version: 66.04
glider: 167
mission: 2
dive: 78
start: 6 3 109 23 41 30
data:
$ID,167
$MISSION,2
$DIVE,78
$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,-5334.085
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,233436,2504.020,12334.689,36,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-68.5
$GPS2,234108,2503.933,12334.649,14,1.2,14,-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,251.0,34515,-18.3,-12.000
$D_GRID,2047
$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,-194.7,0.0,0.0,0,49,0.00,0.00,-31.73,0.000,2,0.000,0.000,144,2419,2577
$GC,52,-1.05,-194.7,3.0,-2.1,5,114,8.60,2.10,-44.35,0.000,4,0.257,0.044,2195,1025,3990
$GC,232,-0.37,-194.7,45.0,-28.5,36,239,0.82,2.15,0.00,0.000,6,0.187,0.037,2419,2438,3991
$GC,578,-0.66,-194.7,78.5,-6.6,97,585,0.22,2.03,0.00,0.000,4,0.062,0.049,2318,3763,3993
$GC,632,-0.52,-194.7,84.9,-13.9,106,638,0.20,1.92,0.00,0.000,6,0.153,0.026,2374,2425,3992
$GC,976,-0.60,-194.7,122.9,-10.8,167,982,0.00,2.00,0.00,0.000,4,0.000,0.029,2374,1037,3993
$GC,1028,-0.77,-194.7,128.5,-10.8,176,1035,0.22,2.10,0.00,0.000,6,0.063,0.035,2277,2443,3993
$GC,1374,-0.50,-194.7,185.8,-16.0,237,1381,0.32,2.05,0.00,0.000,4,0.170,0.028,2375,1037,3994
$GC,1411,-0.65,-194.7,189.8,-8.9,243,1417,0.12,2.08,0.00,0.000,6,0.077,0.035,2316,2434,3995
$GC,1755,-0.65,-194.7,229.4,-11.7,304,1761,0.00,2.03,0.00,0.000,4,0.000,0.050,2316,3763,3995
$GC,1847,-0.65,-194.7,240.2,-12.2,320,1853,0.00,1.90,0.00,0.000,6,0.000,0.027,2316,2425,3995
$GC,2191,-0.65,-194.7,280.5,-10.7,381,2198,0.00,1.98,0.00,0.000,4,0.000,0.029,2316,1046,3995
$GC,2233,-0.71,-194.7,284.9,-10.3,388,2239,0.00,2.05,0.00,0.000,6,0.000,0.036,2316,2424,3995
$GC,2571,-0.71,-194.7,320.6,-10.2,432,2575,0.00,2.05,0.00,0.000,4,0.000,0.051,2316,3767,3995
$GC,2662,-0.77,-194.7,330.9,-10.9,440,2666,0.00,1.90,0.00,0.000,6,0.000,0.027,2315,2429,3996
$GC,2992,-0.82,-194.7,367.4,-11.0,471,2994,0.10,0.00,0.00,0.000,6,0.089,0.000,2271,2428,3995
$GC,3311,-0.72,-194.7,410.1,-12.9,501,3312,0.15,0.00,0.00,0.000,6,0.162,0.000,2311,2428,3995
$GC,3631,-0.82,-194.7,436.9,-7.9,531,3635,0.00,2.08,0.00,0.000,4,0.000,0.053,2311,3765,3996
$GC,3699,-0.95,-194.7,442.6,-8.3,537,3704,0.20,1.92,0.00,0.000,6,0.070,0.029,2228,2423,3995
$GC,4030,-0.74,-194.7,485.8,-12.8,568,4032,0.25,0.00,0.00,0.000,6,0.163,0.000,2300,2422,3995
$GC,4346,-0.87,-194.7,511.4,-7.6,591,4350,0.10,2.08,0.00,0.000,4,0.088,0.054,2258,3753,3994
$GC,4441,-0.81,-194.7,522.1,-11.8,595,4445,0.00,1.90,0.00,0.000,6,0.000,0.030,2258,2436,3993
$GC,4767,-0.81,-194.7,560.9,-11.1,611,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2435,3993
$GC,5077,-0.81,-194.7,599.0,-12.4,626,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2435,3992
$GC,5386,-0.81,-194.7,633.9,-10.8,641,5390,0.00,2.08,0.00,0.000,4,0.000,0.056,2258,3761,3990
$GC,5442,-0.81,-194.7,639.9,-10.6,643,5446,0.00,1.92,0.00,0.000,6,0.000,0.031,2258,2438,3990
$GC,5763,-0.81,-194.7,669.9,-9.3,659,5767,0.00,2.05,0.00,0.000,4,0.000,0.033,2258,1026,3987
