version: 66.04
glider: 167
mission: 2
dive: 91
start: 6 6 109 13 3 18
data:
$ID,167
$MISSION,2
$DIVE,91
$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,-6489.4492
$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,74
$R_STBD_OVSHOOT,28
$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
$GPS1,125607,2437.410,12322.427,31,1.0,32,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.6
$GPS2,130256,2437.509,12322.432,15,1.2,15,-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,180.7,58687,-18.3,-12.000
$D_GRID,1030
$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,-194.7,0.0,0.0,0,53,0.00,0.00,-35.85,0.000,2,0.000,0.000,143,2403,2543
$GC,56,-1.05,-194.7,3.4,-2.9,6,114,8.45,0.00,-44.67,0.000,6,0.250,0.000,2199,2402,3988
$GC,453,-0.27,-194.7,112.3,-28.8,76,461,0.82,2.12,0.00,0.000,4,0.180,0.049,2436,3763,3991
$GC,564,-0.80,-194.7,121.7,-5.1,95,570,0.40,1.95,0.00,0.000,6,0.055,0.028,2274,2410,3991
$GC,910,-0.45,-194.7,177.9,-19.1,156,917,0.38,1.98,0.00,0.000,4,0.160,0.028,2390,1041,3992
$GC,1003,-0.78,-194.7,186.5,-6.9,172,1011,0.25,2.08,0.00,0.000,6,0.060,0.035,2282,2432,3993
$GC,1348,-0.63,-194.7,235.8,-13.2,233,1355,0.17,2.03,0.00,0.000,4,0.154,0.048,2331,3760,3993
$GC,1401,-0.73,-194.7,241.6,-10.1,242,1408,0.00,1.92,0.00,0.000,6,0.000,0.028,2331,2410,3993
$GC,1746,-0.84,-194.7,274.1,-9.4,303,1752,0.17,0.00,0.00,0.000,6,0.070,0.000,2249,2411,3993
$GC,2088,-0.61,-194.7,321.1,-14.1,351,2090,0.32,0.00,0.00,0.000,6,0.160,0.000,2344,2410,3993
$GC,2407,-0.85,-194.7,342.4,-6.2,381,2412,0.17,1.98,0.00,0.000,4,0.070,0.031,2264,1047,3993
$GC,2442,-0.80,-194.7,345.6,-10.7,384,2446,0.00,2.08,0.00,0.000,6,0.000,0.037,2262,2429,3993
$GC,2772,-0.69,-194.7,384.7,-12.3,415,2776,0.17,2.03,0.00,0.000,4,0.166,0.030,2316,1057,3993
$GC,2807,-0.78,-194.7,388.2,-9.6,418,2810,0.00,2.08,0.00,0.000,6,0.000,0.035,2317,2433,3993
$GC,3140,-0.93,-194.7,417.1,-8.3,449,3144,0.17,2.05,0.00,0.000,4,0.072,0.030,2237,1037,3993
$GC,3168,-0.86,-194.7,420.5,-12.2,451,3172,0.12,2.10,0.00,0.000,6,0.172,0.037,2265,2434,3993
$GC,3493,-0.79,-194.7,460.4,-12.0,481,3497,0.00,2.05,0.00,0.000,4,0.000,0.031,2265,1035,3992
$GC,3549,-0.79,-194.7,467.4,-12.4,486,3553,0.00,2.08,0.00,0.000,6,0.000,0.038,2262,2411,3992
$GC,3880,-0.72,-194.7,507.7,-12.2,514,3884,0.17,2.00,0.00,0.000,4,0.168,0.031,2316,1056,3990
$GC,3925,-0.91,-194.7,512.4,-9.0,516,3930,0.20,2.03,0.00,0.000,6,0.073,0.038,2235,2397,3990
$GC,4253,-0.75,-194.7,557.6,-14.7,532,4258,0.20,1.98,0.00,0.000,4,0.167,0.031,2295,1043,3988
$GC,4292,-0.84,-194.7,562.6,-11.1,533,4298,0.00,2.03,0.00,0.000,6,0.000,0.039,2293,2384,3988
$GC,4608,-0.94,-194.7,594.7,-10.0,549,4613,0.15,2.15,0.00,0.000,4,0.077,0.057,2231,3767,3986
$GC,4635,-0.86,-194.7,598.3,-13.1,550,4639,0.12,2.00,0.00,0.000,6,0.164,0.030,2262,2395,3986
