version: 66.04
glider: 167
mission: 2
dive: 96
start: 6 7 109 10 38 7
data:
$ID,167
$MISSION,2
$DIVE,96
$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,-6580.459
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,103124,2428.986,12320.183,25,1.2,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-71.2
$GPS2,103743,2429.002,12320.206,10,1.2,15,-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,170.5,42532,-18.3,-12.000
$D_GRID,914
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,47,0.00,0.00,-30.33,0.000,2,0.000,0.000,144,2425,2524
$GC,50,-1.05,-194.7,3.2,-2.6,5,108,8.45,0.00,-44.88,0.000,6,0.251,0.000,2201,2425,3988
$GC,445,-0.28,-194.7,101.2,-26.7,75,452,0.82,2.08,0.00,0.000,4,0.189,0.028,2447,1003,3990
$GC,550,-0.76,-194.7,112.6,-6.9,93,557,0.38,2.15,0.00,0.000,6,0.056,0.034,2288,2443,3991
$GC,895,-0.53,-194.7,165.7,-17.7,154,902,0.25,2.10,0.00,0.000,4,0.155,0.028,2366,1004,3992
$GC,970,-0.72,-194.7,173.4,-8.0,167,977,0.17,2.08,0.00,0.000,6,0.067,0.035,2294,2397,3992
$GC,1316,-0.62,-194.7,218.3,-12.9,228,1324,0.17,2.08,0.00,0.000,4,0.155,0.049,2345,3755,3993
$GC,1388,-0.82,-194.7,225.5,-8.2,240,1396,0.17,2.00,0.00,0.000,6,0.067,0.027,2268,2357,3993
$GC,1736,-0.64,-194.7,275.9,-17.1,301,1742,0.20,1.95,0.00,0.000,4,0.153,0.030,2332,1003,3993
$GC,1799,-0.78,-194.7,285.0,-13.0,312,1807,0.12,2.10,0.00,0.000,6,0.077,0.035,2278,2417,3993
$GC,2132,-0.67,-194.7,334.6,-13.8,351,2136,0.17,2.05,0.00,0.000,4,0.161,0.029,2333,1012,3993
$GC,2206,-0.87,-194.7,342.1,-8.8,357,2210,0.17,2.05,0.00,0.000,6,0.069,0.036,2258,2393,3993
$GC,2531,-0.72,-194.7,379.2,-11.6,387,2535,0.17,2.10,0.00,0.000,4,0.158,0.051,2303,3763,3993
$GC,2570,-0.72,-194.7,383.3,-9.8,390,2574,0.00,2.03,0.00,0.000,6,0.000,0.028,2303,2349,3992
$GC,2903,-0.80,-194.7,414.6,-8.1,421,2907,0.00,1.92,0.00,0.000,4,0.000,0.032,2303,1013,3992
$GC,2976,-0.92,-194.7,421.1,-8.2,427,2983,0.15,2.03,0.00,0.000,6,0.076,0.036,2240,2369,3992
$GC,3301,-0.75,-194.7,462.2,-12.3,458,3305,0.17,2.00,0.00,0.000,4,0.167,0.030,2294,1012,3993
$GC,3362,-0.85,-194.7,468.2,-8.3,463,3368,0.00,2.05,0.00,0.000,6,0.000,0.036,2290,2378,3993
$GC,3690,-0.91,-194.7,500.8,-10.7,494,3694,0.12,2.00,0.00,0.000,4,0.084,0.031,2236,1008,3991
$GC,3735,-0.80,-194.7,507.7,-15.9,496,3739,0.17,2.05,0.00,0.000,6,0.164,0.038,2282,2369,3991
$GC,4069,-0.86,-194.7,549.8,-11.5,512,4074,0.00,1.98,0.00,0.000,4,0.000,0.031,2282,1011,3990
$GC,4137,-0.95,-194.7,557.9,-10.8,515,4141,0.12,2.05,0.00,0.000,6,0.084,0.038,2230,2375,3989
$GC,4472,-0.79,-194.7,600.8,-12.1,531,4476,0.17,2.12,0.00,0.000,4,0.176,0.054,2275,3762,3987
