version: 66.04
glider: 167
mission: 2
dive: 92
start: 6 6 109 17 35 6
data:
$ID,167
$MISSION,2
$DIVE,92
$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,-6503.562
$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,61
$R_STBD_OVSHOOT,35
$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
$GPS1,172831,2435.323,12321.599,39,1.4,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.6
$GPS2,173444,2435.344,12321.552,13,1.5,13,-3.5
$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,173.3,54419,-18.3,-12.000
$D_GRID,1003
$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,-194.7,0.0,0.0,0,46,0.00,0.00,-29.67,0.000,2,0.000,0.000,144,2451,2429
$GC,50,-1.05,-194.7,3.2,-2.2,5,118,8.48,2.05,-52.55,0.000,4,0.252,0.061,2191,3765,3989
$GC,160,-0.17,-194.7,20.3,-32.8,23,167,1.02,1.98,0.00,0.000,6,0.188,0.025,2479,2412,3990
$GC,505,-1.08,-194.7,53.3,-10.0,84,511,0.75,0.00,0.00,0.000,6,0.074,0.000,2196,2412,3992
$GC,849,-0.46,-194.7,146.7,-22.5,145,857,0.65,2.08,0.00,0.000,4,0.183,0.046,2379,3757,3993
$GC,897,-0.62,-194.7,152.9,-8.7,153,905,0.00,1.90,0.00,0.000,6,0.000,0.026,2379,2422,3993
$GC,1243,-0.89,-194.7,173.2,-6.0,214,1250,0.30,1.98,0.00,0.000,4,0.057,0.028,2246,1046,3995
$GC,1358,-0.63,-194.7,189.7,-16.2,234,1365,0.32,2.10,0.00,0.000,6,0.163,0.036,2338,2448,3995
$GC,1704,-0.75,-194.7,227.4,-9.7,295,1710,0.00,2.00,0.00,0.000,4,0.000,0.050,2332,3765,3995
$GC,1750,-0.88,-194.7,232.3,-10.7,303,1757,0.20,1.90,0.00,0.000,6,0.068,0.027,2247,2430,3995
$GC,2094,-0.62,-194.7,289.7,-16.2,364,2101,0.30,2.00,0.00,0.000,4,0.159,0.028,2340,1032,3996
$GC,2154,-0.82,-194.7,296.5,-9.8,374,2160,0.17,2.10,0.00,0.000,6,0.071,0.035,2263,2440,3995
$GC,2487,-0.66,-194.7,341.3,-13.6,408,2491,0.20,2.03,0.00,0.000,4,0.163,0.049,2318,3766,3995
$GC,2514,-0.66,-194.7,344.6,-10.8,410,2520,0.00,1.92,0.00,0.000,6,0.000,0.026,2318,2415,3995
$GC,2839,-0.80,-194.7,371.2,-7.6,441,2843,0.00,1.98,0.00,0.000,4,0.000,0.030,2318,1041,3995
$GC,2885,-0.95,-194.7,374.4,-7.1,445,2890,0.22,2.08,0.00,0.000,6,0.068,0.035,2225,2436,3995
$GC,3210,-0.70,-194.7,420.2,-15.2,475,3212,0.30,0.00,0.00,0.000,6,0.167,0.000,2311,2436,3995
$GC,3529,-0.85,-194.7,453.9,-10.7,505,3533,0.12,2.03,0.00,0.000,4,0.084,0.052,2261,3753,3995
$GC,3552,-0.90,-194.7,456.7,-11.6,507,3556,0.00,1.92,0.00,0.000,6,0.000,0.028,2261,2411,3994
$GC,3883,-0.83,-194.7,498.5,-12.3,538,3887,0.00,1.98,0.00,0.000,4,0.000,0.031,2261,1044,3993
$GC,3996,-0.83,-194.7,511.9,-11.2,544,4000,0.00,2.08,0.00,0.000,6,0.000,0.038,2261,2421,3993
$GC,4332,-0.78,-194.7,551.0,-11.9,560,4336,0.12,2.03,0.00,0.000,4,0.178,0.030,2293,1049,3992
$GC,4372,-0.89,-194.7,555.9,-10.5,561,4380,0.12,2.05,0.00,0.000,6,0.084,0.038,2245,2408,3992
$GC,4688,-0.81,-194.7,594.6,-11.8,577,4692,0.15,2.03,0.00,0.000,4,0.172,0.031,2284,1040,3990
$GC,4738,-0.92,-194.7,599.6,-9.1,579,4743,0.10,2.08,0.00,0.000,6,0.096,0.039,2246,2411,3990
