version: 66.04
glider: 167
mission: 2
dive: 79
start: 6 4 109 4 31 5
data:
$ID,167
$MISSION,2
$DIVE,79
$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,-5350.0615
$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,66
$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
$GPS1,042037,2500.903,12333.185,29,1.0,30,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-69.9
$GPS2,043043,2500.774,12333.102,10,1.0,15,-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,257.0,28175,-18.3,-12.000
$D_GRID,2075
$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,-194.7,0.0,0.0,0,52,0.00,0.00,-35.58,0.000,2,0.000,0.000,145,2425,2695
$GC,56,-1.05,-194.7,3.4,-4.4,6,109,8.52,2.10,-38.33,0.000,4,0.255,0.059,2191,3766,3988
$GC,278,-0.22,-194.7,68.4,-33.1,45,285,1.00,1.98,0.00,0.000,6,0.190,0.025,2472,2396,3989
$GC,624,-1.16,-194.7,94.6,-8.7,106,630,0.80,2.12,0.00,0.000,4,0.081,0.049,2176,3761,3991
$GC,705,-0.39,-194.7,110.3,-26.1,120,712,0.80,1.88,0.00,0.000,6,0.183,0.025,2411,2445,3990
$GC,1050,-0.72,-194.7,139.4,-6.2,181,1056,0.25,2.03,0.00,0.000,4,0.057,0.028,2298,1041,3991
$GC,1085,-0.72,-194.7,142.9,-11.3,187,1093,0.00,2.10,0.00,0.000,6,0.000,0.035,2289,2451,3992
$GC,1431,-0.55,-194.7,192.4,-15.3,248,1438,0.22,2.05,0.00,0.000,4,0.156,0.028,2361,1045,3992
$GC,1462,-0.62,-194.7,196.3,-11.8,253,1468,0.00,2.10,0.00,0.000,6,0.000,0.035,2358,2450,3992
$GC,1805,-0.80,-194.7,225.9,-7.9,314,1811,0.17,2.00,0.00,0.000,4,0.070,0.050,2275,3763,3992
$GC,1857,-0.63,-194.7,232.2,-14.0,323,1865,0.22,1.88,0.00,0.000,6,0.155,0.028,2340,2454,3992
$GC,2203,-0.75,-194.7,264.5,-8.9,384,2210,0.12,2.05,0.00,0.000,4,0.077,0.030,2285,1031,3992
$GC,2250,-0.69,-194.7,270.1,-13.1,392,2257,0.15,2.12,0.00,0.000,6,0.156,0.036,2320,2452,3993
$GC,2590,-0.75,-194.7,309.1,-11.8,446,2594,0.00,2.00,0.00,0.000,4,0.000,0.051,2316,3765,3993
$GC,2630,-0.80,-194.7,313.8,-11.6,449,2635,0.00,1.90,0.00,0.000,6,0.000,0.028,2316,2437,3992
$GC,2957,-0.85,-194.7,349.6,-10.5,480,2962,0.12,2.05,0.00,0.000,4,0.081,0.051,2261,3761,3993
$GC,3052,-0.69,-194.7,363.2,-13.7,488,3059,0.20,1.88,0.00,0.000,6,0.160,0.028,2318,2450,3992
$GC,3377,-0.80,-194.7,392.9,-9.1,519,3381,0.00,2.03,0.00,0.000,4,0.000,0.051,2316,3762,3992
$GC,3451,-0.95,-194.7,399.9,-9.8,525,3458,0.20,1.85,0.00,0.000,6,0.068,0.028,2230,2465,3992
$GC,3777,-0.72,-194.7,450.4,-14.8,556,3781,0.25,2.05,0.00,0.000,4,0.163,0.029,2309,1045,3991
$GC,3833,-0.86,-194.7,456.9,-9.7,560,3839,0.12,2.17,0.00,0.000,6,0.082,0.037,2256,2497,3991
$GC,4158,-0.79,-194.7,494.4,-11.6,591,4162,0.12,1.95,0.00,0.000,4,0.171,0.052,2288,3768,3991
$GC,4248,-0.86,-194.7,503.8,-10.3,598,4251,0.00,1.85,0.00,0.000,6,0.000,0.028,2289,2502,3991
$GC,4580,-0.96,-194.7,534.5,-8.0,614,4582,0.15,0.00,0.00,0.000,6,0.078,0.000,2226,2501,3990
$GC,4889,-0.77,-194.7,574.5,-14.1,629,4895,0.20,1.98,0.00,0.000,4,0.169,0.053,2288,3768,3989
$GC,4930,-0.81,-194.7,579.1,-10.3,630,4936,0.00,1.83,0.00,0.000,6,0.000,0.030,2288,2502,3988
$GC,5247,-0.94,-194.7,606.1,-8.2,646,5248,0.12,0.00,0.00,0.000,6,0.084,0.000,2235,2502,3986
