version: 66.04
glider: 167
mission: 2
dive: 83
start: 6 4 109 23 46 59
data:
$ID,167
$MISSION,2
$DIVE,83
$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,-6345.4092
$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,59
$R_STBD_OVSHOOT,36
$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
$GPS1,184932,2453.694,12327.798,14,1.1,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-64.6
$GPS2,234636,2452.119,12326.498,39,2.0,50,-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,167.4,8708,-28.0,-12.000
$D_GRID,1853
$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,-1.35,-82.8,0.0,0.0,0,57,0.00,0.00,-39.83,0.000,2,0.000,0.000,145,2434,2663
$GC,60,-1.46,-175.9,3.2,-3.0,7,116,7.95,2.12,-41.50,0.000,4,0.255,0.044,2065,1020,3989
$GC,369,-0.98,-175.9,106.7,-31.2,61,376,0.62,2.12,0.00,0.000,6,0.206,0.035,2221,2436,3991
$GC,713,-0.92,-175.9,184.4,-22.3,122,719,0.00,2.08,0.00,0.000,4,0.000,0.028,2221,1008,3992
$GC,896,-1.01,-175.9,219.9,-19.0,154,901,0.00,2.10,0.00,0.000,6,0.000,0.035,2216,2415,3992
$GC,1239,-1.01,-175.9,283.7,-17.6,215,1246,0.00,2.03,0.00,0.000,4,0.000,0.028,2217,1018,3992
$GC,1309,-1.13,-175.9,295.4,-16.6,227,1316,0.00,2.05,0.00,0.000,6,0.000,0.035,2208,2397,3992
$GC,1637,-1.13,-175.9,352.6,-17.3,260,1641,0.00,2.00,0.00,0.000,4,0.000,0.030,2208,1020,3992
$GC,1687,-1.26,-175.9,361.2,-16.4,264,1693,0.20,2.03,0.00,0.000,6,0.074,0.036,2128,2377,3992
$GC,2012,-1.08,-175.9,432.7,-22.8,295,2016,0.22,2.00,0.00,0.000,4,0.213,0.029,2185,1017,3992
$GC,2129,-1.18,-175.9,455.9,-18.6,305,2135,0.00,2.03,0.00,0.000,6,0.000,0.037,2179,2359,3993
$GC,2453,-1.18,-175.9,517.7,-19.3,332,2457,0.00,2.15,0.00,0.000,4,0.000,0.054,2178,3758,3993
$GC,2503,-1.18,-175.9,528.1,-20.6,334,2507,0.00,2.08,0.00,0.000,6,0.000,0.029,2178,2349,3992
$GC,2830,-1.23,-175.9,587.8,-17.6,350,2834,0.00,2.20,0.00,0.000,4,0.000,0.053,2172,3764,3991
$GC,2992,-1.23,-175.9,619.5,-18.3,357,2996,0.00,2.03,0.00,0.000,6,0.000,0.029,2172,2362,3990
$GC,3319,-1.33,-175.9,670.9,-15.7,373,3324,0.15,1.95,0.00,0.000,4,0.083,0.031,2115,1014,3988
$GC,3377,-1.28,-175.9,681.1,-18.5,375,3380,0.00,2.05,0.00,0.000,6,0.000,0.038,2111,2375,3987
$GC,3698,-1.21,-175.9,741.5,-19.1,391,3700,0.17,0.00,0.00,0.000,6,0.204,0.000,2153,2376,3986
$GC,4007,-1.30,-175.9,792.0,-15.9,406,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2376,3983
$GC,4316,-1.42,-175.9,838.4,-14.8,421,4318,0.20,0.00,0.00,0.000,6,0.084,0.000,2081,2377,3980
$GC,4626,-1.29,-175.9,896.9,-18.5,436,4630,0.17,2.00,0.00,0.000,4,0.207,0.034,2128,1033,3977
$GC,4676,-1.37,-175.9,905.7,-16.1,438,4680,0.00,2.05,0.00,0.000,6,0.000,0.041,2124,2373,3977
$GC,5003,-1.37,-175.9,957.9,-15.8,454,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2373,3974
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5214,-0.22,0.0,990.5,15.7,464,5310,1.20,0.00,88.40,1.420,6,0.189,0.000,2470,2503,3532
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5313,1.46,175.9,994.7,0.0,469,5464,1.50,2.17,142.35,1.364,4,0.053,0.055,3019,3765,2813
$GC,5562,0.80,175.9,967.4,24.4,480,5567,0.93,1.95,0.00,0.000,6,0.240,0.031,2804,2498,2810
$GC,5883,0.80,175.9,919.1,14.7,496,5886,0.00,2.10,0.00,0.000,4,0.000,0.038,2813,1109,2806
$GC,5928,0.86,175.9,912.5,15.1,498,5932,0.00,2.17,0.00,0.000,6,0.000,0.041,2814,2511,2806
$GC,6255,0.86,175.9,863.1,15.1,514,6258,0.00,1.98,0.00,0.000,4,0.000,0.055,2813,3771,2804
$GC,6301,0.74,175.9,855.5,17.2,516,6305,0.15,1.90,0.00,0.000,6,0.211,0.032,2788,2498,2804
$GC,6633,0.83,175.9,808.6,14.2,532,6637,0.00,2.00,0.00,0.000,4,0.000,0.054,2788,3759,2802
