version: 66.04
glider: 167
mission: 2
dive: 87
start: 6 5 109 17 56 12
data:
$ID,167
$MISSION,2
$DIVE,87
$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,-6399.2075
$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,70
$R_STBD_OVSHOOT,34
$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
$GPS1,174707,2445.560,12324.896,39,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.1
$GPS2,175550,2445.569,12324.950,11,1.1,11,-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,211.5,74207,-18.3,-12.000
$D_GRID,1782
$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,-194.7,0.0,0.0,0,53,0.00,0.00,-34.75,0.000,2,0.000,0.000,144,2435,2568
$GC,56,-1.05,-194.7,3.2,-2.9,6,117,8.52,2.08,-44.28,0.000,4,0.253,0.058,2191,3759,3988
$GC,309,-0.25,-194.7,73.1,-30.8,50,316,0.93,1.95,0.00,0.000,6,0.179,0.025,2457,2406,3989
$GC,654,-1.14,-194.7,100.8,-9.3,111,661,0.77,2.10,0.00,0.000,4,0.088,0.047,2176,3762,3991
$GC,741,-0.44,-194.7,116.9,-25.0,126,748,0.77,1.88,0.00,0.000,6,0.184,0.026,2397,2450,3991
$GC,1086,-0.77,-194.7,142.1,-6.0,187,1092,0.25,0.00,0.00,0.000,6,0.058,0.000,2285,2450,3992
$GC,1430,-0.61,-194.7,190.0,-14.3,248,1437,0.17,0.00,0.00,0.000,6,0.161,0.000,2339,2450,3992
$GC,1775,-0.72,-194.7,224.3,-9.0,309,1782,0.00,2.03,0.00,0.000,4,0.000,0.030,2339,1044,3992
$GC,1812,-0.87,-194.7,227.8,-9.5,315,1818,0.20,2.10,0.00,0.000,6,0.066,0.035,2248,2456,3992
$GC,2156,-0.62,-194.7,283.8,-15.6,376,2164,0.28,2.08,0.00,0.000,4,0.163,0.028,2334,1033,3992
$GC,2188,-0.62,-194.7,287.7,-11.7,381,2194,0.00,2.08,0.00,0.000,6,0.000,0.035,2332,2429,3993
$GC,2523,-0.76,-194.7,313.9,-8.3,426,2526,0.00,2.00,0.00,0.000,4,0.000,0.030,2332,1044,3992
$GC,2573,-0.94,-194.7,318.2,-8.0,430,2581,0.25,2.05,0.00,0.000,6,0.064,0.036,2229,2422,3992
$GC,2899,-0.67,-194.7,365.4,-14.9,461,2903,0.30,2.03,0.00,0.000,4,0.166,0.028,2320,1031,3992
$GC,3055,-0.83,-194.7,379.6,-8.3,474,3062,0.12,2.05,0.00,0.000,6,0.082,0.036,2266,2407,3993
$GC,3381,-0.75,-194.7,420.1,-13.4,505,3382,0.12,0.00,0.00,0.000,6,0.165,0.000,2299,2408,3992
$GC,3699,-0.82,-194.7,456.8,-11.5,535,3702,0.00,2.00,0.00,0.000,4,0.000,0.031,2299,1043,3992
$GC,3745,-0.94,-194.7,462.0,-11.5,539,3749,0.17,2.05,0.00,0.000,6,0.077,0.039,2229,2409,3992
$GC,4073,-0.74,-194.7,508.7,-13.7,567,4077,0.22,2.08,0.00,0.000,4,0.167,0.052,2289,3760,3990
$GC,4100,-0.70,-194.7,512.1,-11.9,568,4105,0.12,1.95,0.00,0.000,6,0.152,0.029,2323,2397,3990
$GC,4421,-0.92,-194.7,536.8,-7.2,584,4426,0.17,1.95,0.00,0.000,4,0.074,0.031,2246,1037,3989
$GC,4490,-0.85,-194.7,544.3,-11.6,587,4493,0.00,2.05,0.00,0.000,6,0.000,0.039,2245,2399,3988
$GC,4823,-0.75,-194.7,584.5,-12.9,603,4827,0.17,2.00,0.00,0.000,4,0.170,0.029,2300,1041,3986
$GC,4891,-0.90,-194.7,591.5,-9.9,606,4895,0.15,2.05,0.00,0.000,6,0.079,0.038,2240,2396,3986
$GC,5224,-0.82,-194.7,633.3,-13.2,622,5226,0.15,0.00,0.00,0.000,6,0.166,0.000,2280,2396,3985
$GC,5533,-0.93,-194.7,664.9,-9.5,637,5536,0.00,2.00,0.00,0.000,4,0.000,0.032,2281,1035,3983