$GC,5555,-0.86,-194.7,638.7,-10.1,661,5560,0.12,2.12,0.00,0.000,4,0.170,0.031,2267,1044,3985
$GC,5588,-0.91,-194.7,641.7,-8.2,662,5592,0.00,2.22,0.00,0.000,6,0.000,0.038,2265,2515,3985
$GC,5904,-0.95,-194.7,667.3,-8.4,677,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2516,3983
$GC,6214,-1.02,-194.7,695.8,-9.0,692,6219,0.15,2.17,0.00,0.000,4,0.084,0.033,2205,1050,3981
$GC,6236,-0.97,-194.7,698.3,-10.4,693,6240,0.00,2.22,0.00,0.000,6,0.000,0.041,2205,2512,3981
$GC,6557,-0.80,-194.7,738.6,-12.1,709,6562,0.25,1.92,0.00,0.000,4,0.167,0.056,2275,3755,3979
$GC,6585,-0.80,-194.7,741.2,-9.3,710,6589,0.00,1.80,0.00,0.000,6,0.000,0.032,2275,2523,3979
$GC,6913,-0.93,-194.7,764.2,-6.9,726,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2523,3977
$GC,7222,-1.06,-194.7,785.4,-6.7,741,7226,0.17,1.95,0.00,0.000,4,0.077,0.058,2194,3759,3974
$GC,7245,-1.00,-194.7,787.5,-9.2,742,7248,0.00,1.83,0.00,0.000,6,0.000,0.033,2194,2520,3974
$GC,7580,-0.82,-194.7,825.5,-11.8,758,7585,0.28,2.17,0.00,0.000,4,0.170,0.035,2276,1043,3972
$GC,7658,-0.99,-194.7,832.0,-6.7,761,7665,0.15,2.22,0.00,0.000,6,0.082,0.041,2216,2506,3972
$GC,7975,-0.91,-194.7,864.5,-10.7,777,7977,0.12,0.00,0.00,0.000,6,0.176,0.000,2247,2507,3970
$GC,8284,-0.91,-194.7,891.1,-8.2,792,8287,0.00,1.95,0.00,0.000,4,0.000,0.061,2247,3757,3969
$GC,8317,-0.91,-194.7,894.0,-8.6,793,8321,0.00,1.83,0.00,0.000,6,0.000,0.035,2247,2523,3969
$GC,8639,-0.96,-194.7,919.1,-8.0,809,8642,0.00,1.95,0.00,0.000,4,0.000,0.059,2245,3756,3967
$GC,8700,-0.96,-194.7,924.4,-9.0,811,8707,0.00,1.80,0.00,0.000,6,0.000,0.035,2245,2540,3967
$GC,9016,-0.96,-194.7,949.8,-8.3,827,9023,0.00,2.20,0.00,0.000,4,0.000,0.035,2245,1050,3966
$GC,9074,-1.03,-194.7,954.8,-9.2,829,9078,0.00,2.25,0.00,0.000,6,0.000,0.043,2245,2517,3965
$GC,9390,-1.03,-194.7,981.5,-8.3,844,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2517,3964
$STATE,9490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9490,begin apogee
$GC,9496,-0.22,0.0,990.4,8.5,849,9586,0.73,0.00,87.32,1.447,6,0.155,0.000,2469,2517,3532
$STATE,9587,end apogee,CONTROL_FINISHED_OK
$STATE,9587,begin climb
$GC,9589,1.05,194.7,992.7,0.0,853,9757,1.15,2.15,159.73,1.401,4,0.063,0.061,2882,3750,2737
$GC,9905,0.31,194.7,956.3,22.4,868,9910,0.93,1.90,0.00,0.000,6,0.214,0.032,2651,2518,2732
$GC,10227,0.51,271.5,927.2,8.8,884,10293,0.17,0.00,62.92,1.351,6,0.084,0.000,2715,2517,2425
$GC,10595,0.51,271.5,879.0,13.5,902,10599,0.00,2.03,0.00,0.000,4,0.000,0.060,2714,3762,2418
$GC,10696,0.42,271.5,863.6,15.3,906,10700,0.15,1.92,0.00,0.000,6,0.186,0.035,2682,2498,2417
$GC,11017,0.57,302.8,828.3,10.7,922,11048,0.15,2.10,25.92,1.292,4,0.084,0.060,2738,3762,2296
$GC,11077,0.45,302.8,820.0,15.1,925,11082,0.20,1.92,0.00,0.000,6,0.180,0.035,2694,2510,2294
$GC,11412,0.58,325.8,781.9,11.0,941,11434,0.12,0.00,19.55,1.251,6,0.093,0.000,2740,2510,2203
$GC,11738,0.58,325.8,735.0,14.8,957,11742,0.00,2.03,0.00,0.000,4,0.000,0.061,2740,3762,2198
$GC,11807,0.49,325.8,723.6,16.6,960,11812,0.15,1.95,0.00,0.000,6,0.184,0.035,2708,2485,2197
$GC,12141,0.61,328.2,681.6,11.9,976,12145,0.00,2.05,0.00,0.000,4,0.000,0.060,2708,3765,2196