$GC,4956,-0.86,-194.7,634.3,-11.3,566,4959,0.00,1.98,0.00,0.000,4,0.000,0.032,2263,1034,3985
$GC,5006,-0.86,-194.7,640.1,-11.2,568,5010,0.00,2.03,0.00,0.000,6,0.000,0.039,2262,2377,3985
$GC,5333,-0.86,-194.7,672.3,-9.4,584,5337,0.00,1.98,0.00,0.000,4,0.000,0.033,2262,1040,3983
$GC,5423,-0.86,-194.7,680.9,-9.2,588,5427,0.00,2.03,0.00,0.000,6,0.000,0.040,2261,2375,3982
$GC,5756,-0.86,-194.7,712.5,-10.0,604,5760,0.00,2.15,0.00,0.000,4,0.000,0.058,2261,3756,3980
$GC,5801,-0.91,-194.7,717.1,-10.2,606,5805,0.00,2.03,0.00,0.000,6,0.000,0.031,2261,2372,3981
$GC,6135,-0.97,-194.7,752.7,-10.6,622,6138,0.00,1.95,0.00,0.000,4,0.000,0.035,2261,1037,3979
$GC,6174,-1.04,-194.7,756.6,-9.5,623,6180,0.15,2.05,0.00,0.000,6,0.079,0.041,2203,2385,3978
$GC,6490,-0.89,-194.7,793.3,-11.6,639,6494,0.17,2.00,0.00,0.000,4,0.176,0.033,2254,1043,3976
$GC,6558,-0.96,-194.7,801.2,-11.7,642,6562,0.00,2.03,0.00,0.000,6,0.000,0.041,2255,2380,3976
$GC,6891,-1.01,-194.7,836.5,-10.0,658,6892,0.10,0.00,0.00,0.000,6,0.095,0.000,2215,2383,3974
$GC,7200,-0.92,-194.7,871.3,-12.2,673,7204,0.12,2.00,0.00,0.000,4,0.174,0.035,2246,1027,3972
$GC,7277,-0.92,-194.7,879.8,-10.8,676,7281,0.00,2.08,0.00,0.000,6,0.000,0.043,2246,2381,3972
$GC,7599,-0.92,-194.7,913.2,-10.9,692,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2381,3970
$GC,7908,-0.92,-194.7,946.7,-10.8,707,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2381,3968
$GC,8217,-0.92,-194.7,976.9,-8.7,722,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2381,3967
$STATE,8400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8400,begin apogee
$GC,8406,-0.22,0.0,991.7,8.5,731,8497,0.73,0.00,87.65,1.424,6,0.153,0.000,2471,2509,3532
$STATE,8498,end apogee,CONTROL_FINISHED_OK
$STATE,8498,begin climb
$GC,8500,1.05,194.7,993.7,0.0,735,8671,1.15,2.20,158.85,1.380,4,0.061,0.058,2883,3767,2737
$GC,8779,0.30,194.7,962.9,23.8,747,8786,0.95,1.95,0.00,0.000,6,0.211,0.033,2647,2514,2732
$GC,9095,0.52,274.4,933.1,8.7,763,9167,0.17,2.20,64.55,1.340,4,0.081,0.060,2717,3768,2412
$GC,9257,0.43,274.4,910.7,15.1,770,9262,0.15,1.92,0.00,0.000,6,0.183,0.033,2684,2527,2409
$GC,9579,0.54,280.9,872.8,11.7,786,9589,0.10,1.98,5.40,0.998,4,0.092,0.057,2721,3760,2389
$GC,9647,0.44,280.9,862.5,15.2,789,9651,0.12,1.88,0.00,0.000,6,0.188,0.034,2692,2524,2388
$GC,9974,0.53,280.9,819.9,12.9,805,9977,0.00,1.98,0.00,0.000,4,0.000,0.058,2692,3760,2387
$GC,10051,0.53,280.9,808.8,14.1,808,10055,0.00,1.85,0.00,0.000,6,0.000,0.035,2694,2530,2386
$GC,10373,0.65,303.6,770.8,11.1,824,10400,0.17,2.05,20.17,1.247,4,0.080,0.061,2761,3755,2293
$GC,10441,0.44,303.6,761.0,16.5,827,10445,0.30,1.85,0.00,0.000,6,0.177,0.035,2686,2543,2291
$GC,10773,0.64,338.3,727.8,10.6,843,10805,0.17,0.00,29.12,1.234,6,0.081,0.000,2751,2541,2152
$GC,11102,0.64,338.3,672.7,16.5,859,11106,0.00,1.98,0.00,0.000,4,0.000,0.061,2751,3761,2146
