version: 66.04
glider: 167
mission: 2
dive: 88
start: 6 5 109 22 49 4
data:
$ID,167
$MISSION,2
$DIVE,88
$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,-6415.8555
$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,60
$R_STBD_OVSHOOT,29
$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
$GPS1,223455,2443.732,12324.372,36,1.4,37,-3.6
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-70.3
$GPS2,224842,2443.676,12324.363,11,2.0,15,-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,208.7,70564,-18.3,-12.000
$D_GRID,1553
$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,17,-1.05,-194.7,0.0,0.0,0,54,0.00,0.00,-34.40,0.000,2,0.000,0.000,146,2414,2487
$GC,57,-1.05,-194.7,3.0,-1.6,6,120,8.52,2.12,-49.53,0.000,4,0.253,0.044,2201,1013,3989
$GC,374,-0.48,-194.7,81.2,-23.8,61,381,0.68,2.15,0.00,0.000,6,0.176,0.036,2389,2435,3990
$GC,719,-0.66,-194.7,115.0,-9.0,122,726,0.17,2.08,0.00,0.000,4,0.069,0.028,2310,1018,3992
$GC,805,-0.56,-194.7,126.0,-13.5,137,812,0.20,2.12,0.00,0.000,6,0.156,0.035,2359,2441,3992
$GC,1150,-0.69,-194.7,160.9,-9.2,198,1156,0.12,2.00,0.00,0.000,4,0.077,0.048,2303,3755,3992
$GC,1219,-0.60,-194.7,169.2,-12.8,210,1226,0.17,1.92,0.00,0.000,6,0.151,0.026,2353,2400,3993
$GC,1564,-0.73,-194.7,200.8,-9.9,271,1571,0.12,1.95,0.00,0.000,4,0.076,0.028,2299,1040,3993
$GC,1600,-0.68,-194.7,205.1,-13.1,277,1607,0.12,2.08,0.00,0.000,6,0.157,0.035,2323,2431,3992
$GC,1944,-0.68,-194.7,243.9,-12.0,338,1950,0.00,2.03,0.00,0.000,4,0.000,0.029,2323,1038,3992
$GC,2030,-0.79,-194.7,253.3,-10.4,353,2036,0.00,2.03,0.00,0.000,6,0.000,0.035,2319,2403,3992
$GC,2374,-0.79,-194.7,291.9,-11.5,414,2380,0.00,1.98,0.00,0.000,4,0.000,0.029,2319,1044,3992
$GC,2437,-0.90,-194.7,298.7,-10.2,425,2444,0.17,2.00,0.00,0.000,6,0.071,0.035,2243,2394,3992
$GC,2769,-0.68,-194.7,345.8,-13.3,457,2773,0.25,1.95,0.00,0.000,4,0.166,0.028,2319,1055,3993
$GC,2882,-0.83,-194.7,356.0,-8.0,467,2886,0.12,1.98,0.00,0.000,6,0.081,0.035,2266,2373,3993
$GC,3212,-0.74,-194.7,396.3,-12.6,498,3216,0.15,1.95,0.00,0.000,4,0.163,0.029,2307,1036,3992
$GC,3284,-0.85,-194.7,404.2,-10.0,504,3291,0.10,1.98,0.00,0.000,6,0.091,0.037,2263,2359,3993
$GC,3609,-0.75,-194.7,445.2,-12.8,535,3611,0.15,0.00,0.00,0.000,6,0.165,0.000,2304,2361,3991
$GC,3928,-0.85,-194.7,476.8,-9.8,565,3931,0.00,1.92,0.00,0.000,4,0.000,0.032,2304,1049,3990
$GC,3963,-0.96,-194.7,480.4,-10.6,568,3967,0.20,1.95,0.00,0.000,6,0.073,0.038,2221,2352,3989
$GC,4289,-0.74,-194.7,528.7,-14.3,590,4293,0.25,1.92,0.00,0.000,4,0.169,0.029,2296,1037,3988
$GC,4367,-0.85,-194.7,537.2,-9.5,593,4371,0.00,1.95,0.00,0.000,6,0.000,0.037,2293,2336,3987
$GC,4689,-0.92,-194.7,568.5,-9.9,609,4690,0.12,0.00,0.00,0.000,6,0.083,0.000,2241,2337,3986
$GC,4998,-0.80,-194.7,605.3,-11.9,624,5003,0.17,1.90,0.00,0.000,4,0.163,0.031,2294,1043,3984
$GC,5049,-0.92,-194.7,610.2,-8.2,626,5053,0.12,1.95,0.00,0.000,6,0.083,0.038,2243,2342,3984