$GC,5067,-0.85,-194.7,635.5,-11.7,595,5071,0.00,2.00,0.00,0.000,4,0.000,0.032,2246,1047,3987
$GC,5128,-0.85,-194.7,643.1,-11.0,597,5136,0.00,2.05,0.00,0.000,6,0.000,0.039,2246,2403,3987
$GC,5445,-0.80,-194.7,677.3,-10.7,613,5449,0.15,2.00,0.00,0.000,4,0.170,0.031,2286,1049,3986
$GC,5490,-0.95,-194.7,681.8,-9.1,615,5495,0.15,2.05,0.00,0.000,6,0.083,0.041,2229,2400,3985
$GC,5825,-0.88,-194.7,718.2,-10.6,631,5829,0.12,2.10,0.00,0.000,4,0.173,0.056,2260,3757,3983
$GC,5857,-0.88,-194.7,721.5,-8.4,632,5861,0.00,1.98,0.00,0.000,6,0.000,0.031,2260,2408,3983
$GC,6180,-0.96,-194.7,750.3,-8.9,648,6184,0.00,2.00,0.00,0.000,4,0.000,0.034,2260,1034,3982
$GC,6281,-1.04,-194.7,759.5,-9.6,652,6286,0.15,2.05,0.00,0.000,6,0.081,0.041,2203,2400,3981
$GC,6602,-0.91,-194.7,795.7,-10.9,668,6607,0.17,2.10,0.00,0.000,4,0.171,0.057,2246,3752,3978
$GC,6651,-0.91,-194.7,800.2,-9.3,670,6655,0.00,2.00,0.00,0.000,6,0.000,0.033,2245,2396,3978
$GC,6984,-0.91,-194.7,829.7,-8.5,686,6987,0.00,2.00,0.00,0.000,4,0.000,0.035,2246,1029,3976
$GC,7052,-0.96,-194.7,835.7,-9.0,689,7056,0.00,2.08,0.00,0.000,6,0.000,0.042,2246,2401,3975
$GC,7385,-0.96,-194.7,866.8,-9.9,705,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2401,3974
$GC,7694,-0.96,-194.7,897.7,-10.2,720,7698,0.00,2.03,0.00,0.000,4,0.000,0.035,2246,1027,3972
$GC,7755,-1.02,-194.7,903.9,-10.0,722,7761,0.00,2.10,0.00,0.000,6,0.000,0.043,2246,2401,3972
$GC,8071,-1.02,-194.7,935.8,-10.3,738,8075,0.00,2.05,0.00,0.000,4,0.000,0.035,2246,1026,3970
$GC,8111,-1.07,-194.7,940.2,-11.1,739,8117,0.12,2.10,0.00,0.000,6,0.087,0.042,2198,2403,3970
$GC,8428,-0.94,-194.7,977.8,-11.5,755,8432,0.17,2.05,0.00,0.000,4,0.178,0.034,2243,1036,3968
$GC,8467,-0.99,-194.7,982.0,-9.3,756,8473,0.00,2.08,0.00,0.000,6,0.000,0.044,2244,2386,3968
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8574,begin apogee
$GC,8580,-0.22,0.0,990.9,8.0,762,8676,0.73,0.00,87.88,1.424,6,0.156,0.000,2468,2514,3532
$STATE,8676,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8679,1.05,194.7,992.1,0.0,767,8851,1.15,2.35,158.52,1.377,4,0.058,0.036,2892,1110,2737
$GC,9066,0.47,194.7,937.8,20.4,784,9071,0.73,2.25,0.00,0.000,6,0.202,0.045,2700,2518,2732
$GC,9382,0.44,216.4,899.7,11.1,799,9407,0.00,2.08,18.23,1.276,4,0.000,0.061,2700,3758,2648
$GC,9419,0.37,216.4,895.3,12.2,800,9426,0.17,1.92,0.00,0.000,6,0.184,0.033,2663,2500,2648
$GC,9735,0.56,299.4,867.1,8.6,816,9808,0.17,2.12,67.45,1.318,4,0.082,0.058,2733,3759,2312
$GC,9876,0.43,299.4,847.3,15.7,822,9882,0.20,1.92,0.00,0.000,6,0.182,0.033,2683,2516,2307
$GC,10192,0.58,311.0,811.6,11.5,838,10207,0.15,2.05,10.07,1.161,4,0.083,0.060,2739,3767,2263
$GC,10310,0.47,311.0,793.1,16.4,842,10314,0.20,1.88,0.00,0.000,6,0.179,0.033,2694,2528,2260
$GC,10631,0.60,311.0,756.5,12.7,858,10635,0.12,2.00,0.00,0.000,4,0.089,0.061,2741,3764,2259
$GC,10664,0.51,311.0,751.1,17.1,859,10668,0.12,1.85,0.00,0.000,6,0.188,0.034,2715,2532,2259