$GC,5578,-1.03,-194.7,669.3,-9.5,639,5583,0.20,2.05,0.00,0.000,6,0.074,0.039,2201,2395,3983
$GC,5907,-0.85,-194.7,715.2,-14.7,655,5911,0.20,2.12,0.00,0.000,4,0.172,0.054,2261,3764,3981
$GC,5952,-0.85,-194.7,721.2,-11.5,657,5956,0.00,2.00,0.00,0.000,6,0.000,0.031,2261,2379,3981
$GC,6286,-0.92,-194.7,752.1,-8.6,673,6289,0.00,1.95,0.00,0.000,4,0.000,0.033,2261,1040,3979
$GC,6347,-1.02,-194.7,757.8,-8.7,675,6354,0.12,2.05,0.00,0.000,6,0.084,0.040,2211,2396,3978
$GC,6663,-0.92,-194.7,791.6,-10.6,691,6665,0.15,0.00,0.00,0.000,6,0.172,0.000,2250,2396,3976
$GC,6972,-0.97,-194.7,819.9,-9.6,706,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2396,3975
$GC,7283,-1.02,-194.7,850.5,-10.1,721,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2396,3973
$GC,7591,-1.08,-194.7,880.4,-9.3,736,7593,0.15,0.00,0.00,0.000,6,0.083,0.000,2194,2396,3970
$GC,7900,-0.93,-194.7,919.4,-12.5,751,7902,0.20,0.00,0.00,0.000,6,0.176,0.000,2247,2396,3969
$GC,8209,-0.93,-194.7,948.9,-9.5,766,8213,0.00,2.00,0.00,0.000,4,0.000,0.037,2247,1044,3967
$GC,8260,-1.01,-194.7,954.1,-10.5,768,8264,0.00,2.05,0.00,0.000,6,0.000,0.042,2247,2384,3968
$GC,8587,-1.06,-194.7,984.7,-9.0,784,8592,0.12,2.15,0.00,0.000,4,0.092,0.058,2196,3757,3966
$GC,8615,-0.95,-194.7,987.7,-11.4,785,8619,0.15,2.03,0.00,0.000,6,0.176,0.033,2234,2384,3965
$STATE,8644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8644,begin apogee
$GC,8650,-0.22,0.0,991.0,10.6,787,8740,0.75,0.00,87.30,1.426,6,0.156,0.000,2467,2519,3532
$STATE,8741,end apogee,CONTROL_FINISHED_OK
$STATE,8741,begin climb
$GC,8744,1.05,194.7,993.5,0.0,791,8916,1.15,2.35,158.50,1.377,4,0.059,0.037,2885,1112,2737
$GC,9062,0.50,194.7,959.7,20.1,805,9067,0.68,2.25,0.00,0.000,6,0.202,0.044,2708,2515,2732
$GC,9378,0.47,230.6,923.9,10.5,820,9414,0.00,2.10,29.50,1.312,4,0.000,0.060,2708,3757,2591
$GC,9560,0.36,230.6,901.9,12.5,828,9565,0.17,1.88,0.00,0.000,6,0.183,0.032,2662,2520,2588
$GC,9888,0.58,306.7,873.7,8.9,844,9956,0.17,2.12,62.12,1.322,4,0.081,0.059,2734,3765,2280
$GC,10108,0.51,306.7,841.9,16.0,854,10112,0.00,1.88,0.00,0.000,6,0.000,0.033,2735,2541,2274
$GC,10440,0.51,306.7,797.2,13.5,870,10444,0.00,1.98,0.00,0.000,4,0.000,0.059,2736,3762,2272
$GC,10535,0.44,306.7,782.6,16.1,874,10539,0.17,1.80,0.00,0.000,6,0.182,0.034,2691,2564,2271
$GC,10862,0.60,315.7,744.3,11.6,890,10877,0.15,2.00,7.12,1.078,4,0.087,0.060,2747,3765,2244
$GC,10894,0.54,315.7,739.4,16.4,891,10898,0.12,1.80,0.00,0.000,6,0.191,0.033,2720,2566,2243
$GC,11215,0.61,318.2,697.2,11.9,907,11219,0.00,1.92,0.00,0.000,4,0.000,0.058,2720,3770,2241
$GC,11310,0.61,318.2,684.0,14.3,911,11314,0.00,1.80,0.00,0.000,6,0.000,0.033,2720,2581,2241
$GC,11637,0.70,318.2,644.1,12.5,927,11642,0.15,1.88,0.00,0.000,4,0.083,0.059,2778,3758,2240
$GC,11683,0.52,318.2,636.5,17.9,929,11688,0.25,1.73,0.00,0.000,6,0.183,0.035,2717,2599,2240
$GC,12016,0.63,318.2,593.5,12.5,945,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2599,2239
