version: 66.04
glider: 167
mission: 2
dive: 85
start: 6 5 109 8 21 30
data:
$ID,167
$MISSION,2
$DIVE,85
$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,-6372.3101
$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,78
$R_STBD_OVSHOOT,30
$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
$GPS1,081401,2448.955,12326.327,37,1.2,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-69.1
$GPS2,082108,2448.912,12326.319,14,1.1,14,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,215.9,80804,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.08,0.000,2,0.000,0.000,145,2408,2644
$GC,54,-1.05,-194.7,3.5,-3.2,5,113,8.52,2.17,-41.70,0.000,4,0.254,0.059,2191,3767,3990
$GC,288,-0.18,-194.7,63.4,-34.5,46,295,1.02,1.95,0.00,0.000,6,0.188,0.025,2480,2416,3992
$GC,633,-1.11,-194.7,95.1,-9.4,107,640,0.80,2.10,0.00,0.000,4,0.094,0.049,2193,3766,3993
$GC,726,-0.46,-194.7,112.0,-24.1,123,732,0.68,1.92,0.00,0.000,6,0.174,0.026,2391,2422,3993
$GC,1070,-0.75,-194.7,143.7,-7.8,184,1077,0.22,2.10,0.00,0.000,4,0.061,0.050,2290,3773,3995
$GC,1117,-0.62,-194.7,149.7,-14.4,192,1124,0.20,1.90,0.00,0.000,6,0.150,0.027,2347,2445,3995
$GC,1462,-0.73,-194.7,185.1,-9.1,253,1469,0.12,0.00,0.00,0.000,6,0.080,0.000,2294,2445,3996
$GC,1806,-0.63,-194.7,229.5,-13.9,314,1813,0.17,2.05,0.00,0.000,4,0.157,0.049,2345,3773,3997
$GC,1842,-0.77,-194.7,233.6,-10.8,320,1849,0.15,1.92,0.00,0.000,6,0.073,0.028,2279,2429,3996
$GC,2186,-0.62,-194.7,283.3,-15.2,381,2194,0.20,2.00,0.00,0.000,4,0.158,0.029,2342,1043,3996
$GC,2223,-0.74,-194.7,288.0,-11.5,387,2229,0.00,2.10,0.00,0.000,6,0.000,0.036,2339,2449,3996
$GC,2556,-0.89,-194.7,318.2,-8.7,429,2560,0.20,2.00,0.00,0.000,4,0.068,0.051,2247,3764,3997
$GC,2590,-0.74,-194.7,322.6,-14.2,432,2595,0.20,1.90,0.00,0.000,6,0.159,0.028,2304,2442,3997
$GC,2920,-0.74,-194.7,359.8,-11.9,463,2924,0.00,2.05,0.00,0.000,4,0.000,0.053,2303,3762,3996
$GC,2943,-0.79,-194.7,362.4,-11.1,465,2947,0.00,1.90,0.00,0.000,6,0.000,0.028,2303,2438,3997
$GC,3274,-0.85,-194.7,396.5,-10.5,496,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2437,3997
$GC,3595,-0.92,-194.7,425.6,-9.1,526,3601,0.15,0.00,0.00,0.000,6,0.077,0.000,2240,2437,3996
$GC,3922,-0.75,-194.7,469.6,-13.2,557,3924,0.22,0.00,0.00,0.000,6,0.164,0.000,2303,2436,3996
$GC,4241,-0.86,-194.7,498.8,-9.3,587,4245,0.12,2.05,0.00,0.000,4,0.084,0.054,2247,3755,3995
$GC,4341,-0.73,-194.7,511.5,-12.7,592,4345,0.20,1.85,0.00,0.000,6,0.161,0.029,2303,2472,3994
$GC,4664,-0.87,-194.7,540.0,-8.9,608,4665,0.12,0.00,0.00,0.000,6,0.084,0.000,2253,2471,3994
$GC,4973,-0.81,-194.7,576.6,-12.5,623,4977,0.12,2.03,0.00,0.000,4,0.173,0.054,2276,3768,3992
$GC,5069,-0.86,-194.7,587.5,-10.1,627,5073,0.00,1.88,0.00,0.000,6,0.000,0.030,2276,2474,3992
$GC,5396,-0.91,-194.7,622.2,-10.6,643,5400,0.00,2.03,0.00,0.000,4,0.000,0.055,2276,3767,3990
