version: 66.04
glider: 167
mission: 2
dive: 84
start: 6 5 109 3 33 6
data:
$ID,167
$MISSION,2
$DIVE,84
$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,-6357.3311
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,032700,2450.651,12327.706,41,0.9,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-66.2
$GPS2,033244,2450.627,12327.749,11,1.4,11,-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,246.3,7963,-18.3,-12.000
$D_GRID,1830
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-194.7,0.0,0.0,0,53,0.00,0.00,-34.03,0.000,2,0.000,0.000,145,2419,2641
$GC,56,-1.05,-194.7,3.2,-2.5,6,112,8.60,2.15,-42.05,0.000,4,0.256,0.059,2185,3761,3989
$GC,229,-0.30,-194.7,42.3,-27.1,35,236,0.90,1.95,0.00,0.000,6,0.183,0.026,2443,2416,3991
$GC,574,-0.74,-194.7,72.5,-6.1,96,580,0.35,2.00,0.00,0.000,4,0.052,0.029,2292,1035,3992
$GC,603,-0.74,-194.7,76.1,-13.3,101,609,0.00,2.10,0.00,0.000,6,0.000,0.035,2289,2435,3992
$GC,947,-0.50,-194.7,135.4,-15.8,162,954,0.28,0.00,0.00,0.000,6,0.158,0.000,2375,2435,3993
$GC,1293,-0.71,-194.7,167.1,-8.0,223,1299,0.17,2.05,0.00,0.000,4,0.067,0.029,2295,1031,3993
$GC,1368,-0.63,-194.7,176.3,-12.8,236,1374,0.17,2.10,0.00,0.000,6,0.153,0.035,2339,2437,3993
$GC,1712,-0.70,-194.7,210.8,-10.6,297,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2439,3994
$GC,2055,-0.79,-194.7,246.0,-10.5,358,2063,0.15,2.05,0.00,0.000,4,0.077,0.029,2276,1036,3994
$GC,2092,-0.66,-194.7,250.9,-13.9,364,2099,0.20,2.08,0.00,0.000,6,0.156,0.037,2333,2428,3994
$GC,2437,-0.78,-194.7,286.3,-9.2,425,2443,0.12,2.03,0.00,0.000,4,0.080,0.029,2281,1039,3994
$GC,2512,-0.70,-194.7,296.1,-12.9,438,2520,0.15,2.05,0.00,0.000,6,0.158,0.035,2317,2418,3994
$GC,2842,-0.76,-194.7,332.9,-10.0,471,2846,0.00,2.00,0.00,0.000,4,0.000,0.030,2317,1043,3994
$GC,2899,-0.87,-194.7,338.6,-9.4,476,2903,0.15,2.05,0.00,0.000,6,0.077,0.035,2256,2421,3994
$GC,3229,-0.72,-194.7,383.0,-12.2,507,3233,0.20,2.03,0.00,0.000,4,0.162,0.029,2317,1041,3994
$GC,3378,-0.88,-194.7,396.5,-8.7,520,3382,0.17,2.03,0.00,0.000,6,0.074,0.037,2246,2393,3994
$GC,3703,-0.71,-194.7,440.9,-13.9,550,3707,0.20,1.98,0.00,0.000,4,0.161,0.030,2308,1037,3993
$GC,3794,-0.84,-194.7,450.2,-9.3,558,3798,0.00,2.00,0.00,0.000,6,0.000,0.036,2305,2372,3994
$GC,4127,-0.94,-194.7,482.4,-9.3,589,4131,0.17,1.95,0.00,0.000,4,0.077,0.030,2226,1037,3993
$GC,4172,-0.77,-194.7,488.4,-14.1,593,4176,0.25,1.98,0.00,0.000,6,0.161,0.037,2293,2358,3993
$GC,4493,-0.85,-194.7,520.1,-9.3,613,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2358,3993
$GC,4800,-0.95,-194.7,548.1,-8.7,628,4802,0.17,0.00,0.00,0.000,6,0.076,0.000,2223,2360,3991
$GC,5110,-0.77,-194.7,591.4,-14.1,643,5112,0.25,0.00,0.00,0.000,6,0.163,0.000,2295,2360,3990
$GC,5419,-0.90,-194.7,620.0,-8.3,658,5420,0.12,0.00,0.00,0.000,6,0.084,0.000,2246,2361,3988
$GC,5728,-0.90,-194.7,653.3,-10.8,673,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2361,3987