$GC,12325,0.76,318.2,554.7,12.3,960,12327,0.20,0.00,0.00,0.000,6,0.076,0.000,2794,2599,2239
$GC,12634,0.63,318.2,506.2,14.9,975,12639,0.17,2.22,0.00,0.000,4,0.186,0.038,2746,1109,2239
$GC,12656,0.63,318.2,503.1,12.6,976,12660,0.00,2.33,0.00,0.000,6,0.000,0.041,2746,2623,2239
$GC,12988,0.63,318.2,460.6,13.7,1006,12992,0.00,1.77,0.00,0.000,4,0.000,0.058,2746,3768,2239
$GC,13038,0.63,318.2,452.8,14.5,1010,13044,0.00,1.75,0.00,0.000,6,0.000,0.031,2746,2595,2239
$GC,13366,0.63,318.2,409.8,12.7,1041,13370,0.00,2.20,0.00,0.000,4,0.000,0.037,2746,1112,2239
$GC,13383,0.68,318.2,407.1,13.0,1042,13389,0.00,2.33,0.00,0.000,6,0.000,0.040,2745,2631,2239
$GC,13710,0.68,319.8,367.1,11.9,1073,13719,0.00,2.38,4.20,0.690,4,0.000,0.038,2746,1098,2227
$GC,13754,0.79,330.4,361.5,11.6,1077,13770,0.15,2.30,10.02,0.892,6,0.084,0.039,2806,2609,2185
$GC,14089,0.68,330.4,304.0,17.0,1108,14094,0.17,2.28,0.00,0.000,4,0.178,0.035,2763,1101,2183
$GC,14122,0.74,330.4,299.6,12.2,1110,14128,0.00,2.30,0.00,0.000,6,0.000,0.039,2763,2602,2183
$GC,14465,0.75,337.8,257.0,11.7,1171,14479,0.00,1.88,7.35,0.775,4,0.000,0.057,2763,3769,2155
$GC,14503,0.75,337.8,252.0,13.6,1177,14508,0.00,1.73,0.00,0.000,6,0.000,0.031,2763,2591,2154
$GC,14846,0.83,337.8,211.6,12.8,1238,14853,0.15,2.20,0.00,0.000,4,0.080,0.034,2829,1103,2154
$GC,14904,0.76,337.8,203.0,15.0,1248,14912,0.15,2.28,0.00,0.000,6,0.173,0.039,2791,2598,2154
$GC,15251,0.76,337.8,155.7,13.2,1309,15256,0.00,1.80,0.00,0.000,4,0.000,0.054,2791,3770,2153
$GC,15298,0.76,337.8,149.2,13.7,1317,15304,0.00,1.73,0.00,0.000,6,0.000,0.029,2792,2573,2154
$GC,15642,0.78,356.2,105.8,11.2,1378,15660,0.00,0.00,16.02,0.718,6,0.000,0.000,2791,2572,2079
$GC,15999,0.96,390.6,65.6,10.6,1441,16034,0.17,1.92,26.98,0.690,4,0.074,0.052,2871,3761,1938
$GC,16111,0.80,390.6,48.3,15.7,1460,16119,0.28,1.75,0.00,0.000,6,0.170,0.029,2803,2565,1935
$GC,16458,1.11,461.8,16.9,9.1,1521,16516,0.25,0.00,54.22,0.640,6,0.064,0.000,2909,2563,1648
$STATE,16554,end climb,SURFACE_DEPTH_REACHED
$STATE,16554,begin surface coast
$FINISH,1.7,1.008972
$STATE,16575,end surface coast,CONTROL_FINISHED_OK
$STATE,16575,begin surface
$SM_CCo,16652,0.00,0.000,0,0,1640,463.86
$SM_GC,2.58,7.57,0.00,0.00,0.061,0.000,0.000,146,2414,1640,-7.49,-0.37,463.86
$IRIDIUM_FIX,2439.44,12323.63,300898,131350
$TT8_MAMPS,0.028379
$HUMID,1552
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,18.842
$10V_AH,10.8,11.457
$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,28.225,125.900,463.350,0.000,0.000,29.188,44.395,277.517,8.000,0.000,0.000,12.006,2742.198,10491.838,565.085,2675.192,691.973,0.000,1931.214,0.000,2615.446,0.000,56.240,0.000
$DEVICE_MAMPS,253.110,69.797,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.480,1070.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82005,1541
$CAP_FILE_SIZE,174674,0
$CFSIZE,260165632,217939968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 49.5,1
$GPS,050609,223455,2443.732,12324.372,36,1.4,37,-3.6