$GC,4510,-0.79,-194.7,605.7,-11.3,532,4517,0.00,2.05,0.00,0.000,6,0.000,0.029,2275,2337,3987
$GC,4826,-0.86,-194.7,640.4,-10.3,548,4830,0.00,2.22,0.00,0.000,4,0.000,0.055,2276,3755,3985
$GC,4872,-0.93,-194.7,645.2,-10.1,550,4876,0.00,2.00,0.00,0.000,6,0.000,0.031,2275,2372,3985
$GC,5205,-1.03,-194.7,680.3,-10.2,566,5209,0.17,1.98,0.00,0.000,4,0.074,0.034,2198,1021,3983
$GC,5333,-0.83,-194.7,698.8,-14.5,571,5340,0.30,2.08,0.00,0.000,6,0.166,0.041,2279,2390,3982
$GC,5651,-0.96,-194.7,728.9,-9.6,587,5655,0.15,2.12,0.00,0.000,4,0.082,0.057,2219,3754,3980
$GC,5679,-0.96,-194.7,732.3,-12.0,588,5682,0.00,2.03,0.00,0.000,6,0.000,0.032,2219,2372,3980
$GC,6001,-0.86,-194.7,768.7,-11.7,604,6005,0.17,2.00,0.00,0.000,4,0.170,0.035,2272,1013,3978
$GC,6125,-0.99,-194.7,780.0,-8.5,609,6130,0.15,2.12,0.00,0.000,6,0.079,0.044,2215,2403,3977
$GC,6442,-0.90,-194.7,815.5,-10.8,624,6446,0.15,2.08,0.00,0.000,4,0.174,0.034,2254,1010,3976
$GC,6509,-0.96,-194.7,821.4,-8.5,627,6513,0.00,2.10,0.00,0.000,6,0.000,0.043,2253,2385,3975
$GC,6836,-0.96,-194.7,847.3,-8.4,643,6839,0.00,2.15,0.00,0.000,4,0.000,0.061,2248,3755,3973
$GC,6869,-0.96,-194.7,850.5,-9.0,644,6873,0.00,2.05,0.00,0.000,6,0.000,0.035,2248,2374,3973
$GC,7191,-1.01,-194.7,881.1,-9.6,660,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2374,3971
$STATE,7497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7497,begin apogee
$GC,7503,-0.22,0.0,915.2,11.6,675,7593,0.70,0.00,87.32,1.368,6,0.151,0.000,2465,2506,3532
$STATE,7594,end apogee,CONTROL_FINISHED_OK
$STATE,7594,begin climb
$GC,7597,1.05,194.7,919.0,0.0,679,7758,1.15,0.00,157.12,1.326,6,0.054,0.000,2886,2506,2738
$GC,8056,0.42,194.7,861.5,18.9,702,8061,0.73,2.03,0.00,0.000,4,0.209,0.058,2688,3762,2732
$GC,8253,0.32,201.5,837.5,11.7,711,8264,0.15,1.92,6.03,1.012,6,0.182,0.034,2654,2488,2710
$GC,8582,0.58,316.8,811.0,7.2,727,8681,0.20,2.15,93.25,1.277,4,0.077,0.059,2733,3761,2239
$GC,8805,0.51,316.8,784.2,13.5,736,8809,0.00,1.92,0.00,0.000,6,0.000,0.034,2733,2519,2232
$GC,9126,0.51,316.8,740.0,15.5,752,9129,0.00,2.03,0.00,0.000,4,0.000,0.060,2733,3768,2229
$GC,9301,0.43,316.8,710.7,15.8,759,9308,0.17,1.88,0.00,0.000,6,0.181,0.034,2688,2520,2228
$GC,9617,0.60,316.8,671.2,12.5,775,9621,0.15,1.98,0.00,0.000,4,0.082,0.057,2746,3759,2227
$GC,9711,0.50,316.8,654.8,17.9,779,9716,0.15,1.80,0.00,0.000,6,0.183,0.035,2708,2553,2227
$GC,10038,0.62,316.8,611.3,13.0,795,10040,0.12,0.00,0.00,0.000,6,0.086,0.000,2758,2552,2226
$GC,10347,0.62,316.8,566.7,14.8,810,10351,0.00,1.92,0.00,0.000,4,0.000,0.061,2758,3759,2225
$GC,10482,0.47,316.8,545.1,15.7,816,10487,0.22,1.77,0.00,0.000,6,0.177,0.035,2702,2568,2225
