version: 66.04
glider: 167
mission: 2
dive: 82
start: 6 4 109 18 49 54
data:
$ID,167
$MISSION,2
$DIVE,82
$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,-5390.6191
$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,49
$R_STBD_OVSHOOT,28
$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
$GPS1,184301,2453.687,12327.858,39,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-64.9
$GPS2,184932,2453.694,12327.798,14,1.1,14,-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,233.4,12327,-18.3,-12.000
$D_GRID,1869
$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,-194.7,0.0,0.0,0,59,0.00,0.00,-42.42,0.000,2,0.000,0.000,143,2429,2668
$GC,62,-1.05,-194.7,3.1,-3.0,7,121,8.55,2.15,-41.72,0.000,4,0.254,0.061,2192,3767,3990
$GC,335,-0.31,-194.7,85.2,-26.2,55,342,0.88,2.00,0.00,0.000,6,0.181,0.027,2443,2382,3991
$GC,680,-0.78,-194.7,109.6,-4.6,116,686,0.38,2.15,0.00,0.000,4,0.054,0.049,2279,3765,3993
$GC,772,-0.48,-194.7,123.1,-17.9,132,778,0.35,1.92,0.00,0.000,6,0.157,0.027,2382,2426,3992
$GC,1116,-0.71,-194.7,154.6,-7.9,193,1124,0.17,2.08,0.00,0.000,4,0.067,0.049,2301,3765,3993
$GC,1220,-0.56,-194.7,169.2,-15.1,211,1227,0.22,1.88,0.00,0.000,6,0.156,0.027,2365,2456,3994
$GC,1565,-0.77,-194.7,202.4,-10.4,272,1570,0.17,0.00,0.00,0.000,6,0.068,0.000,2285,2456,3994
$GC,1909,-0.62,-194.7,253.0,-13.9,333,1916,0.17,2.03,0.00,0.000,4,0.164,0.048,2331,3767,3994
$GC,1933,-0.62,-194.7,256.3,-13.6,337,1941,0.00,1.85,0.00,0.000,6,0.000,0.028,2331,2467,3994
$GC,2281,-0.70,-194.7,291.8,-9.0,398,2287,0.00,2.05,0.00,0.000,4,0.000,0.030,2331,1043,3994
$GC,2345,-0.87,-194.7,297.3,-7.9,409,2353,0.17,2.12,0.00,0.000,6,0.070,0.036,2257,2465,3995
$GC,2674,-0.63,-194.7,342.0,-14.3,442,2676,0.28,0.00,0.00,0.000,6,0.163,0.000,2337,2466,3994
$GC,2994,-0.82,-194.7,370.2,-8.3,472,2998,0.17,1.98,0.00,0.000,4,0.073,0.052,2258,3761,3995
$GC,3039,-0.66,-194.7,376.6,-15.9,476,3043,0.25,1.88,0.00,0.000,6,0.158,0.028,2331,2452,3995
$GC,3369,-0.85,-194.7,409.5,-9.4,507,3373,0.17,2.05,0.00,0.000,4,0.072,0.031,2259,1046,3995
$GC,3425,-0.78,-194.7,416.4,-13.5,512,3430,0.12,2.12,0.00,0.000,6,0.165,0.038,2292,2450,3995
$GC,3750,-0.78,-194.7,449.3,-8.9,542,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2451,3994
$GC,4070,-0.83,-194.7,478.7,-9.8,572,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2451,3993
$GC,4396,-0.92,-194.7,511.6,-10.4,598,4400,0.12,2.03,0.00,0.000,4,0.084,0.054,2241,3766,3993
$GC,4452,-0.76,-194.7,519.7,-14.4,600,4456,0.20,1.90,0.00,0.000,6,0.161,0.030,2298,2454,3993
$GC,4775,-0.88,-194.7,552.3,-9.5,616,4779,0.12,2.03,0.00,0.000,4,0.081,0.053,2247,3757,3992
$GC,4830,-0.77,-194.7,559.4,-12.7,618,4834,0.17,1.90,0.00,0.000,6,0.160,0.031,2296,2448,3991
$GC,5152,-0.89,-194.7,590.3,-9.0,634,5156,0.12,2.05,0.00,0.000,4,0.081,0.054,2245,3761,3990
$GC,5224,-0.81,-194.7,598.7,-11.3,637,5229,0.12,1.88,0.00,0.000,6,0.164,0.031,2277,2472,3989
