version: 66.04
glider: 167
mission: 2
dive: 93
start: 6 6 109 22 7 56
data:
$ID,167
$MISSION,2
$DIVE,93
$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,-6537.104
$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,66
$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
$GPS1,220054,2433.833,12321.159,25,1.1,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.5
$GPS2,220734,2433.867,12321.145,12,2.3,31,-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,167.8,51600,-18.3,-12.000
$D_GRID,904
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-40.78,0.000,2,0.000,0.000,144,2408,2468
$GC,61,-1.05,-194.7,3.0,-1.4,7,124,8.48,0.00,-49.80,0.000,6,0.252,0.000,2199,2408,3989
$GC,462,-0.22,-194.7,116.4,-35.0,77,469,0.93,2.03,0.00,0.000,4,0.191,0.028,2466,1016,3991
$GC,521,-0.75,-194.7,124.9,-6.3,87,528,0.45,2.15,0.00,0.000,6,0.065,0.035,2297,2448,3992
$GC,865,-0.61,-194.7,172.9,-14.5,148,872,0.17,0.00,0.00,0.000,6,0.156,0.000,2352,2448,3993
$GC,1210,-0.76,-194.7,205.7,-7.2,209,1217,0.15,2.08,0.00,0.000,4,0.073,0.029,2288,1028,3994
$GC,1285,-0.66,-194.7,214.0,-11.4,222,1292,0.17,2.08,0.00,0.000,6,0.153,0.036,2332,2419,3994
$GC,1630,-0.75,-194.7,244.4,-8.2,283,1636,0.00,2.03,0.00,0.000,4,0.000,0.029,2332,1028,3995
$GC,1671,-0.88,-194.7,247.8,-7.7,290,1677,0.20,2.08,0.00,0.000,6,0.065,0.035,2247,2424,3995
$GC,2015,-0.64,-194.7,296.1,-15.5,351,2022,0.28,2.05,0.00,0.000,4,0.166,0.028,2332,1015,3995
$GC,2097,-0.84,-194.7,305.3,-10.2,361,2102,0.15,2.08,0.00,0.000,6,0.072,0.035,2267,2407,3995
$GC,2422,-0.71,-194.7,353.2,-13.4,391,2426,0.17,2.08,0.00,0.000,4,0.160,0.051,2316,3761,3995
$GC,2454,-0.71,-194.7,357.1,-10.5,393,2460,0.00,1.98,0.00,0.000,6,0.000,0.028,2316,2379,3995
$GC,2780,-0.84,-194.7,383.1,-7.3,424,2785,0.12,2.15,0.00,0.000,4,0.081,0.051,2262,3763,3995
$GC,2819,-0.74,-194.7,387.5,-12.2,427,2824,0.15,1.92,0.00,0.000,6,0.156,0.027,2303,2419,3994
$GC,3150,-0.82,-194.7,418.0,-8.9,458,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2419,3995
$GC,3471,-0.90,-194.7,447.8,-10.2,488,3475,0.15,2.00,0.00,0.000,4,0.077,0.030,2242,1040,3994
$GC,3516,-0.76,-194.7,453.8,-14.1,492,3521,0.22,2.08,0.00,0.000,6,0.164,0.037,2299,2419,3994
$GC,3841,-0.85,-194.7,486.6,-8.5,522,3845,0.00,2.03,0.00,0.000,4,0.000,0.030,2299,1036,3993
$GC,3869,-0.96,-194.7,489.1,-8.2,524,3877,0.17,2.08,0.00,0.000,6,0.076,0.038,2229,2420,3993
$GC,4200,-0.75,-194.7,524.0,-10.1,545,4205,0.22,2.03,0.00,0.000,4,0.173,0.030,2295,1036,3992
$GC,4295,-0.88,-194.7,530.3,-5.6,549,4299,0.00,2.03,0.00,0.000,6,0.000,0.038,2292,2392,3991
$GC,4623,-0.97,-194.7,553.6,-7.4,565,4625,0.17,0.00,0.00,0.000,6,0.074,0.000,2220,2394,3989