$GC,10815,0.68,343.3,509.1,10.9,832,10840,0.17,2.00,19.73,1.072,4,0.074,0.059,2772,3768,2131
$GC,10948,0.56,343.3,487.0,17.0,840,10955,0.20,1.80,0.00,0.000,6,0.173,0.033,2723,2568,2128
$GC,11273,0.68,353.0,448.9,11.6,871,11288,0.12,1.95,9.12,0.948,4,0.081,0.058,2772,3758,2091
$GC,11409,0.59,353.0,426.0,17.5,883,11413,0.15,1.73,0.00,0.000,6,0.176,0.033,2738,2596,2089
$GC,11739,0.68,353.0,381.7,12.7,914,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2593,2089
$GC,12059,0.79,361.5,342.7,11.7,944,12073,0.17,1.92,7.95,0.852,4,0.074,0.058,2813,3765,2057
$GC,12153,0.59,361.5,327.0,17.3,952,12158,0.28,1.73,0.00,0.000,6,0.175,0.033,2740,2606,2056
$GC,12483,0.71,361.5,287.6,13.1,991,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2604,2056
$GC,12826,0.85,376.1,247.9,11.4,1052,12846,0.20,1.85,12.98,0.829,4,0.071,0.057,2823,3765,1996
$GC,12987,0.66,376.1,219.0,19.8,1080,12994,0.25,1.73,0.00,0.000,6,0.173,0.032,2761,2595,1994
$GC,13333,0.74,376.1,175.3,13.4,1141,13339,0.00,1.85,0.00,0.000,4,0.000,0.054,2761,3774,1994
$GC,13425,0.83,376.1,163.2,12.2,1157,13431,0.15,1.67,0.00,0.000,6,0.079,0.031,2818,2625,1994
$GC,13768,0.83,376.1,110.9,12.8,1218,13774,0.00,2.25,0.00,0.000,4,0.000,0.035,2826,1097,1994
$GC,13780,0.83,376.1,109.2,12.1,1220,13788,0.00,2.35,0.00,0.000,6,0.000,0.036,2826,2651,1994
$GC,14126,0.84,378.3,64.7,11.9,1281,14132,0.00,2.30,0.00,0.000,4,0.000,0.034,2828,1106,1994
$GC,14156,0.95,389.8,61.3,11.5,1286,14175,0.00,2.33,11.98,0.663,6,0.000,0.037,2828,2647,1941
$GC,14515,1.14,461.4,22.5,9.0,1349,14579,0.20,1.80,54.83,0.650,4,0.066,0.054,2915,3764,1649
$STATE,14640,end climb,SURFACE_DEPTH_REACHED
$STATE,14641,begin surface coast
$FINISH,1.9,1.010051
$STATE,14656,end surface coast,CONTROL_FINISHED_OK
$STATE,14656,begin surface
$SM_CCo,14736,0.00,0.000,0,0,1643,463.37
$SM_GC,2.59,7.47,0.00,0.00,0.055,0.000,0.000,146,2414,1643,-7.49,-0.37,463.37
$IRIDIUM_FIX,2420.48,12323.67,010998,060651
$TT8_MAMPS,0.028379
$HUMID,1562
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,20.446
$10V_AH,10.8,12.254
$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,26.425,120.825,460.300,0.000,0.000,26.459,36.137,189.001,7.250,0.000,0.000,15.876,2466.530,9072.275,568.058,2469.075,534.698,0.000,1818.483,0.000,2413.026,0.000,49.428,0.000
$DEVICE_MAMPS,250.809,69.797,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,928.572,943.073,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72588,1374
$CAP_FILE_SIZE,157343,0
$CFSIZE,260165632,217214976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,286.7,1
$GPS,070609,144459,2427.255,12320.420,37,1.4,42,-3.5