$GC,11290,0.57,338.3,639.3,19.1,867,11293,0.00,1.85,0.00,0.000,6,0.000,0.035,2759,2536,2144
$GC,11616,0.57,338.3,586.2,15.5,883,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2534,2143
$GC,11926,0.57,338.3,537.8,15.1,898,11929,0.00,1.98,0.00,0.000,4,0.000,0.060,2759,3766,2143
$GC,11987,0.49,338.3,527.3,16.8,900,11995,0.20,1.83,0.00,0.000,6,0.176,0.034,2707,2544,2142
$GC,12305,0.67,338.3,486.4,13.1,920,12309,0.15,1.95,0.00,0.000,4,0.081,0.057,2766,3772,2143
$GC,12333,0.67,338.3,481.8,17.7,922,12339,0.00,1.83,0.00,0.000,6,0.000,0.032,2773,2541,2142
$GC,12660,0.62,338.3,427.4,15.4,953,12664,0.00,1.92,0.00,0.000,4,0.000,0.059,2773,3759,2142
$GC,12707,0.50,338.3,419.4,16.3,957,12712,0.22,1.77,0.00,0.000,6,0.175,0.032,2712,2561,2143
$GC,13038,0.78,428.4,386.4,8.3,988,13115,0.22,2.05,70.25,0.988,4,0.071,0.058,2801,3760,1783
$GC,13138,0.67,428.4,372.7,16.2,997,13144,0.15,1.83,0.00,0.000,6,0.179,0.031,2768,2581,1780
$GC,13463,0.76,428.4,333.3,13.3,1028,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2580,1774
$GC,13787,0.87,428.4,282.4,16.7,1067,13793,0.17,1.90,0.00,0.000,4,0.078,0.057,2841,3769,1773
$GC,13845,0.70,428.4,269.7,22.6,1077,13852,0.28,1.75,0.00,0.000,6,0.175,0.030,2772,2577,1773
$GC,14190,0.81,428.4,218.7,14.3,1138,14195,0.10,0.00,0.00,0.000,6,0.094,0.000,2810,2576,1773
$GC,14532,0.81,428.4,167.2,12.1,1199,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2576,1772
$GC,14875,0.88,428.4,119.0,12.7,1260,14882,0.00,1.88,0.00,0.000,4,0.000,0.057,2811,3765,1773
$GC,14946,0.88,428.4,108.9,15.5,1272,14953,0.00,1.73,0.00,0.000,6,0.000,0.029,2815,2573,1773
$GC,15292,0.99,428.4,61.0,12.8,1333,15298,0.12,1.88,0.00,0.000,4,0.082,0.053,2870,3775,1774
$GC,15327,0.92,428.4,54.9,17.9,1339,15333,0.12,1.67,0.00,0.000,6,0.179,0.028,2841,2611,1774
$GC,15672,1.07,448.6,11.3,11.2,1400,15697,0.15,2.25,15.77,0.620,4,0.074,0.031,2912,1110,1702
$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,1.7,1.001953
$STATE,15760,end surface coast,CONTROL_FINISHED_OK
$STATE,15760,begin surface
$SM_CCo,15839,0.00,0.000,0,0,1699,449.63
$SM_GC,2.69,7.47,0.00,0.00,0.064,0.000,0.000,144,2451,1699,-7.49,0.68,449.63
$IRIDIUM_FIX,2429.95,12326.28,310898,080832
$TT8_MAMPS,0.028379
$HUMID,1573
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,19.564
$10V_AH,10.8,11.828
$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,26.425,119.075,451.775,0.000,0.000,31.469,33.327,213.479,8.000,0.000,0.000,15.347,2550.030,10104.730,561.710,2470.650,551.983,0.000,1826.278,0.000,2410.048,0.000,56.179,0.000
$DEVICE_MAMPS,250.042,75.166,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.459,951.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75785,1415
$CAP_FILE_SIZE,160774,0
$CFSIZE,260165632,217612288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,281.4,1
$GPS,060609,172831,2435.323,12321.599,39,1.4,40,-3.5