version: 66.04
glider: 167
mission: 2
dive: 89
start: 6 6 109 3 31 3
data:
$ID,167
$MISSION,2
$DIVE,89
$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,-6441.6191
$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,69
$R_STBD_OVSHOOT,32
$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
$GPS1,032407,2441.363,12324.268,36,1.4,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-68.9
$GPS2,033042,2441.333,12324.300,15,1.7,25,-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,204.7,66389,-18.3,-12.000
$D_GRID,1343
$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,14,-1.05,-194.7,0.0,0.0,0,58,0.00,0.00,-40.90,0.000,2,0.000,0.000,144,2422,2527
$GC,61,-1.05,-194.7,3.3,-2.7,7,126,8.52,2.08,-46.95,0.000,4,0.252,0.044,2196,1037,3989
$GC,379,-0.34,-194.7,89.6,-28.2,62,386,0.85,2.10,0.00,0.000,6,0.182,0.035,2432,2433,3991
$GC,724,-0.77,-194.7,113.2,-5.6,123,730,0.35,0.00,0.00,0.000,6,0.053,0.000,2280,2436,3993
$GC,1067,-0.49,-194.7,168.8,-17.4,184,1075,0.32,2.05,0.00,0.000,4,0.162,0.027,2380,1028,3993
$GC,1092,-0.49,-194.7,172.5,-14.2,188,1099,0.00,2.12,0.00,0.000,6,0.000,0.035,2381,2450,3993
$GC,1438,-0.78,-194.7,200.6,-7.7,249,1445,0.20,2.00,0.00,0.000,4,0.064,0.049,2287,3763,3993
$GC,1480,-0.69,-194.7,205.5,-12.9,256,1488,0.12,1.90,0.00,0.000,6,0.157,0.026,2320,2432,3994
$GC,1826,-0.69,-194.7,243.5,-10.1,317,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2431,3994
$GC,2169,-0.74,-194.7,277.6,-9.5,378,2175,0.00,2.00,0.00,0.000,4,0.000,0.030,2321,1040,3994
$GC,2221,-0.88,-194.7,282.2,-8.3,387,2227,0.17,2.10,0.00,0.000,6,0.071,0.035,2244,2448,3994
$GC,2559,-0.67,-194.7,333.8,-15.4,429,2564,0.25,2.05,0.00,0.000,4,0.167,0.029,2321,1044,3994
$GC,2666,-0.84,-194.7,344.6,-8.4,438,2671,0.12,2.08,0.00,0.000,6,0.081,0.035,2266,2437,3993
$GC,2992,-0.74,-194.7,381.2,-11.9,468,2996,0.15,2.03,0.00,0.000,4,0.161,0.028,2306,1054,3994
$GC,3041,-0.84,-194.7,386.3,-9.8,472,3049,0.00,2.05,0.00,0.000,6,0.000,0.037,2304,2421,3994
$GC,3370,-0.92,-194.7,418.6,-9.6,503,3376,0.15,0.00,0.00,0.000,6,0.080,0.000,2242,2423,3993
$GC,3695,-0.75,-194.7,465.2,-14.2,534,3700,0.20,2.03,0.00,0.000,4,0.166,0.031,2302,1049,3993
$GC,3797,-0.88,-194.7,475.9,-9.5,543,3802,0.12,2.08,0.00,0.000,6,0.083,0.038,2252,2425,3993
$GC,4120,-0.78,-194.7,516.1,-12.0,567,4124,0.15,2.03,0.00,0.000,4,0.170,0.030,2291,1049,3992
$GC,4171,-0.89,-194.7,521.5,-9.8,569,4175,0.00,2.05,0.00,0.000,6,0.000,0.038,2289,2405,3991
$GC,4498,-0.96,-194.7,553.1,-9.7,585,4500,0.15,0.00,0.00,0.000,6,0.081,0.000,2228,2408,3990
$GC,4807,-0.79,-194.7,596.9,-14.6,600,4811,0.17,2.00,0.00,0.000,4,0.170,0.031,2281,1044,3987
$GC,4863,-0.90,-194.7,603.7,-11.1,602,4866,0.00,2.08,0.00,0.000,6,0.000,0.040,2279,2412,3987
$GC,5184,-0.97,-194.7,637.5,-9.4,618,5189,0.12,2.08,0.00,0.000,4,0.086,0.054,2224,3757,3986
$GC,5224,-0.80,-194.7,642.3,-12.9,620,5228,0.22,1.98,0.00,0.000,6,0.166,0.030,2288,2399,3985
$GC,5558,-0.93,-194.7,669.1,-7.1,636,5562,0.12,2.12,0.00,0.000,4,0.084,0.054,2234,3757,3984