$GC,4931,-0.77,-194.7,591.1,-11.4,580,4936,0.22,2.00,0.00,0.000,4,0.173,0.031,2289,1029,3988
$GC,5022,-0.89,-194.7,597.9,-6.2,584,5026,0.00,2.08,0.00,0.000,6,0.000,0.039,2289,2403,3987
$GC,5357,-1.00,-194.7,625.0,-8.0,600,5359,0.20,0.00,0.00,0.000,6,0.075,0.000,2209,2405,3985
$GC,5664,-0.80,-194.7,662.8,-12.6,615,5668,0.22,2.00,0.00,0.000,4,0.176,0.031,2277,1046,3984
$GC,5742,-0.89,-194.7,671.0,-8.9,618,5745,0.00,2.05,0.00,0.000,6,0.000,0.041,2275,2398,3984
$GC,6064,-0.97,-194.7,701.6,-9.9,634,6066,0.12,0.00,0.00,0.000,6,0.084,0.000,2224,2398,3981
$GC,6373,-0.87,-194.7,742.3,-13.1,649,6377,0.15,2.00,0.00,0.000,4,0.170,0.032,2263,1048,3981
$GC,6411,-0.94,-194.7,746.9,-11.1,650,6417,0.00,2.03,0.00,0.000,6,0.000,0.041,2262,2383,3980
$GC,6727,-1.01,-194.7,774.6,-7.7,666,6732,0.12,2.15,0.00,0.000,4,0.087,0.058,2207,3760,3979
$GC,6755,-0.92,-194.7,777.0,-9.7,667,6759,0.15,2.03,0.00,0.000,6,0.170,0.031,2246,2379,3978
$GC,7075,-0.92,-194.7,797.8,-6.5,683,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2379,3977
$GC,7385,-0.92,-194.7,825.5,-9.9,698,7389,0.00,1.98,0.00,0.000,4,0.000,0.035,2247,1030,3975
$GC,7413,-0.92,-194.7,828.8,-11.7,699,7416,0.00,2.08,0.00,0.000,6,0.000,0.042,2247,2388,3975
$GC,7739,-0.92,-194.7,865.1,-12.7,715,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2388,3973
$GC,8049,-0.92,-194.7,896.1,-7.4,730,8052,0.00,2.03,0.00,0.000,4,0.000,0.036,2247,1031,3971
$GC,8099,-0.98,-194.7,899.5,-7.4,732,8103,0.00,2.08,0.00,0.000,6,0.000,0.042,2246,2393,3971
$STATE,8155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8155,begin apogee
$GC,8161,-0.22,0.0,904.3,8.3,735,8252,0.73,0.00,87.53,1.358,6,0.151,0.000,2472,2507,3532
$STATE,8253,end apogee,CONTROL_FINISHED_OK
$STATE,8253,begin climb
$GC,8255,1.05,194.7,905.9,0.0,739,8419,1.15,2.12,156.55,1.314,4,0.058,0.057,2889,3759,2738
$GC,8674,0.27,194.7,844.2,21.8,759,8680,1.00,1.90,0.00,0.000,6,0.216,0.031,2636,2504,2732
$GC,9002,0.65,371.9,822.3,4.7,775,9152,0.30,2.20,142.65,1.266,4,0.071,0.058,2758,3755,2014
$GC,9321,0.54,371.9,778.1,15.9,789,9326,0.10,1.92,0.00,0.000,6,0.175,0.032,2722,2524,2004
$GC,9643,0.67,402.9,740.4,10.7,805,9673,0.12,2.05,24.92,1.193,4,0.087,0.059,2769,3761,1888
$GC,9753,0.57,402.9,721.6,20.1,810,9757,0.17,1.88,0.00,0.000,6,0.176,0.033,2729,2541,1884
$GC,10085,0.67,402.9,665.8,16.0,826,10089,0.00,1.98,0.00,0.000,4,0.000,0.058,2729,3767,1881
$GC,10141,0.76,402.9,655.8,17.1,828,10145,0.17,1.85,0.00,0.000,6,0.078,0.032,2800,2531,1881
$GC,10461,0.66,402.9,590.1,19.6,844,10465,0.15,1.98,0.00,0.000,4,0.185,0.056,2762,3771,1880
$GC,10516,0.66,402.9,578.4,20.1,846,10521,0.00,1.85,0.00,0.000,6,0.000,0.031,2761,2547,1880
