.20,2.20,0.00,0.000,4,0.182,0.031,2827,1100,1908
$GC,15816,0.83,396.8,88.9,14.4,1388,15822,0.00,2.20,0.00,0.000,6,0.000,0.037,2827,2555,1908
$GC,16160,0.89,396.8,42.5,13.6,1449,16166,0.00,1.85,0.00,0.000,4,0.000,0.054,2827,3762,1908
$GC,16228,0.89,396.8,33.1,14.1,1461,16234,0.00,1.80,0.00,0.000,6,0.000,0.028,2828,2512,1908
$STATE,16496,end climb,SURFACE_DEPTH_REACHED
$STATE,16496,begin surface coast
$FINISH,1.4,1.010128
$STATE,16525,end surface coast,CONTROL_FINISHED_OK
$STATE,16525,begin surface
$SM_CCo,16542,19.08,0.628,0,0,1798,425.10
$SM_GC,2.25,0.00,0.00,19.08,0.000,0.000,0.628,144,2419,1798,-7.50,-0.23,425.10
$IRIDIUM_FIX,2458.45,12334.15,280898,181824
$TT8_MAMPS,0.029146
$HUMID,1564
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,17.113
$10V_AH,10.8,10.532
$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,27.600,137.125,413.175,19.075,0.000,58.791,64.538,237.412,8.000,0.000,0.000,21.671,2717.719,10514.557,574.963,2654.183,657.228,0.000,1918.153,0.000,2584.733,0.000,54.419,0.000
$DEVICE_MAMPS,253.877,91.273,1439.659,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.478,1039.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81920,1514
$CAP_FILE_SIZE,176769,0
$CFSIZE,260165632,218791936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,150.5,1
$GPS,030609,233436,2504.020,12334.689,36,1.2,37,-3.7