$GC,5553,-0.90,-194.7,629.6,-10.0,653,5557,0.00,2.00,0.00,0.000,4,0.000,0.055,2275,3755,3987
$GC,5626,-0.98,-194.7,637.1,-10.4,656,5630,0.12,1.88,0.00,0.000,6,0.085,0.031,2223,2466,3987
$GC,5954,-0.87,-194.7,674.6,-11.0,672,5963,0.15,2.10,0.00,0.000,4,0.163,0.032,2263,1026,3986
$GC,6019,-0.95,-194.7,680.7,-9.1,674,6025,0.00,2.17,0.00,0.000,6,0.000,0.040,2261,2462,3985
$GC,6335,-0.95,-194.7,707.9,-8.6,690,6339,0.00,2.03,0.00,0.000,4,0.000,0.057,2261,3770,3983
$GC,6404,-1.01,-194.7,713.9,-8.9,693,6408,0.12,1.92,0.00,0.000,6,0.088,0.031,2211,2458,3983
$GC,6738,-0.88,-194.7,749.5,-11.1,709,6740,0.17,0.00,0.00,0.000,6,0.168,0.000,2258,2458,3981
$GC,7047,-0.94,-194.7,775.8,-8.4,724,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2458,3979
$GC,7355,-1.00,-194.7,802.1,-8.9,739,7357,0.12,0.00,0.00,0.000,6,0.087,0.000,2210,2458,3977
$GC,7665,-0.89,-194.7,838.1,-11.5,754,7667,0.17,0.00,0.00,0.000,6,0.176,0.000,2256,2458,3975
$GC,7973,-0.96,-194.7,866.6,-9.1,769,7977,0.00,2.08,0.00,0.000,4,0.000,0.062,2256,3761,3973
$GC,8035,-1.04,-194.7,872.4,-9.0,771,8042,0.15,1.92,0.00,0.000,6,0.086,0.035,2200,2462,3973
$GC,8351,-0.89,-194.7,911.0,-12.7,787,8353,0.20,0.00,0.00,0.000,6,0.172,0.000,2255,2462,3971
$GC,8661,-0.97,-194.7,939.6,-8.8,802,8664,0.00,2.08,0.00,0.000,4,0.000,0.062,2256,3764,3970
$GC,8729,-1.05,-194.7,945.8,-9.4,805,8733,0.15,1.92,0.00,0.000,6,0.084,0.035,2199,2469,3969
$GC,9063,-0.91,-194.7,982.5,-11.0,821,9065,0.20,0.00,0.00,0.000,6,0.173,0.000,2253,2468,3968
$STATE,9162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9163,begin apogee
$GC,9168,-0.22,0.0,991.1,7.9,826,9259,0.68,0.00,88.10,1.443,6,0.150,0.000,2465,2468,3532
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9263,1.05,194.7,992.9,0.0,830,9434,1.17,2.25,159.60,1.400,4,0.064,0.038,2894,1112,2736
$GC,9496,0.48,194.7,973.9,19.4,841,9503,0.73,2.28,0.00,0.000,6,0.202,0.044,2706,2511,2733
$GC,9812,0.41,202.7,935.3,11.7,857,9825,0.00,2.08,7.05,1.119,4,0.000,0.061,2707,3759,2705
$GC,9865,0.24,202.7,928.8,12.2,859,9869,0.30,1.90,0.00,0.000,6,0.180,0.033,2626,2512,2704
$GC,10186,0.60,320.8,905.3,7.1,875,10292,0.28,2.17,97.10,1.354,4,0.073,0.059,2736,3759,2222
$GC,10376,0.52,320.8,877.8,17.5,883,10382,0.00,1.92,0.00,0.000,6,0.000,0.033,2742,2519,2217
$GC,10692,0.52,320.8,827.3,16.0,899,10695,0.00,2.03,0.00,0.000,4,0.000,0.058,2742,3768,2213
$GC,10725,0.41,320.8,821.5,17.7,900,10729,0.25,1.88,0.00,0.000,6,0.176,0.034,2678,2534,2213
$GC,11046,0.63,340.4,784.3,11.2,916,11068,0.20,2.20,15.95,1.234,4,0.077,0.038,2762,1103,2142
$GC,11101,0.63,340.4,775.7,16.1,918,11105,0.00,2.25,0.00,0.000,6,0.000,0.041,2762,2532,2141
$GC,11423,0.56,340.4,720.7,17.2,934,11428,0.15,1.95,0.00,0.000,4,0.181,0.058,2725,3765,2138
$GC,11473,0.56,340.4,712.6,15.3,936,11477,0.00,1.85,0.00,0.000,6,0.000,0.035,2730,2535,2137
$GC,11800,0.62,340.4,668.0,13.4,952,11804,0.00,2.15,0.00,0.000,4,0.000,0.039,2732,1101,2137