$GC,5833,-0.87,-194.7,676.1,-9.0,662,5836,0.00,2.15,0.00,0.000,6,0.000,0.039,2257,2444,3987
$GC,6165,-0.87,-194.7,705.8,-9.2,678,6169,0.00,2.05,0.00,0.000,4,0.000,0.058,2258,3767,3985
$GC,6193,-0.87,-194.7,708.6,-10.0,679,6197,0.00,1.95,0.00,0.000,6,0.000,0.031,2257,2432,3985
$GC,6520,-0.87,-194.7,738.1,-9.0,695,6523,0.00,2.10,0.00,0.000,4,0.000,0.057,2258,3769,3983
$GC,6570,-0.87,-194.7,743.1,-9.8,697,6573,0.00,1.95,0.00,0.000,6,0.000,0.031,2257,2436,3982
$GC,6897,-0.92,-194.7,773.9,-9.3,713,6901,0.00,2.10,0.00,0.000,4,0.000,0.058,2257,3768,3980
$GC,6943,-0.92,-194.7,778.2,-9.4,715,6946,0.00,1.95,0.00,0.000,6,0.000,0.031,2257,2440,3980
$GC,7275,-0.98,-194.7,808.1,-8.7,731,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2439,3978
$GC,7585,-1.04,-194.7,833.9,-7.9,746,7590,0.15,2.10,0.00,0.000,4,0.079,0.058,2192,3768,3976
$GC,7625,-0.82,-194.7,838.0,-11.9,748,7630,0.30,1.92,0.00,0.000,6,0.170,0.032,2278,2462,3976
$GC,7953,-0.98,-194.7,861.1,-7.2,764,7955,0.15,0.00,0.00,0.000,6,0.084,0.000,2220,2462,3974
$GC,8261,-0.91,-194.7,893.7,-11.0,779,8265,0.12,2.05,0.00,0.000,4,0.177,0.058,2245,3760,3973
$GC,8299,-0.91,-194.7,897.8,-10.5,780,8305,0.00,1.92,0.00,0.000,6,0.000,0.033,2245,2451,3972
$GC,8614,-0.91,-194.7,926.9,-8.9,796,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2450,3971
$GC,8924,-0.91,-194.7,954.7,-9.2,811,8927,0.00,2.08,0.00,0.000,4,0.000,0.059,2245,3763,3970
$GC,8963,-0.91,-194.7,958.4,-9.8,812,8969,0.00,1.90,0.00,0.000,6,0.000,0.033,2245,2474,3970
$GC,9278,-0.91,-194.7,987.0,-9.0,828,9282,0.00,2.05,0.00,0.000,4,0.000,0.061,2245,3765,3968
$STATE,9309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9309,begin apogee
$GC,9317,-0.22,0.0,990.2,9.2,829,9409,0.68,0.00,88.43,1.444,6,0.154,0.000,2461,2501,3532
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9413,1.05,194.7,993.8,0.0,834,9581,1.20,2.20,159.20,1.400,4,0.058,0.058,2890,3750,2737
$GC,9837,0.29,194.7,934.1,21.1,853,9842,0.98,1.90,0.00,0.000,6,0.220,0.032,2646,2504,2731
$GC,10153,0.54,296.0,907.1,7.8,868,10242,0.17,2.15,82.57,1.346,4,0.084,0.060,2717,3759,2325
$GC,10286,0.47,296.0,890.6,15.1,874,10290,0.00,1.95,0.00,0.000,6,0.000,0.033,2719,2513,2320
$GC,10607,0.47,296.0,847.7,13.2,890,10611,0.00,2.03,0.00,0.000,4,0.000,0.059,2719,3756,2316
$GC,10646,0.39,296.0,842.1,14.5,891,10653,0.17,1.90,0.00,0.000,6,0.186,0.033,2675,2498,2315
$GC,10962,0.61,328.4,808.6,10.7,907,10993,0.17,2.08,25.58,1.276,4,0.085,0.060,2748,3759,2195
$GC,11051,0.50,328.4,794.2,17.6,911,11055,0.20,1.90,0.00,0.000,6,0.182,0.035,2706,2519,2191
$GC,11377,0.61,328.4,752.1,12.5,927,11382,0.12,2.00,0.00,0.000,4,0.091,0.060,2753,3756,2189
$GC,11423,0.48,328.4,744.6,17.9,929,11427,0.22,1.88,0.00,0.000,6,0.183,0.035,2700,2517,2188
$GC,11755,0.63,328.4,701.2,13.1,945,11759,0.15,2.00,0.00,0.000,4,0.088,0.060,2757,3761,2188
$GC,11793,0.49,328.4,694.5,19.1,946,11800,0.20,1.85,0.00,0.000,6,0.186,0.035,2706,2526,2188
$GC,12110,0.64,343.3,653.9,11.4,962,12132,0.12,2.03,12.98,1.151,4,0.091,0.061,2755,3752,2131