$GC,10837,0.66,402.9,522.7,16.9,862,10841,0.00,2.15,0.00,0.000,4,0.000,0.036,2762,1104,1879
$GC,10854,0.70,402.9,519.9,16.3,862,10860,0.00,2.22,0.00,0.000,6,0.000,0.039,2762,2556,1879
$GC,11175,0.70,402.9,463.4,17.8,887,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2556,1879
$GC,11494,0.70,402.9,408.2,16.7,917,11497,0.00,1.88,0.00,0.000,4,0.000,0.058,2762,3760,1878
$GC,11527,0.70,402.9,401.9,19.0,920,11531,0.00,1.80,0.00,0.000,6,0.000,0.031,2763,2540,1878
$GC,11859,0.70,402.9,350.9,14.7,951,11863,0.00,1.92,0.00,0.000,4,0.000,0.057,2763,3759,1878
$GC,11942,0.70,402.9,337.5,14.6,958,11948,0.00,1.77,0.00,0.000,6,0.000,0.031,2763,2569,1878
$GC,12270,0.76,402.9,292.8,14.6,993,12276,0.00,1.88,0.00,0.000,4,0.000,0.054,2763,3759,1878
$GC,12299,0.76,402.9,288.3,15.6,998,12305,0.00,1.75,0.00,0.000,6,0.000,0.031,2763,2564,1878
$GC,12643,0.85,402.9,241.5,12.6,1059,12649,0.15,1.90,0.00,0.000,4,0.081,0.055,2822,3772,1878
$GC,12701,0.69,402.9,231.1,20.2,1069,12708,0.22,1.73,0.00,0.000,6,0.168,0.030,2766,2579,1878
$GC,13046,0.82,402.9,182.1,19.1,1130,13052,0.12,2.17,0.00,0.000,4,0.086,0.034,2815,1101,1878
$GC,13092,0.82,402.9,173.4,19.3,1138,13098,0.00,2.28,0.00,0.000,6,0.000,0.038,2815,2603,1878
$GC,13436,0.88,456.3,121.3,9.8,1199,13483,0.00,1.83,41.15,0.752,4,0.000,0.054,2815,3764,1669
$GC,13540,0.94,503.7,111.2,10.0,1217,13587,0.00,1.77,36.90,0.725,6,0.000,0.029,2821,2552,1477
$GC,13927,1.14,503.7,59.4,17.5,1285,13934,0.20,2.12,0.00,0.000,4,0.066,0.033,2913,1125,1471
$GC,13980,1.09,503.7,50.7,15.4,1294,13986,0.00,2.17,0.00,0.000,6,0.000,0.036,2913,2552,1470
$STATE,14265,end climb,SURFACE_DEPTH_REACHED
$STATE,14265,begin surface coast
$FINISH,1.7,0.997367
$STATE,14283,end surface coast,CONTROL_FINISHED_OK
$STATE,14283,begin surface
$SM_CCo,14360,0.00,0.000,0,0,1468,506.30
$SM_GC,2.67,7.43,0.00,0.00,0.060,0.000,0.000,144,2429,1468,-7.49,0.06,506.30
$IRIDIUM_FIX,2425.21,12321.69,310898,171714
$TT8_MAMPS,0.028379
$HUMID,1583
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.0,19.932
$10V_AH,10.8,11.998
$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,25.600,112.725,489.700,0.000,0.000,28.598,36.836,191.093,7.250,0.000,0.000,32.913,2390.383,8898.203,578.403,2381.695,503.349,0.000,1793.204,0.000,2301.307,0.000,49.416,0.000
$DEVICE_MAMPS,252.343,77.467,1358.357,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,910.901,909.766,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72525,1348
$CAP_FILE_SIZE,150356,0
$CFSIZE,260165632,217460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,289.2,1
$GPS,070609,020831,2432.357,12320.977,40,1.4,41,-3.5