$GC,5375,-0.86,-194.7,646.1,-11.2,642,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2343,3982
$GC,5685,-0.81,-194.7,681.1,-11.0,657,5689,0.15,2.17,0.00,0.000,4,0.167,0.054,2276,3749,3981
$GC,5729,-0.90,-194.7,685.5,-9.2,659,5733,0.00,2.03,0.00,0.000,6,0.000,0.031,2275,2356,3980
$GC,6056,-1.00,-194.7,716.0,-9.0,675,6060,0.15,1.90,0.00,0.000,4,0.079,0.032,2214,1049,3978
$GC,6215,-0.89,-194.7,736.7,-13.1,682,6220,0.10,1.95,0.00,0.000,6,0.146,0.039,2251,2316,3977
$GC,6547,-0.89,-194.7,771.3,-10.2,698,6551,0.00,1.88,0.00,0.000,4,0.000,0.033,2251,1045,3975
$GC,6602,-0.89,-194.7,777.2,-10.8,700,6606,0.00,1.92,0.00,0.000,6,0.000,0.039,2250,2316,3975
$GC,6925,-0.89,-194.7,809.0,-9.3,716,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2316,3973
$GC,7233,-0.89,-194.7,836.7,-8.4,731,7237,0.00,2.25,0.00,0.000,4,0.000,0.058,2247,3761,3971
$GC,7272,-0.89,-194.7,840.1,-9.3,733,7276,0.00,2.12,0.00,0.000,6,0.000,0.032,2248,2316,3971
$GC,7605,-0.89,-194.7,869.1,-8.8,749,7608,0.00,1.85,0.00,0.000,4,0.000,0.035,2248,1049,3969
$GC,7643,-0.89,-194.7,872.8,-9.2,750,7649,0.00,1.92,0.00,0.000,6,0.000,0.041,2248,2313,3969
$GC,7959,-0.89,-194.7,903.0,-9.9,766,7963,0.00,2.25,0.00,0.000,4,0.000,0.059,2248,3754,3967
$GC,8015,-0.89,-194.7,909.0,-10.7,768,8021,0.00,2.10,0.00,0.000,6,0.000,0.033,2247,2333,3967
$GC,8331,-0.89,-194.7,939.5,-9.4,784,8335,0.00,2.22,0.00,0.000,4,0.000,0.058,2248,3754,3965
$GC,8369,-0.89,-194.7,943.3,-9.5,785,8375,0.00,2.08,0.00,0.000,6,0.000,0.032,2247,2345,3965
$GC,8685,-0.94,-194.7,971.8,-8.9,801,8689,0.00,1.90,0.00,0.000,4,0.000,0.035,2247,1047,3964
$GC,8713,-1.00,-194.7,974.4,-9.6,802,8717,0.00,1.95,0.00,0.000,6,0.000,0.041,2248,2326,3964
$STATE,8893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8893,begin apogee
$GC,8899,-0.22,0.0,990.5,9.0,811,8989,0.73,0.00,86.72,1.425,6,0.153,0.000,2471,2506,3532
$STATE,8990,end apogee,CONTROL_FINISHED_OK
$STATE,8990,begin climb
$GC,8992,1.05,194.7,993.1,0.0,815,9158,1.15,2.10,159.02,1.381,4,0.062,0.055,2886,3760,2737
$GC,9415,0.29,194.7,932.9,22.8,835,9421,0.95,1.88,0.00,0.000,6,0.212,0.031,2644,2518,2730
$GC,9743,0.53,280.8,903.3,8.4,851,9820,0.17,2.17,69.45,1.328,4,0.081,0.058,2716,3765,2386
$GC,10006,0.47,280.8,866.6,14.3,863,10010,0.00,1.90,0.00,0.000,6,0.000,0.032,2720,2514,2380
$GC,10338,0.47,280.8,821.8,13.5,879,10342,0.00,2.03,0.00,0.000,4,0.000,0.058,2719,3769,2378
$GC,10372,0.39,280.8,816.9,14.6,880,10376,0.17,1.88,0.00,0.000,6,0.180,0.031,2675,2517,2377
$GC,10693,0.63,335.2,783.3,9.8,896,10744,0.20,2.15,43.90,1.271,4,0.077,0.058,2755,3765,2164
$GC,10941,0.54,335.2,742.6,16.8,907,10945,0.15,1.88,0.00,0.000,6,0.176,0.031,2722,2530,2157
$GC,11267,0.63,335.2,700.6,13.6,923,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2529,2156
$GC,11577,0.73,335.2,658.6,13.4,938,11581,0.17,1.98,0.00,0.000,4,0.076,0.057,2794,3767,2154
$GC,11834,0.53,335.2,607.2,19.9,949,11838,0.22,1.88,0.00,0.000,6,0.174,0.032,2720,2525,2153