$GC,12142,0.64,343.3,649.3,13.9,963,12146,0.00,1.90,0.00,0.000,6,0.000,0.034,2758,2520,2130
$GC,12464,0.64,343.3,601.4,15.1,979,12467,0.00,2.00,0.00,0.000,4,0.000,0.060,2759,3764,2128
$GC,12570,0.55,343.3,583.1,17.6,983,12577,0.15,1.85,0.00,0.000,6,0.183,0.034,2722,2526,2128
$GC,12885,0.66,343.3,541.5,12.2,999,12887,0.12,0.00,0.00,0.000,6,0.089,0.000,2770,2524,2127
$GC,13198,0.62,343.3,492.6,16.8,1016,13201,0.00,1.98,0.00,0.000,4,0.000,0.060,2770,3764,2127
$GC,13384,0.50,343.3,460.2,16.9,1032,13390,0.25,1.80,0.00,0.000,6,0.179,0.034,2706,2548,2126
$GC,13709,0.75,371.4,424.2,10.8,1063,13743,0.20,2.25,22.95,1.022,4,0.076,0.036,2799,1097,2016
$GC,13793,0.75,371.4,411.2,16.2,1070,13799,0.00,2.30,0.00,0.000,6,0.000,0.041,2799,2572,2014
$GC,14120,0.67,371.4,356.3,15.1,1101,14122,0.15,0.00,0.00,0.000,6,0.178,0.000,2761,2575,2011
$GC,14438,0.74,371.4,312.7,14.4,1131,14441,0.00,1.85,0.00,0.000,4,0.000,0.057,2761,3764,2011
$GC,14472,0.74,371.4,307.3,16.3,1134,14476,0.00,1.80,0.00,0.000,6,0.000,0.031,2761,2547,2011
$GC,14814,0.86,387.1,261.5,11.4,1190,14832,0.17,2.20,13.07,0.841,4,0.080,0.034,2842,1106,1953
$GC,14873,0.77,387.1,252.3,15.8,1200,14879,0.17,2.22,0.00,0.000,6,0.173,0.041,2796,2553,1952
$GC,15216,0.77,387.1,201.8,14.9,1261,15223,0.00,1.88,0.00,0.000,4,0.000,0.054,2796,3766,1951
$GC,15258,0.72,387.1,194.8,17.8,1268,15264,0.00,1.80,0.00,0.000,6,0.000,0.029,2801,2530,1951
$GC,15601,0.72,387.1,138.1,15.4,1329,15608,0.00,2.08,0.00,0.000,4,0.000,0.035,2802,1121,1950
$GC,15666,0.86,403.6,130.7,11.3,1340,15685,0.00,2.15,14.75,0.736,6,0.000,0.038,2802,2543,1885
$GC,16024,0.95,403.6,85.8,12.5,1403,16031,0.15,2.12,0.00,0.000,4,0.080,0.032,2871,1121,1883
$GC,16066,0.89,403.6,79.7,13.9,1410,16073,0.15,2.12,0.00,0.000,6,0.175,0.036,2833,2528,1883
$GC,16410,0.98,403.6,36.4,13.5,1471,16416,0.00,2.10,0.00,0.000,4,0.000,0.031,2840,1101,1883
$GC,16462,1.13,403.6,30.4,12.6,1480,16469,0.20,2.15,0.00,0.000,6,0.068,0.035,2919,2532,1883
$STATE,16630,end climb,SURFACE_DEPTH_REACHED
$STATE,16630,begin surface coast
$FINISH,1.4,1.002706
$STATE,16648,end surface coast,CONTROL_FINISHED_OK
$STATE,16648,begin surface
$SM_CCo,16665,14.27,0.626,0,0,1798,425.10
$SM_GC,3.19,0.00,0.00,14.27,0.000,0.000,0.626,145,2425,1798,-7.50,-0.06,425.10
$IRIDIUM_FIX,2458.45,12337.44,280898,191925
$TT8_MAMPS,0.028379
$HUMID,1577
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,17.287
$10V_AH,10.8,10.624
$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,25.575,137.050,419.525,14.275,0.000,31.543,54.232,177.638,8.000,0.000,0.000,14.235,2713.040,10600.793,558.374,2636.166,556.903,0.000,1903.061,0.000,2573.908,0.000,54.421,0.000
$DEVICE_MAMPS,256.945,60.593,1444.261,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.375,1034.766,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78825,1513
$CAP_FILE_SIZE,171749,0
$CFSIZE,260165632,218714112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236,153.0,1
$GPS,040609,042037,2500.903,12333.185,29,1.0,30,-3.7