version: 66.04
glider: 167
mission: 2
dive: 81
start: 6 4 109 14 7 55
data:
$ID,167
$MISSION,2
$DIVE,81
$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,-5374.0728
$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,34
$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
$GPS1,140136,2455.935,12329.042,42,1.1,48,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-61.9
$GPS2,140732,2455.857,12328.959,11,1.5,11,-3.6
$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,228.9,16770,-18.3,-12.000
$D_GRID,1933
$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,-194.7,0.0,0.0,0,54,0.00,0.00,-36.83,0.000,2,0.000,0.000,143,2429,2704
$GC,57,-1.05,-194.7,3.0,-2.1,6,111,8.73,2.15,-40.03,0.000,4,0.262,0.061,2192,3760,3989
$GC,365,-0.23,-194.7,88.5,-30.7,60,372,0.95,1.98,0.00,0.000,6,0.189,0.028,2461,2397,3991
$GC,710,-1.15,-194.7,118.8,-8.8,121,717,0.77,2.08,0.00,0.000,4,0.091,0.050,2180,3773,3993
$GC,786,-0.53,-194.7,132.4,-23.2,134,792,0.65,1.92,0.00,0.000,6,0.173,0.027,2369,2430,3993
$GC,1132,-0.75,-194.7,161.7,-7.3,195,1140,0.17,2.08,0.00,0.000,4,0.067,0.050,2288,3765,3994
$GC,1213,-0.62,-194.7,172.9,-14.6,209,1220,0.20,1.88,0.00,0.000,6,0.150,0.027,2346,2456,3994
$GC,1558,-0.75,-194.7,209.2,-9.5,270,1564,0.12,0.00,0.00,0.000,6,0.079,0.000,2293,2455,3995
$GC,1901,-0.66,-194.7,254.2,-12.8,331,1909,0.15,2.05,0.00,0.000,4,0.163,0.029,2334,1033,3995
$GC,1983,-0.79,-194.7,262.8,-10.0,345,1990,0.12,2.15,0.00,0.000,6,0.081,0.036,2278,2469,3995
$GC,2329,-0.65,-194.7,310.5,-14.2,400,2331,0.20,0.00,0.00,0.000,6,0.162,0.000,2335,2469,3996
$GC,2649,-0.80,-194.7,343.6,-10.6,430,2654,0.15,1.98,0.00,0.000,4,0.077,0.053,2274,3757,3995
$GC,2673,-0.80,-194.7,346.6,-11.7,432,2677,0.00,1.88,0.00,0.000,6,0.000,0.028,2274,2465,3995
$GC,3003,-0.68,-194.7,392.7,-13.9,463,3008,0.17,2.05,0.00,0.000,4,0.160,0.030,2328,1056,3996
$GC,3077,-0.89,-194.7,400.0,-8.6,469,3084,0.20,2.12,0.00,0.000,6,0.067,0.038,2246,2462,3995
$GC,3402,-0.71,-194.7,447.6,-13.4,500,3407,0.20,2.00,0.00,0.000,4,0.162,0.051,2303,3768,3995
$GC,3441,-0.76,-194.7,451.8,-9.6,503,3448,0.00,1.90,0.00,0.000,6,0.000,0.028,2302,2445,3995
$GC,3768,-0.86,-194.7,482.5,-9.4,534,3772,0.00,2.03,0.00,0.000,4,0.000,0.031,2302,1046,3995
$GC,3819,-1.00,-194.7,487.5,-9.7,538,3825,0.22,2.10,0.00,0.000,6,0.068,0.038,2210,2446,3995
$GC,4138,-0.72,-194.7,536.5,-16.0,558,4140,0.35,0.00,0.00,0.000,6,0.169,0.000,2312,2447,3994
$GC,4446,-0.92,-194.7,562.4,-7.3,573,4448,0.17,0.00,0.00,0.000,6,0.077,0.000,2243,2449,3993
$GC,4756,-0.84,-194.7,597.8,-12.1,588,4760,0.12,2.03,0.00,0.000,4,0.168,0.055,2275,3754,3993
$GC,4801,-0.90,-194.7,602.7,-9.9,590,4805,0.00,1.90,0.00,0.000,6,0.000,0.031,2275,2449,3993
$GC,5134,-0.99,-194.7,634.8,-9.8,606,5138,0.15,2.05,0.00,0.000,4,0.077,0.054,2207,3758,3991
$GC,5161,-0.86,-194.7,638.5,-13.4,607,5165,0.20,1.90,0.00,0.000,6,0.166,0.031,2262,2453,3991