$GC,12155,0.67,335.2,567.1,12.1,965,12159,0.12,1.95,0.00,0.000,4,0.084,0.055,2769,3758,2153
$GC,12302,0.56,335.2,542.2,16.5,971,12307,0.17,1.83,0.00,0.000,6,0.174,0.033,2728,2533,2153
$GC,12624,0.68,335.2,502.2,12.1,987,12628,0.10,2.12,0.00,0.000,4,0.091,0.037,2774,1103,2152
$GC,12639,0.76,335.2,499.8,12.3,987,12646,0.00,2.22,0.00,0.000,6,0.000,0.041,2774,2550,2152
$GC,12965,0.76,335.2,450.0,15.4,1018,12969,0.00,1.88,0.00,0.000,4,0.000,0.056,2774,3758,2152
$GC,12990,0.70,335.2,446.1,16.0,1020,12994,0.00,1.80,0.00,0.000,6,0.000,0.031,2774,2535,2152
$GC,13320,0.70,335.2,394.6,15.1,1051,13324,0.00,1.95,0.00,0.000,4,0.000,0.057,2774,3766,2152
$GC,13381,0.61,335.2,383.7,17.7,1056,13388,0.12,1.80,0.00,0.000,6,0.178,0.031,2743,2535,2152
$GC,13706,0.72,343.5,341.5,11.7,1087,13718,0.10,2.00,6.38,0.808,4,0.091,0.056,2781,3765,2130
$GC,13747,0.62,343.5,335.5,15.4,1090,13753,0.17,1.80,0.00,0.000,6,0.178,0.031,2743,2538,2130
$GC,14073,0.72,343.5,295.7,12.2,1124,14081,0.10,2.10,0.00,0.000,4,0.092,0.034,2789,1114,2129
$GC,14105,0.72,343.5,291.3,15.1,1129,14111,0.00,2.20,0.00,0.000,6,0.000,0.039,2789,2559,2129
$GC,14448,0.72,343.5,240.6,13.6,1190,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2559,2129
$GC,14790,0.72,343.5,193.7,13.6,1251,14796,0.00,1.85,0.00,0.000,4,0.000,0.056,2789,3764,2130
$GC,14909,0.66,343.5,176.4,14.8,1272,14917,0.15,1.80,0.00,0.000,6,0.178,0.029,2757,2517,2130
$GC,15257,0.92,402.6,139.3,9.6,1333,15311,0.20,2.00,46.35,0.763,4,0.074,0.054,2843,3761,1888
$GC,15419,0.77,402.6,112.4,18.1,1361,15426,0.20,1.83,0.00,0.000,6,0.170,0.029,2792,2543,1884
$GC,15764,0.96,402.6,70.1,12.5,1422,15770,0.17,1.92,0.00,0.000,4,0.071,0.051,2871,3765,1883
$GC,15811,0.81,402.6,62.6,17.1,1430,15817,0.25,1.83,0.00,0.000,6,0.170,0.028,2804,2522,1883
$GC,16157,1.15,492.9,32.2,8.3,1491,16233,0.28,2.03,67.65,0.651,4,0.062,0.051,2918,3755,1521
$GC,16324,1.06,492.9,4.4,17.4,1520,16331,0.15,1.80,0.00,0.000,6,0.181,0.027,2889,2535,1516
$STATE,16335,end climb,SURFACE_DEPTH_REACHED
$STATE,16335,begin surface coast
$FINISH,1.7,1.007261
$STATE,16354,end surface coast,CONTROL_FINISHED_OK
$STATE,16354,begin surface
$SM_CCo,16432,0.00,0.000,0,0,1512,495.26
$SM_GC,2.65,7.47,0.00,0.00,0.061,0.000,0.000,144,2422,1512,-7.49,-0.14,495.26
$IRIDIUM_FIX,2434.69,12325.61,300898,222214
$TT8_MAMPS,0.028379
$HUMID,1544
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.9,19.036
$10V_AH,10.8,11.555
$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,26.050,135.275,479.475,0.000,0.000,83.480,99.270,381.901,8.000,0.000,0.000,16.019,2723.183,10313.411,594.008,2750.450,868.413,0.000,1985.394,0.000,2679.666,0.000,54.424,0.000
$DEVICE_MAMPS,253.110,67.496,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.587,1061.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81920,1525
$CAP_FILE_SIZE,178509,0
$CFSIZE,260165632,217853952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 85.3,1
$GPS,060609,032407,2441.363,12324.268,36,1.4,37,-3.6