$GC,5436,-0.95,-194.7,626.7,-11.4,644,5442,0.12,1.88,0.00,0.000,6,0.087,0.030,2224,2476,3990
$GC,5751,-0.83,-194.7,670.8,-13.3,660,5756,0.17,2.10,0.00,0.000,4,0.165,0.031,2278,1036,3989
$GC,5784,-0.94,-194.7,674.5,-10.3,661,5793,0.00,2.20,0.00,0.000,6,0.000,0.040,2276,2488,3989
$GC,6100,-1.05,-194.7,703.3,-8.9,677,6104,0.17,1.98,0.00,0.000,4,0.076,0.057,2192,3761,3986
$GC,6236,-0.81,-194.7,721.7,-14.3,683,6240,0.30,1.85,0.00,0.000,6,0.172,0.033,2278,2502,3986
$GC,6571,-0.95,-194.7,751.3,-8.5,699,6575,0.12,2.15,0.00,0.000,4,0.087,0.033,2230,1029,3985
$GC,6639,-0.95,-194.7,758.7,-11.4,702,6643,0.00,2.22,0.00,0.000,6,0.000,0.041,2222,2489,3984
$GC,6966,-0.88,-194.7,794.4,-10.2,718,6968,0.15,0.00,0.00,0.000,6,0.173,0.000,2261,2489,3982
$GC,7275,-0.97,-194.7,819.4,-7.7,733,7279,0.00,1.98,0.00,0.000,4,0.000,0.061,2261,3751,3980
$GC,7321,-1.06,-194.7,823.0,-7.3,735,7325,0.17,1.85,0.00,0.000,6,0.080,0.034,2193,2497,3980
$GC,7655,-0.89,-194.7,861.2,-11.7,751,7657,0.22,0.00,0.00,0.000,6,0.174,0.000,2254,2494,3978
$GC,7963,-0.96,-194.7,887.1,-8.6,766,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2495,3976
$GC,8272,-1.03,-194.7,914.9,-9.3,781,8274,0.12,0.00,0.00,0.000,6,0.087,0.000,2208,2494,3974
$GC,8581,-0.94,-194.7,952.4,-12.3,796,8583,0.12,0.00,0.00,0.000,6,0.180,0.000,2238,2494,3973
$GC,8890,-0.94,-194.7,985.1,-10.3,811,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2494,3971
$STATE,8949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8949,begin apogee
$GC,8955,-0.22,0.0,991.4,10.2,814,9051,0.75,0.00,88.80,1.435,6,0.160,0.000,2469,2494,3532
$STATE,9052,end apogee,CONTROL_FINISHED_OK
$STATE,9052,begin climb
$GC,9054,1.05,194.7,995.8,0.0,819,9227,1.15,2.30,158.93,1.388,4,0.061,0.040,2885,1119,2737
$GC,9346,0.50,194.7,971.0,17.7,832,9351,0.68,2.22,0.00,0.000,6,0.202,0.041,2709,2509,2733
$GC,9668,0.46,222.5,935.4,10.8,848,9697,0.00,2.08,23.35,1.310,4,0.000,0.059,2709,3752,2624
$GC,9755,0.34,222.5,924.8,13.1,852,9760,0.12,1.90,0.00,0.000,6,0.163,0.033,2660,2537,2621
$GC,10088,0.54,285.1,893.0,9.4,868,10142,0.17,0.00,51.75,1.332,6,0.080,0.000,2724,2535,2368
$GC,10437,0.54,285.1,846.7,13.1,885,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2535,2362
$GC,10747,0.54,285.1,805.8,13.5,900,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2535,2360
$GC,11056,0.54,285.1,761.8,14.3,915,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2535,2358
$GC,11366,0.54,285.1,717.3,14.1,930,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2534,2358
$GC,11675,0.54,288.9,678.7,11.8,945,11678,0.00,1.95,0.00,0.000,4,0.000,0.061,2725,3757,2356
$GC,11856,0.54,288.9,654.7,12.9,953,11860,0.00,1.85,0.00,0.000,6,0.000,0.035,2732,2521,2356
$GC,12188,0.56,298.6,616.2,11.6,969,12203,0.00,2.15,10.27,1.098,4,0.000,0.040,2733,1104,2313
$GC,12248,0.67,321.8,609.2,11.0,971,12275,0.00,2.20,19.73,1.141,6,0.000,0.041,2733,2524,2219