$GC,5489,-0.92,-194.7,670.0,-8.9,623,5493,0.00,2.08,0.00,0.000,4,0.000,0.034,2262,1029,3990
$GC,5528,-1.00,-194.7,673.7,-9.1,624,5535,0.12,2.15,0.00,0.000,6,0.086,0.040,2211,2453,3990
$GC,5847,-0.88,-194.7,710.5,-11.9,640,5851,0.17,2.03,0.00,0.000,4,0.170,0.057,2261,3755,3987
$GC,5953,-0.96,-194.7,720.7,-8.5,644,5959,0.00,1.90,0.00,0.000,6,0.000,0.034,2261,2458,3987
$GC,6270,-1.04,-194.7,746.2,-8.0,660,6274,0.15,2.10,0.00,0.000,4,0.083,0.035,2202,1027,3985
$GC,6332,-0.90,-194.7,753.1,-12.0,663,6337,0.20,2.17,0.00,0.000,6,0.168,0.041,2255,2460,3984
$GC,6660,-0.97,-194.7,781.2,-8.6,679,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2460,3982
$GC,6968,-1.04,-194.7,808.4,-9.4,694,6972,0.15,2.03,0.00,0.000,4,0.082,0.058,2192,3761,3980
$GC,6996,-0.92,-194.7,811.6,-12.9,695,7000,0.20,1.92,0.00,0.000,6,0.172,0.033,2246,2453,3980
$GC,7322,-0.92,-194.7,843.4,-9.5,711,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2453,3978
$GC,7631,-0.92,-194.7,872.6,-9.6,726,7635,0.00,2.10,0.00,0.000,4,0.000,0.036,2246,1029,3976
$GC,7665,-0.98,-194.7,875.9,-9.6,727,7669,0.00,2.20,0.00,0.000,6,0.000,0.043,2246,2466,3976
$GC,7980,-0.98,-194.7,906.1,-9.5,742,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2467,3975
$GC,8290,-1.03,-194.7,936.0,-9.8,757,8294,0.00,2.05,0.00,0.000,4,0.000,0.063,2245,3768,3973
$GC,8328,-1.03,-194.7,940.1,-9.7,758,8334,0.00,1.95,0.00,0.000,6,0.000,0.035,2245,2452,3973
$GC,8645,-1.09,-194.7,969.8,-9.3,774,8646,0.15,0.00,0.00,0.000,6,0.087,0.000,2188,2452,3971
$STATE,8827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8827,begin apogee
$GC,8833,-0.22,0.0,992.1,12.3,783,8932,0.95,0.00,88.88,1.439,6,0.172,0.000,2472,2506,3532
$STATE,8933,end apogee,CONTROL_FINISHED_OK
$STATE,8933,begin climb
$GC,8935,1.05,194.7,995.7,0.0,788,9106,1.12,2.30,159.27,1.398,4,0.061,0.039,2888,1104,2737
$GC,9135,0.48,194.7,985.4,19.3,797,9141,0.73,2.30,0.00,0.000,6,0.204,0.043,2702,2507,2735
$GC,9457,0.44,218.7,948.5,11.0,813,9482,0.00,2.05,20.30,1.313,4,0.000,0.058,2702,3759,2640
$GC,9549,0.32,218.7,936.8,12.9,817,9554,0.22,1.92,0.00,0.000,6,0.183,0.032,2648,2507,2638
$GC,9871,0.57,312.1,909.8,8.1,833,9952,0.20,0.00,77.20,1.351,6,0.083,0.000,2728,2504,2258
$GC,10262,0.57,312.1,855.7,14.4,852,10265,0.00,2.05,0.00,0.000,4,0.000,0.061,2728,3761,2250
$GC,10353,0.50,312.1,841.2,16.3,856,10357,0.00,1.90,0.00,0.000,6,0.000,0.036,2733,2518,2250
$GC,10685,0.50,312.1,792.4,14.4,872,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2517,2248
$GC,10994,0.50,312.1,747.6,14.6,887,10998,0.00,2.00,0.00,0.000,4,0.000,0.060,2732,3764,2247
$GC,11018,0.45,312.1,743.8,16.6,888,11022,0.17,1.90,0.00,0.000,6,0.183,0.035,2688,2507,2247
$GC,11350,0.64,338.4,704.7,10.9,904,11374,0.17,0.00,20.70,1.222,6,0.081,0.000,2755,2506,2152
$GC,11679,0.59,338.4,655.9,15.6,920,11683,0.00,2.03,0.00,0.000,4,0.000,0.061,2755,3761,2147