$GC,10984,0.57,311.0,707.9,12.4,875,10988,0.00,1.98,0.00,0.000,4,0.000,0.059,2715,3766,2258
$GC,11191,0.57,311.0,674.4,16.7,884,11195,0.00,1.80,0.00,0.000,6,0.000,0.035,2720,2579,2257
$GC,11519,0.65,324.8,631.9,11.4,900,11533,0.10,0.00,11.57,1.119,6,0.096,0.000,2760,2577,2206
$GC,11828,0.61,324.8,588.1,14.0,915,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2577,2204
$GC,12137,0.61,324.8,542.0,15.6,930,12141,0.00,1.90,0.00,0.000,4,0.000,0.061,2760,3764,2203
$GC,12165,0.51,324.8,537.3,16.5,931,12169,0.17,1.80,0.00,0.000,6,0.172,0.034,2711,2571,2203
$GC,12492,0.71,369.7,501.9,10.1,947,12535,0.17,2.33,36.60,1.083,4,0.076,0.038,2786,1102,2023
$GC,12551,0.71,369.7,493.7,14.1,951,12558,0.00,2.33,0.00,0.000,6,0.000,0.040,2786,2570,2021
$GC,12881,0.64,369.7,445.6,15.0,982,12886,0.15,0.00,0.00,0.000,6,0.182,0.000,2748,2572,2016
$GC,13207,0.71,369.7,397.0,14.3,1013,13211,0.00,1.88,0.00,0.000,4,0.000,0.057,2749,3766,2015
$GC,13286,0.71,369.7,384.4,15.8,1020,13290,0.00,1.77,0.00,0.000,6,0.000,0.032,2749,2565,2015
$GC,13618,0.80,369.7,342.7,12.1,1051,13622,0.17,1.90,0.00,0.000,4,0.077,0.057,2815,3761,2015
$GC,13686,0.59,369.7,331.0,18.7,1057,13690,0.30,1.75,0.00,0.000,6,0.178,0.032,2739,2570,2015
$GC,14011,0.84,453.9,299.0,8.5,1088,14083,0.17,2.03,66.00,0.905,4,0.076,0.056,2814,3758,1679
$GC,14131,0.74,453.9,281.1,16.5,1108,14137,0.15,1.80,0.00,0.000,6,0.179,0.031,2786,2570,1675
$GC,14475,0.82,453.9,228.9,15.5,1169,14483,0.00,2.20,0.00,0.000,4,0.000,0.036,2789,1109,1671
$GC,14523,0.97,453.9,221.7,14.5,1177,14530,0.20,2.28,0.00,0.000,6,0.072,0.039,2869,2579,1670
$GC,14868,0.81,453.9,144.2,20.8,1238,14874,0.20,0.00,0.00,0.000,6,0.180,0.000,2812,2582,1670
$GC,15212,1.04,505.7,98.3,9.9,1299,15255,0.17,0.00,39.10,0.726,6,0.075,0.000,2888,2582,1470
$GC,15594,1.04,505.7,32.5,15.9,1366,15600,0.00,1.85,0.00,0.000,4,0.000,0.055,2888,3766,1463
$GC,15674,1.04,505.7,18.5,17.8,1380,15679,0.00,1.75,0.00,0.000,6,0.000,0.027,2897,2566,1462
$STATE,15773,end climb,SURFACE_DEPTH_REACHED
$STATE,15774,begin surface coast
$FINISH,1.7,1.002108
$STATE,15792,end surface coast,CONTROL_FINISHED_OK
$STATE,15794,begin surface
$SM_CCo,15871,0.00,0.000,0,0,1460,508.26
$SM_GC,2.70,7.45,0.00,0.00,0.064,0.000,0.000,144,2408,1460,-7.50,-0.54,508.26
$IRIDIUM_FIX,2429.95,12321.02,310898,131359
$TT8_MAMPS,0.029913
$HUMID,1592
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,19.750
$10V_AH,10.8,11.915
$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,27.775,133.125,495.425,0.000,0.000,24.414,31.890,188.515,8.000,0.000,0.000,13.483,2524.372,10068.368,607.753,2501.704,534.674,0.000,1906.510,0.000,2441.133,0.000,54.429,0.000
$DEVICE_MAMPS,251.576,73.632,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.902,948.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75808,1401
$CAP_FILE_SIZE,166540,0
$CFSIZE,260165632,217522176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,307.9,1
$GPS,060609,220054,2433.833,12321.159,25,1.1,43,-3.5