$GC,12585,0.74,321.8,567.9,12.1,988,12586,0.15,0.00,0.00,0.000,6,0.079,0.000,2789,2525,2215
$GC,12894,0.66,321.8,518.1,16.3,1003,12896,0.12,0.00,0.00,0.000,6,0.185,0.000,2759,2527,2214
$GC,13208,0.66,321.8,475.1,13.3,1026,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2527,2214
$GC,13526,0.66,321.8,435.4,12.1,1056,13530,0.00,2.15,0.00,0.000,4,0.000,0.038,2760,1103,2213
$GC,13595,0.75,339.3,427.8,11.3,1062,13617,0.00,2.17,14.73,0.980,6,0.000,0.039,2760,2523,2147
$GC,13935,0.75,339.3,387.3,12.2,1094,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2523,2145
$GC,14255,0.81,339.3,346.7,12.6,1124,14260,0.12,2.12,0.00,0.000,4,0.088,0.035,2815,1100,2145
$GC,14312,0.74,339.3,338.0,15.7,1129,14317,0.12,2.20,0.00,0.000,6,0.177,0.038,2785,2539,2145
$GC,14640,0.74,339.3,289.5,14.6,1165,14647,0.00,2.15,0.00,0.000,4,0.000,0.035,2791,1103,2145
$GC,14715,0.74,339.3,279.3,13.1,1178,14721,0.00,2.15,0.00,0.000,6,0.000,0.038,2791,2518,2145
$GC,15059,0.74,339.3,229.9,14.0,1239,15065,0.00,2.12,0.00,0.000,4,0.000,0.035,2796,1091,2145
$GC,15127,0.74,339.3,220.7,13.2,1251,15133,0.00,2.12,0.00,0.000,6,0.000,0.038,2797,2494,2145
$GC,15471,0.74,339.3,172.9,13.3,1312,15476,0.00,2.08,0.00,0.000,4,0.000,0.035,2803,1099,2146
$GC,15516,0.74,339.3,167.1,12.4,1320,15522,0.00,2.10,0.00,0.000,6,0.000,0.037,2803,2490,2146
$GC,15860,0.76,354.5,121.3,11.4,1381,15878,0.00,0.00,13.60,0.720,6,0.000,0.000,2803,2490,2085
$GC,16216,0.89,395.4,77.7,10.3,1444,16253,0.00,2.05,31.90,0.704,4,0.000,0.053,2803,3759,1920
$GC,16329,0.98,395.4,65.2,12.7,1463,16335,0.17,1.95,0.00,0.000,6,0.072,0.028,2876,2450,1916
$GC,16673,0.98,395.4,19.6,13.3,1524,16679,0.00,2.05,0.00,0.000,4,0.000,0.050,2875,3766,1915
$GC,16697,0.92,395.4,16.3,14.4,1528,16703,0.15,1.90,0.00,0.000,6,0.173,0.028,2844,2466,1915
$STATE,16808,end climb,SURFACE_DEPTH_REACHED
$STATE,16808,begin surface coast
$FINISH,1.7,1.010419
$STATE,16837,end surface coast,CONTROL_FINISHED_OK
$STATE,16837,begin surface
$SM_CCo,16854,19.83,0.628,0,0,1798,425.10
$SM_GC,2.42,0.00,0.00,19.83,0.000,0.000,0.628,144,2463,1798,-7.50,1.02,425.10
$IRIDIUM_FIX,2439.44,12328.90,300898,030339
$TT8_MAMPS,0.029146
$HUMID,1589
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,18.488
$10V_AH,10.8,11.272
$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,26.050,102.075,413.050,19.825,0.000,27.799,37.856,231.865,8.000,0.000,0.000,14.350,2733.533,10837.755,549.724,2600.073,573.346,0.000,1853.573,0.000,2541.216,0.000,54.422,0.000
$DEVICE_MAMPS,253.877,61.360,1435.057,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.016,1074.575,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81981,1553
$CAP_FILE_SIZE,163803,0
$CFSIZE,260165632,218124288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 45.4,1
$GPS,050609,130400,2447.500,12325.230,39,1.3,40,-3.6