$GC,6660,0.83,175.9,804.3,15.8,533,6664,0.00,1.88,0.00,0.000,6,0.000,0.034,2794,2523,2801
$GC,6988,0.89,175.9,760.6,12.8,549,6992,0.12,1.95,0.00,0.000,4,0.096,0.054,2838,3760,2800
$GC,7062,0.70,175.9,749.4,15.8,552,7066,0.28,1.83,0.00,0.000,6,0.211,0.035,2777,2533,2800
$GC,7389,0.83,175.9,707.6,13.4,568,7393,0.10,2.12,0.00,0.000,4,0.102,0.039,2817,1104,2798
$GC,7434,0.90,175.9,701.7,12.6,570,7438,0.00,2.20,0.00,0.000,6,0.000,0.041,2817,2534,2798
$GC,7760,0.90,175.9,656.7,12.4,586,7763,0.00,1.90,0.00,0.000,4,0.000,0.058,2817,3757,2796
$GC,7799,0.78,175.9,651.4,13.6,587,7807,0.12,1.80,0.00,0.000,6,0.218,0.033,2798,2536,2796
$GC,8115,0.87,185.9,615.1,11.0,603,8125,0.00,2.12,5.65,0.956,4,0.000,0.038,2805,1116,2774
$GC,8199,1.02,201.8,606.2,10.5,607,8222,0.20,2.20,14.02,1.120,6,0.079,0.040,2878,2552,2708
$GC,8532,0.90,201.8,557.0,15.8,623,8536,0.17,1.90,0.00,0.000,4,0.216,0.054,2837,3770,2706
$GC,8750,0.80,201.8,521.8,15.5,632,8756,0.15,1.83,0.00,0.000,6,0.216,0.033,2810,2541,2705
$GC,9072,0.91,201.8,479.8,13.5,655,9075,0.00,1.92,0.00,0.000,4,0.000,0.055,2810,3765,2705
$GC,9129,0.91,201.8,471.5,14.3,660,9132,0.00,1.77,0.00,0.000,6,0.000,0.033,2815,2565,2705
$GC,9461,1.01,201.8,427.2,13.7,691,9465,0.15,2.15,0.00,0.000,4,0.091,0.036,2881,1112,2705
$GC,9618,1.01,201.8,402.6,15.8,704,9624,0.00,2.20,0.00,0.000,6,0.000,0.040,2881,2556,2705
$GC,9945,0.93,201.8,355.3,12.6,735,9950,0.15,2.15,0.00,0.000,4,0.218,0.034,2854,1101,2705
$GC,10202,1.00,201.8,325.2,12.5,757,10209,0.00,2.17,0.00,0.000,6,0.000,0.038,2854,2537,2705
$GC,10534,1.00,208.0,283.0,11.4,800,10547,0.00,2.15,6.25,0.759,4,0.000,0.035,2863,1098,2683
$GC,10801,1.09,213.7,251.6,11.4,847,10814,0.00,2.17,6.30,0.733,6,0.000,0.038,2863,2534,2660
$GC,11151,1.09,213.7,206.7,13.9,909,11157,0.00,2.12,0.00,0.000,4,0.000,0.034,2872,1104,2660
$GC,11237,1.16,213.7,195.7,13.2,924,11243,0.12,2.15,0.00,0.000,6,0.091,0.037,2918,2521,2659
$GC,11581,1.05,213.7,148.4,13.2,985,11587,0.15,1.90,0.00,0.000,4,0.217,0.049,2882,3769,2661
$GC,11594,0.95,213.7,146.6,13.0,987,11602,0.15,1.88,0.00,0.000,6,0.214,0.028,2854,2470,2661
$GC,11942,1.09,249.6,111.9,8.5,1048,11978,0.12,2.08,27.52,0.732,4,0.094,0.051,2899,3779,2513
$GC,12215,1.02,249.6,72.0,13.2,1096,12222,0.15,1.85,0.00,0.000,6,0.209,0.028,2874,2506,2511
$GC,12560,1.22,260.2,40.7,11.0,1157,12579,0.17,2.08,9.27,0.616,4,0.085,0.033,2953,1120,2469
$GC,12603,1.22,260.2,35.1,12.5,1164,12609,0.00,2.10,0.00,0.000,6,0.000,0.035,2952,2513,2469
$GC,12947,1.18,267.6,4.4,11.3,1225,12959,0.00,1.92,6.03,0.527,4,0.000,0.051,2952,3768,2440
$STATE,12963,end climb,SURFACE_DEPTH_REACHED
$STATE,12963,begin surface coast
$FINISH,1.6,1.003979
$STATE,12992,end surface coast,CONTROL_FINISHED_OK
$STATE,12992,begin surface
$SM_CCo,13011,110.80,0.630,0,0,1798,425.10
$SM_GC,2.57,0.00,0.00,110.80,0.000,0.000,0.630,145,2419,1798,-7.50,-0.23,425.10
$IRIDIUM_FIX,2444.18,12324.93,290898,181854
$TT8_MAMPS,0.028379
$HUMID,1496
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.1,18.152
$10V_AH,10.8,11.087
$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,23.275,110.000,305.800,110.800,0.000,30.629,33.441,180.564,8.000,0.000,0.000,50.326,2197.676,8064.216,548.570,2229.738,487.391,0.000,1648.958,0.000,2138.032,0.000,54.430,0.000
$DEVICE_MAMPS,254.644,72.098,1420.484,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,833.391,860.368,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66281,1233
$CAP_FILE_SIZE,136136,0
$CFSIZE,260165632,218324992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 99.7,1
$GPS,050609,032700,2450.651,12327.706,41,0.9,41,-3.6