$GC,5607,-0.82,-194.7,674.6,-11.6,638,5616,0.17,1.98,0.00,0.000,6,0.165,0.030,2281,2397,3983
$GC,5933,-0.94,-194.7,701.8,-8.2,654,5935,0.12,0.00,0.00,0.000,6,0.084,0.000,2233,2398,3982
$GC,6242,-0.89,-194.7,733.0,-10.5,669,6246,0.00,2.00,0.00,0.000,4,0.000,0.034,2232,1027,3980
$GC,6387,-0.89,-194.7,748.8,-10.3,675,6391,0.00,2.08,0.00,0.000,6,0.000,0.040,2232,2396,3979
$GC,6709,-0.84,-194.7,783.5,-11.0,691,6713,0.15,2.12,0.00,0.000,4,0.172,0.057,2272,3758,3977
$GC,6759,-0.98,-194.7,788.4,-8.6,693,6763,0.12,2.00,0.00,0.000,6,0.086,0.031,2223,2394,3977
$GC,7088,-0.92,-194.7,823.9,-10.7,709,7091,0.00,2.00,0.00,0.000,4,0.000,0.035,2223,1026,3975
$GC,7217,-0.92,-194.7,837.4,-10.5,714,7223,0.00,2.05,0.00,0.000,6,0.000,0.041,2221,2376,3974
$GC,7533,-0.85,-194.7,870.6,-11.0,730,7535,0.17,0.00,0.00,0.000,6,0.171,0.000,2268,2377,3972
$GC,7842,-0.97,-194.7,898.2,-8.7,745,7847,0.12,2.17,0.00,0.000,4,0.089,0.059,2221,3764,3970
$GC,7888,-0.90,-194.7,903.5,-12.5,747,7892,0.12,2.05,0.00,0.000,6,0.167,0.034,2252,2379,3970
$GC,8222,-0.96,-194.7,936.4,-10.2,763,8225,0.00,2.17,0.00,0.000,4,0.000,0.058,2248,3753,3968
$GC,8249,-0.96,-194.7,939.6,-11.5,764,8253,0.00,2.03,0.00,0.000,6,0.000,0.034,2247,2385,3968
$GC,8577,-1.02,-194.7,971.3,-9.1,780,8580,0.00,2.00,0.00,0.000,4,0.000,0.036,2248,1027,3967
$GC,8605,-1.08,-194.7,973.9,-9.1,781,8609,0.15,2.08,0.00,0.000,6,0.087,0.042,2192,2390,3967
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8764,-0.22,0.0,991.6,11.7,789,8855,0.93,0.00,87.50,1.427,6,0.172,0.000,2467,2505,3532
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8858,1.05,194.7,993.7,0.0,793,9025,1.15,2.28,159.18,1.381,4,0.056,0.037,2894,1115,2738
$GC,9156,0.47,194.7,960.2,21.1,806,9163,0.73,2.22,0.00,0.000,6,0.202,0.041,2704,2507,2733
$GC,9472,0.41,194.7,921.1,12.3,822,9476,0.00,2.00,0.00,0.000,4,0.000,0.058,2704,3762,2730
$GC,9595,0.25,194.7,903.8,14.5,827,9599,0.28,1.88,0.00,0.000,6,0.183,0.033,2634,2520,2729
$GC,9916,0.52,265.9,872.4,9.1,843,9981,0.20,2.10,56.90,1.324,4,0.076,0.058,2715,3764,2447
$GC,10110,0.43,265.9,844.2,15.7,851,10117,0.15,1.88,0.00,0.000,6,0.186,0.035,2684,2538,2442
$GC,10426,0.53,265.9,804.8,12.2,867,10427,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2538,2439
$GC,10736,0.69,298.9,770.6,10.6,882,10770,0.20,2.08,26.92,1.257,4,0.079,0.061,2767,3758,2312
$GC,10905,0.49,298.9,742.0,17.2,889,10913,0.28,1.88,0.00,0.000,6,0.186,0.035,2701,2529,2308
$GC,11221,0.60,298.9,702.9,12.4,905,11225,0.10,1.98,0.00,0.000,4,0.097,0.058,2740,3757,2306
$GC,11238,0.65,298.9,700.6,12.9,905,11245,0.00,1.85,0.00,0.000,6,0.000,0.034,2746,2522,2306
$GC,11553,0.65,298.9,652.1,14.7,921,11557,0.00,1.98,0.00,0.000,4,0.000,0.058,2746,3757,2305
$GC,11644,0.54,298.9,636.7,15.5,925,11648,0.12,1.83,0.00,0.000,6,0.193,0.035,2722,2539,2305
$GC,11977,0.62,308.7,595.8,11.6,941,11992,0.00,2.00,8.12,1.040,4,0.000,0.059,2723,3757,2272