$GC,11839,0.76,340.4,662.8,12.9,953,11847,0.17,2.22,0.00,0.000,6,0.079,0.041,2798,2542,2136
$GC,12155,0.60,340.4,606.9,18.0,969,12159,0.17,1.92,0.00,0.000,4,0.189,0.058,2747,3771,2136
$GC,12193,0.56,340.4,600.2,16.3,970,12199,0.00,1.85,0.00,0.000,6,0.000,0.033,2751,2525,2135
$GC,12509,0.56,340.4,555.3,14.0,986,12512,0.00,1.98,0.00,0.000,4,0.000,0.058,2751,3768,2134
$GC,12594,0.49,340.4,541.7,16.0,989,12602,0.20,1.80,0.00,0.000,6,0.176,0.034,2705,2556,2134
$GC,12910,0.72,367.9,506.8,10.9,1005,12934,0.20,0.00,22.02,1.082,6,0.074,0.000,2781,2554,2032
$GC,13247,0.72,367.9,449.9,16.3,1034,13251,0.00,2.17,0.00,0.000,4,0.000,0.038,2788,1108,2027
$GC,13286,0.72,367.9,443.5,16.2,1037,13293,0.00,2.22,0.00,0.000,6,0.000,0.041,2788,2544,2027
$GC,13613,0.68,367.9,387.9,17.2,1068,13617,0.00,2.17,0.00,0.000,4,0.000,0.038,2788,1104,2027
$GC,13681,0.68,367.9,376.5,15.5,1074,13684,0.00,2.20,0.00,0.000,6,0.000,0.039,2788,2538,2026
$GC,14010,0.68,367.9,324.3,15.1,1105,14014,0.00,2.15,0.00,0.000,4,0.000,0.036,2788,1109,2027
$GC,14049,0.68,367.9,318.5,15.2,1108,14055,0.00,2.17,0.00,0.000,6,0.000,0.039,2789,2532,2026
$GC,14386,0.68,367.9,266.3,14.5,1158,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2532,2027
$GC,14728,0.68,367.9,218.1,12.4,1219,14734,0.00,2.12,0.00,0.000,4,0.000,0.035,2789,1108,2026
$GC,14797,0.75,367.9,209.5,12.1,1231,14803,0.00,2.17,0.00,0.000,6,0.000,0.038,2790,2541,2026
$GC,15141,0.75,367.9,162.4,13.2,1292,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2540,2028
$GC,15484,0.82,367.9,115.7,13.4,1353,15491,0.00,1.88,0.00,0.000,4,0.000,0.055,2789,3762,2029
$GC,15532,0.82,367.9,108.6,14.8,1361,15539,0.00,1.80,0.00,0.000,6,0.000,0.030,2789,2524,2029
$GC,15878,0.99,411.6,64.9,10.2,1422,15919,0.17,1.95,34.62,0.700,4,0.073,0.051,2870,3755,1852
$GC,15983,0.89,411.6,49.6,17.4,1440,15990,0.15,1.75,0.00,0.000,6,0.176,0.028,2833,2565,1848
$GC,16327,1.11,486.5,8.0,8.9,1501,16365,0.17,0.00,35.00,0.639,2,0.069,0.000,2911,2565,1668
$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,1.6,1.022598
$STATE,16383,end surface coast,CONTROL_FINISHED_OK
$STATE,16383,begin surface
$SM_CCo,16461,0.00,0.000,0,0,1661,458.71
$SM_GC,2.42,7.57,0.00,0.00,0.063,0.000,0.000,145,2434,1661,-7.49,0.20,458.71
$IRIDIUM_FIX,2446.56,12331.52,290898,141419
$TT8_MAMPS,0.028379
$HUMID,1556
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,18.011
$10V_AH,10.8,10.988
$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,27.100,121.725,459.450,0.000,0.000,31.014,36.657,193.799,8.000,0.000,0.000,15.916,2678.377,10455.359,596.453,2571.186,542.600,0.000,1902.731,0.000,2505.188,0.000,54.426,0.000
$DEVICE_MAMPS,253.877,62.127,1442.727,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.526,1043.441,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78957,1510
$CAP_FILE_SIZE,166549,0
$CFSIZE,260165632,218370048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,138.390,233.5,1
$GPS,040609,184932,2453.694,12327.798,14,1.1,14,-3.6