$GC,11797,0.48,338.4,634.2,18.2,925,11801,0.20,1.88,0.00,0.000,6,0.179,0.035,2706,2522,2146
$GC,12124,0.63,340.6,593.7,11.9,941,12128,0.12,1.98,0.00,0.000,4,0.091,0.059,2755,3758,2146
$GC,12156,0.55,340.6,589.0,16.0,942,12161,0.15,1.85,0.00,0.000,6,0.185,0.035,2722,2524,2146
$GC,12477,0.66,340.6,546.9,14.0,958,12481,0.10,1.95,0.00,0.000,4,0.097,0.057,2760,3761,2145
$GC,12567,0.54,340.6,529.3,20.4,962,12571,0.15,1.83,0.00,0.000,6,0.186,0.035,2724,2541,2145
$GC,12895,0.66,340.6,482.1,13.7,983,12899,0.00,1.95,0.00,0.000,4,0.000,0.058,2725,3768,2144
$GC,12911,0.75,340.6,479.2,13.3,984,12918,0.15,1.83,0.00,0.000,6,0.081,0.034,2788,2541,2144
$GC,13236,0.65,340.6,425.1,15.6,1015,13238,0.12,0.00,0.00,0.000,6,0.184,0.000,2757,2541,2144
$GC,13556,0.65,340.6,381.6,13.4,1045,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2541,2144
$GC,13873,0.65,340.6,340.3,12.3,1075,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2541,2144
$GC,14194,0.65,340.6,297.6,14.0,1106,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2541,2144
$GC,14537,0.74,367.0,254.3,10.9,1167,14568,0.00,2.15,22.75,0.858,4,0.000,0.038,2759,1112,2034
$GC,14603,0.89,376.3,246.3,11.6,1178,14617,0.20,2.22,8.73,0.765,6,0.073,0.038,2836,2559,1997
$GC,14957,0.73,376.3,182.2,18.0,1240,14964,0.17,1.88,0.00,0.000,4,0.170,0.054,2786,3765,1993
$GC,14998,0.69,376.3,174.9,16.0,1247,15006,0.00,1.83,0.00,0.000,6,0.000,0.031,2788,2525,1993
$GC,15344,0.76,376.3,125.1,14.8,1308,15350,0.00,1.95,0.00,0.000,4,0.000,0.052,2788,3772,1993
$GC,15446,0.76,376.3,109.4,15.0,1326,15452,0.00,1.77,0.00,0.000,6,0.000,0.028,2789,2553,1993
$GC,15789,0.89,377.2,68.1,12.0,1387,15796,0.12,0.00,0.00,0.000,6,0.084,0.000,2841,2551,1993
$GC,16134,0.93,416.3,28.1,10.4,1448,16175,0.00,2.20,31.55,0.660,4,0.000,0.034,2845,1114,1832
$GC,16296,1.15,467.1,9.2,9.9,1476,16338,0.20,2.22,36.12,0.634,2,0.067,0.035,2923,2581,1643
$STATE,16339,end climb,SURFACE_DEPTH_REACHED
$STATE,16339,begin surface coast
$FINISH,1.6,1.022693
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16432,0.00,0.000,0,0,1635,465.09
$SM_GC,2.42,7.60,0.00,0.00,0.060,0.000,0.000,143,2429,1635,-7.50,0.06,465.09
$IRIDIUM_FIX,2448.93,12329.54,290898,090934
$TT8_MAMPS,0.028379
$HUMID,1538
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,17.832
$10V_AH,10.8,10.897
$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,28.050,113.100,465.500,0.000,0.000,24.239,31.729,175.620,8.000,0.000,0.000,11.260,2622.418,10580.683,586.557,2480.557,511.169,0.000,1849.278,0.000,2427.869,0.000,54.413,0.000
$DEVICE_MAMPS,261.547,98.943,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.357,1024.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78777,1486
$CAP_FILE_SIZE,162568,0
$CFSIZE,260165632,218460160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,110.9,1
$GPS,040609,184301,2453.687,12327.858,39,1.1,40,-3.6