$GC,6037,-0.90,-194.7,683.5,-10.1,688,6040,0.00,1.95,0.00,0.000,4,0.000,0.035,2245,1041,3985
$GC,6115,-0.90,-194.7,691.3,-10.5,691,6118,0.00,2.00,0.00,0.000,6,0.000,0.040,2245,2363,3985
$GC,6437,-0.90,-194.7,723.8,-10.4,707,6440,0.00,1.95,0.00,0.000,4,0.000,0.034,2245,1043,3983
$GC,6509,-0.90,-194.7,731.9,-11.3,710,6513,0.00,1.98,0.00,0.000,6,0.000,0.039,2245,2327,3983
$GC,6835,-0.90,-194.7,768.1,-10.9,726,6839,0.00,2.22,0.00,0.000,4,0.000,0.058,2241,3757,3981
$GC,6886,-0.90,-194.7,773.4,-10.2,728,6889,0.00,2.08,0.00,0.000,6,0.000,0.033,2241,2347,3980
$GC,7212,-0.90,-194.7,805.4,-9.8,744,7216,0.00,1.90,0.00,0.000,4,0.000,0.036,2241,1044,3978
$GC,7268,-0.90,-194.7,811.3,-10.5,746,7271,0.00,1.98,0.00,0.000,6,0.000,0.041,2241,2344,3977
$GC,7589,-0.90,-194.7,842.9,-9.7,762,7593,0.00,1.92,0.00,0.000,4,0.000,0.035,2241,1047,3975
$GC,7645,-0.90,-194.7,848.3,-9.5,764,7649,0.00,1.98,0.00,0.000,6,0.000,0.041,2238,2328,3975
$GC,7966,-0.90,-194.7,877.8,-8.9,780,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2330,3973
$GC,8276,-0.90,-194.7,904.3,-8.9,795,8279,0.00,2.22,0.00,0.000,4,0.000,0.061,2235,3750,3971
$GC,8310,-0.90,-194.7,907.5,-9.5,796,8314,0.00,2.08,0.00,0.000,6,0.000,0.034,2234,2344,3971
$GC,8632,-0.90,-194.7,938.1,-9.7,812,8635,0.00,2.22,0.00,0.000,4,0.000,0.058,2235,3751,3970
$GC,8659,-0.90,-194.7,941.1,-10.5,813,8663,0.00,2.05,0.00,0.000,6,0.000,0.033,2235,2352,3969
$GC,8986,-0.90,-194.7,972.9,-9.8,829,8990,0.00,1.95,0.00,0.000,4,0.000,0.035,2235,1011,3968
$GC,9033,-0.90,-194.7,977.4,-10.7,831,9037,0.00,2.03,0.00,0.000,6,0.000,0.042,2235,2333,3967
$STATE,9177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9177,begin apogee
$GC,9183,-0.22,0.0,991.9,9.6,838,9274,0.75,0.00,87.78,1.428,6,0.155,0.000,2466,2497,3532
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9275,begin climb
$GC,9278,1.05,194.7,994.4,0.0,842,9446,1.15,2.28,158.18,1.387,4,0.058,0.037,2890,1129,2737
$GC,9648,0.49,194.7,952.3,19.2,859,9653,0.70,2.20,0.00,0.000,6,0.206,0.044,2706,2512,2732
$GC,9964,0.46,235.8,918.1,10.3,874,10002,0.00,2.12,33.40,1.326,4,0.000,0.061,2706,3764,2570
$GC,10193,0.36,235.8,889.0,14.1,883,10197,0.17,1.85,0.00,0.000,6,0.184,0.033,2663,2544,2565
$GC,10514,0.55,281.0,857.0,10.1,899,10558,0.17,2.10,36.85,1.309,4,0.081,0.059,2727,3765,2385
$GC,10676,0.46,281.0,832.3,16.1,906,10680,0.15,1.88,0.00,0.000,6,0.187,0.035,2697,2539,2381
$GC,11002,0.55,281.0,792.3,12.1,922,11006,0.00,1.98,0.00,0.000,4,0.000,0.058,2697,3765,2379
$GC,11137,0.55,281.0,773.9,14.1,928,11141,0.00,1.83,0.00,0.000,6,0.000,0.035,2704,2552,2378
$GC,11470,0.62,286.6,734.8,11.8,944,11480,0.12,1.92,5.03,0.957,4,0.087,0.059,2752,3762,2363
$GC,11547,0.45,286.6,722.4,16.9,947,11551,0.25,1.80,0.00,0.000,6,0.183,0.036,2693,2566,2362
$GC,11869,0.61,318.4,686.1,10.7,963,11903,0.15,2.03,26.95,1.216,4,0.085,0.060,2749,3761,2232