$GC,12225,0.66,328.2,669.9,14.4,979,12233,0.15,1.88,0.00,0.000,6,0.086,0.035,2765,2515,2196
$GC,12541,0.58,328.2,619.3,16.4,995,12543,0.12,0.00,0.00,0.000,6,0.189,0.000,2736,2515,2195
$GC,12850,0.58,328.2,574.7,13.6,1010,12853,0.00,1.98,0.00,0.000,4,0.000,0.061,2736,3756,2195
$GC,12933,0.58,328.2,562.1,14.4,1013,12939,0.00,1.80,0.00,0.000,6,0.000,0.035,2736,2549,2194
$GC,13249,0.63,328.2,517.0,14.2,1029,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2547,2194
$GC,13564,0.70,335.0,477.9,11.7,1052,13576,0.00,2.00,7.57,0.953,4,0.000,0.058,2736,3766,2166
$GC,13667,0.70,335.0,463.6,15.0,1061,13670,0.00,1.83,0.00,0.000,6,0.000,0.033,2742,2540,2165
$GC,13998,0.76,335.0,418.0,13.3,1092,14002,0.12,2.12,0.00,0.000,4,0.088,0.036,2799,1109,2164
$GC,14060,0.71,335.0,408.7,15.2,1097,14064,0.00,2.20,0.00,0.000,6,0.000,0.041,2798,2543,2164
$GC,14390,0.58,335.0,352.6,15.9,1128,14394,0.20,1.90,0.00,0.000,4,0.176,0.055,2739,3770,2164
$GC,14458,0.58,335.0,343.3,13.4,1134,14462,0.00,1.83,0.00,0.000,6,0.000,0.031,2745,2525,2164
$GC,14788,0.67,335.0,303.7,12.3,1165,14792,0.00,1.95,0.00,0.000,4,0.000,0.054,2746,3768,2164
$GC,14845,0.67,335.0,296.1,14.3,1172,14851,0.00,1.77,0.00,0.000,6,0.000,0.031,2745,2551,2164
$GC,15189,0.82,375.4,259.6,10.3,1233,15232,0.17,2.20,32.55,0.868,4,0.076,0.035,2828,1114,2000
$GC,15325,0.78,375.4,239.8,15.7,1256,15331,0.12,2.22,0.00,0.000,6,0.171,0.038,2797,2554,1998
$GC,15668,0.78,375.4,184.2,16.6,1317,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2554,1996
$GC,16011,0.83,375.4,132.9,13.9,1378,16017,0.00,2.15,0.00,0.000,4,0.000,0.034,2802,1115,1996
$GC,16052,0.94,375.4,127.3,13.1,1385,16058,0.12,2.15,0.00,0.000,6,0.086,0.036,2856,2537,1996
$GC,16396,0.84,375.4,72.2,16.0,1446,16402,0.15,2.12,0.00,0.000,4,0.170,0.031,2825,1103,1996
$GC,16455,0.94,384.2,64.4,11.6,1456,16467,0.00,2.17,7.95,0.625,6,0.000,0.036,2825,2548,1965
$GC,16805,1.12,444.6,22.5,9.5,1518,16859,0.17,1.90,46.55,0.653,4,0.070,0.051,2905,3769,1720
$GC,16882,0.92,444.6,12.0,15.0,1531,16890,0.25,1.85,0.00,0.000,6,0.175,0.027,2845,2515,1718
$STATE,16950,end climb,SURFACE_DEPTH_REACHED
$STATE,16950,begin surface coast
$FINISH,1.5,1.009919
$STATE,16987,end surface coast,CONTROL_FINISHED_OK
$STATE,16987,begin surface
$SM_CCo,17065,0.00,0.000,0,0,1711,446.45
$SM_GC,2.51,7.35,0.00,0.00,0.063,0.000,0.000,144,2425,1711,-7.50,-0.06,446.45
$IRIDIUM_FIX,2451.31,12332.83,290898,040425
$TT8_MAMPS,0.028379
$HUMID,1554
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,17.470
$10V_AH,10.8,10.718
$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,27.725,136.675,450.075,0.000,0.000,55.593,68.934,284.108,8.000,0.000,0.000,15.350,2760.964,10966.406,593.328,2636.846,703.891,0.000,1932.748,0.000,2574.708,0.000,54.451,0.000
$DEVICE_MAMPS,254.644,90.506,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.925,1051.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81974,1549
$CAP_FILE_SIZE,178301,0
$CFSIZE,260165632,218615808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,158.7,1
$GPS,040609,091637,2458.299,12331.035,32,1.1,33,-3.7