$GC,12082,0.62,308.7,582.4,12.3,945,12090,0.00,1.85,0.00,0.000,6,0.000,0.035,2723,2521,2271
$GC,12398,0.71,308.7,545.1,12.9,961,12400,0.15,0.00,0.00,0.000,6,0.082,0.000,2780,2520,2271
$GC,12707,0.59,308.7,497.3,15.0,976,12711,0.17,1.98,0.00,0.000,4,0.182,0.056,2736,3765,2270
$GC,12847,0.59,308.7,477.1,14.0,988,12853,0.00,1.83,0.00,0.000,6,0.000,0.035,2739,2540,2270
$GC,13173,0.59,308.7,438.5,12.1,1019,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2540,2270
$GC,13492,0.66,324.3,400.7,11.4,1049,13510,0.00,2.00,13.55,0.964,4,0.000,0.058,2739,3757,2208
$GC,13549,0.66,324.3,393.0,13.6,1053,13557,0.00,1.83,0.00,0.000,6,0.000,0.033,2746,2553,2207
$GC,13876,0.70,324.3,353.7,12.7,1084,13880,0.00,1.92,0.00,0.000,4,0.000,0.058,2746,3764,2206
$GC,13914,0.70,324.3,348.1,13.7,1087,13921,0.00,1.80,0.00,0.000,6,0.000,0.034,2751,2572,2206
$GC,14242,0.75,324.3,302.3,14.4,1118,14246,0.10,1.88,0.00,0.000,4,0.097,0.054,2790,3761,2206
$GC,14265,0.69,324.3,298.1,16.5,1120,14270,0.00,1.75,0.00,0.000,6,0.000,0.033,2796,2573,2206
$GC,14608,0.61,324.3,244.5,15.5,1181,14616,0.17,1.88,0.00,0.000,4,0.183,0.056,2744,3765,2206
$GC,14644,0.61,324.3,239.3,14.9,1187,14650,0.00,1.73,0.00,0.000,6,0.000,0.034,2750,2585,2206
$GC,14988,0.75,361.2,201.2,10.5,1248,15025,0.10,1.95,29.50,0.819,4,0.092,0.055,2790,3767,2058
$GC,15088,0.70,361.2,186.7,15.2,1265,15095,0.00,1.70,0.00,0.000,6,0.000,0.031,2795,2616,2056
$GC,15435,0.70,361.2,140.4,12.5,1326,15441,0.00,2.25,0.00,0.000,4,0.000,0.035,2803,1105,2055
$GC,15476,0.79,361.2,134.8,12.7,1333,15483,0.00,2.30,0.00,0.000,6,0.000,0.037,2803,2612,2055
$GC,15823,0.80,366.0,90.4,11.8,1394,15834,0.00,1.80,5.07,0.566,4,0.000,0.055,2803,3769,2039
$GC,15953,0.83,387.9,74.0,11.1,1417,15977,0.00,1.70,17.95,0.686,6,0.000,0.029,2809,2590,1949
$GC,16318,1.08,452.3,35.5,9.3,1481,16378,0.20,2.30,49.97,0.658,4,0.067,0.033,2903,1109,1685
$GC,16447,1.08,452.3,17.7,15.9,1503,16454,0.00,2.33,0.00,0.000,6,0.000,0.036,2903,2619,1681
$STATE,16542,end climb,SURFACE_DEPTH_REACHED
$STATE,16542,begin surface coast
$FINISH,1.8,1.009280
$STATE,16561,end surface coast,CONTROL_FINISHED_OK
$STATE,16561,begin surface
$SM_CCo,16639,0.00,0.000,0,0,1677,455.03
$SM_GC,2.74,7.47,0.00,0.00,0.061,0.000,0.000,145,2416,1677,-7.49,-0.31,455.03
$IRIDIUM_FIX,2432.32,12324.30,300898,222205
$TT8_MAMPS,0.029146
$HUMID,1560
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,19.205
$10V_AH,10.8,11.648
$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,26.150,132.800,454.675,0.000,0.000,30.368,29.029,193.458,8.000,0.000,0.000,25.134,2715.501,10454.089,604.365,2700.775,548.481,0.000,1973.043,0.000,2628.199,0.000,54.427,0.000
$DEVICE_MAMPS,252.343,75.933,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.421,1044.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81929,1523
$CAP_FILE_SIZE,173110,0
$CFSIZE,260165632,217763840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,289.4,1
$GPS,060609,080937,2438.979,12323.381,40,1.4,41,-3.6