$GC,12083,0.53,318.4,653.1,14.9,972,12090,0.12,1.75,0.00,0.000,6,0.186,0.037,2721,2609,2228
$GC,12399,0.63,318.4,616.2,12.0,988,12402,0.00,1.85,0.00,0.000,4,0.000,0.060,2721,3764,2226
$GC,12482,0.63,318.4,604.6,13.5,991,12488,0.00,1.75,0.00,0.000,6,0.000,0.035,2721,2615,2225
$GC,12799,0.74,318.4,563.2,13.4,1007,12803,0.17,1.83,0.00,0.000,4,0.078,0.057,2793,3764,2224
$GC,12989,0.51,318.4,524.3,20.1,1015,12993,0.32,1.70,0.00,0.000,6,0.180,0.035,2712,2617,2224
$GC,13315,0.72,352.8,486.4,10.6,1036,13346,0.17,0.00,27.40,1.063,6,0.077,0.000,2777,2616,2093
$GC,13662,0.72,352.8,436.5,13.9,1069,13665,0.00,1.83,0.00,0.000,4,0.000,0.058,2777,3763,2088
$GC,13696,0.62,352.8,431.5,14.6,1072,13700,0.15,1.70,0.00,0.000,6,0.183,0.034,2749,2625,2087
$GC,14026,0.70,352.8,389.2,14.0,1103,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2625,2087
$GC,14346,0.79,352.8,344.1,13.9,1133,14350,0.15,2.28,0.00,0.000,4,0.081,0.037,2815,1104,2087
$GC,14390,0.74,352.8,336.8,16.0,1136,14396,0.12,2.38,0.00,0.000,6,0.181,0.041,2785,2651,2087
$GC,14718,0.74,352.8,286.1,15.1,1174,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2652,2087
$GC,15062,0.74,352.8,233.4,14.5,1235,15068,0.00,2.33,0.00,0.000,4,0.000,0.036,2791,1100,2087
$GC,15091,0.74,352.8,229.1,14.4,1240,15097,0.00,2.35,0.00,0.000,6,0.000,0.039,2791,2646,2087
$GC,15434,0.74,352.8,180.7,13.7,1301,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2646,2088
$GC,15776,0.75,361.2,136.8,11.7,1362,15790,0.00,1.73,7.55,0.684,4,0.000,0.054,2791,3766,2060
$GC,15852,0.75,361.2,125.9,15.6,1375,15858,0.00,1.65,0.00,0.000,6,0.000,0.030,2796,2619,2060
$GC,16196,0.82,361.2,80.5,12.3,1436,16202,0.00,2.22,0.00,0.000,4,0.000,0.035,2804,1106,2060
$GC,16237,0.97,397.9,76.2,10.5,1443,16273,0.15,2.35,29.42,0.703,6,0.078,0.038,2868,2659,1909
$GC,16613,0.97,397.9,18.2,13.1,1509,16618,0.00,1.70,0.00,0.000,4,0.000,0.051,2868,3770,1905
$STATE,16718,end climb,SURFACE_DEPTH_REACHED
$STATE,16718,begin surface coast
$FINISH,1.6,1.009374
$STATE,16743,end surface coast,CONTROL_FINISHED_OK
$STATE,16743,begin surface
$SM_CCo,16762,18.02,0.630,0,0,1798,425.10
$SM_GC,2.62,0.00,0.00,18.02,0.000,0.000,0.630,145,2408,1798,-7.50,-0.54,425.10
$IRIDIUM_FIX,2444.18,12326.92,290898,232337
$TT8_MAMPS,0.028379
$HUMID,1594
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,18.318
$10V_AH,10.8,11.180
$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,25.150,124.650,412.550,18.025,0.000,28.531,32.161,166.224,8.000,0.000,0.000,11.292,2754.121,10564.155,536.723,2747.246,522.188,0.000,1917.724,0.000,2692.665,0.000,54.421,0.000
$DEVICE_MAMPS,256.178,69.030,1428.154,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.875,1056.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81922,1532
$CAP_FILE_SIZE,168543,0
$CFSIZE,260165632,218206208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,102.5,1
$GPS,050609,081401,2448.955,12326.327,37,1.2,38,-3.6