version: 66.04
glider: 167
mission: 2
dive: 62
start: 6 1 109 3 18 42
data:
$ID,167
$MISSION,2
$DIVE,62
$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,-2
$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,-4984.6025
$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,30
$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
$GPS1,031201,2536.007,12320.131,38,1.4,39,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-67.2
$GPS2,031820,2536.060,12320.147,15,1.3,15,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,176.8,52680,-18.3,-12.000
$D_GRID,706
$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,-35.70,0.000,2,0.000,0.000,147,2408,2623
$GC,56,-1.05,-194.7,3.3,-3.7,6,115,8.50,2.05,-42.17,0.000,4,0.254,0.045,2201,1040,3989
$GC,138,-0.29,-194.7,14.8,-28.9,20,146,0.90,2.12,0.00,0.000,6,0.189,0.034,2444,2443,3990
$GC,487,-0.51,-194.7,61.8,-10.9,81,493,0.17,0.00,0.00,0.000,6,0.064,0.000,2368,2446,3991
$GC,830,-0.37,-194.7,121.7,-15.8,142,837,0.17,2.00,0.00,0.000,4,0.166,0.048,2411,3757,3992
$GC,940,-0.68,-194.7,132.1,-6.5,161,946,0.25,1.92,0.00,0.000,6,0.059,0.027,2307,2405,3993
$GC,1284,-0.45,-194.7,190.1,-17.8,222,1290,0.28,1.95,0.00,0.000,4,0.160,0.028,2391,1040,3994
$GC,1349,-0.70,-194.7,198.3,-9.9,233,1355,0.20,2.05,0.00,0.000,6,0.065,0.034,2301,2429,3994
$GC,1693,-0.60,-194.7,247.3,-14.6,294,1699,0.17,2.00,0.00,0.000,4,0.156,0.028,2355,1046,3996
$GC,1763,-0.80,-194.7,255.3,-9.7,306,1769,0.20,2.03,0.00,0.000,6,0.066,0.035,2272,2416,3996
$GC,2112,-0.64,-194.7,303.0,-13.5,366,2116,0.20,2.03,0.00,0.000,4,0.160,0.048,2329,3747,3996
$GC,2193,-0.81,-194.7,310.1,-7.4,373,2198,0.12,1.90,0.00,0.000,6,0.080,0.026,2274,2404,3996
$GC,2524,-0.81,-194.7,348.0,-10.7,404,2527,0.00,1.95,0.00,0.000,4,0.000,0.030,2274,1040,3997
$GC,2574,-0.81,-194.7,353.8,-11.3,408,2581,0.00,2.05,0.00,0.000,6,0.000,0.035,2274,2418,3997
$GC,2899,-0.81,-194.7,389.7,-11.5,439,2902,0.00,2.05,0.00,0.000,4,0.000,0.051,2274,3765,3997
$GC,2978,-0.81,-194.7,398.7,-10.9,446,2981,0.00,1.90,0.00,0.000,6,0.000,0.028,2274,2429,3996
$GC,3308,-0.81,-194.7,433.8,-10.2,477,3312,0.00,2.00,0.00,0.000,4,0.000,0.031,2274,1037,3996
$GC,3343,-0.88,-194.7,437.4,-10.2,480,3347,0.00,2.08,0.00,0.000,6,0.000,0.037,2274,2426,3997
$GC,3674,-0.93,-194.7,470.5,-10.1,511,3677,0.00,2.05,0.00,0.000,4,0.000,0.054,2273,3763,3995
$GC,3798,-0.99,-194.7,482.2,-9.7,522,3803,0.15,1.90,0.00,0.000,6,0.077,0.030,2211,2447,3994
$GC,4136,-0.80,-194.7,525.3,-13.7,545,4141,0.22,2.05,0.00,0.000,4,0.163,0.031,2281,1036,3993
$GC,4243,-0.93,-194.7,536.5,-9.1,550,4247,0.00,2.10,0.00,0.000,6,0.000,0.040,2280,2426,3993
$GC,4576,-1.04,-194.7,564.6,-7.9,566,4578,0.20,0.00,0.00,0.000,6,0.076,0.000,2198,2428,3990
$GC,4885,-0.84,-194.7,604.1,-12.9,581,4890,0.22,2.05,0.00,0.000,4,0.175,0.033,2266,1038,3987
$GC,4963,-0.92,-194.7,612.2,-9.5,584,4971,0.00,2.10,0.00,0.000,6,0.000,0.040,2265,2429,3987
$GC,5279,-1.00,-194.7,641.0,-9.2,600,5283,0.12,2.05,0.00,0.000,4,0.088,0.055,2214,3757,3984
$GC,5335,-0.85,-194.7,647.8,-13.0,602,5340,0.20,1.95,0.00,0.000,6,0.166,0.031,2269,2423,3983
$GC,5658,-0.95,-194.7,677.7,-9.1,618,5662,0.00,2.08,0.00,0.000,4,0.000,0.058,2270,3755,3981
$GC,5691,-1.06,-194.7,681.5,-11.0,619,5695,0.20,1.92,0.00,0.000,6,0.074,0.031,2191,2437,3981
$STATE,5865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5865,begin apogee
$GC,5871,-0.22,0.0,707.1,15.1,628,5961,0.93,0.00,86.80,1.217,6,0.166,0.000,2472,2511,3532
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5964,1.05,194.7,711.3,0.0,632,6124,1.12,2.25,152.12,1.180,4,0.055,0.035,2893,1102,2736
$GC,6159,0.49,194.7,704.1,17.2,641,6164,0.70,2.28,0.00,0.000,6,0.199,0.041,2710,2517,2734
$GC,6481,0.48,243.1,671.0,10.0,657,6523,0.00,0.00,38.10,1.144,6,0.000,0.000,2710,2517,2539
$GC,6832,0.50,255.3,631.0,11.5,674,6846,0.00,2.00,9.88,1.030,4,0.000,0.059,2710,3761,2491
$GC,7016,0.44,255.3,605.7,14.4,682,7020,0.00,1.92,0.00,0.000,6,0.000,0.032,2714,2497,2488
$GC,7342,0.44,255.3,565.6,12.1,698,7346,0.00,2.00,0.00,0.000,4,0.000,0.056,2715,3759,2486
$GC,7375,0.36,255.3,561.2,13.1,699,7380,0.22,1.88,0.00,0.000,6,0.178,0.033,2660,2500,2486
$GC,7697,0.66,327.4,532.5,9.0,715,7762,0.25,2.10,56.78,1.106,4,0.074,0.057,2762,3761,2196
$GC,7832,0.52,327.4,512.1,17.4,721,7836,0.20,1.90,0.00,0.000,6,0.179,0.032,2717,2516,2191
$GC,8162,0.63,334.8,472.3,11.7,747,8170,0.00,0.00,6.15,0.874,6,0.000,0.000,2717,2515,2167
$GC,8490,0.75,349.4,434.1,11.4,778,8513,0.17,2.05,13.02,0.989,4,0.078,0.057,2787,3764,2106
$GC,8675,0.56,349.4,399.0,19.1,794,8681,0.25,1.85,0.00,0.000,6,0.178,0.033,2726,2530,2103
$GC,9000,0.70,365.4,357.7,11.3,825,9023,0.12,2.00,13.50,0.942,4,0.084,0.057,2774,3752,2041
$GC,9080,0.62,365.4,344.9,17.5,832,9084,0.12,1.83,0.00,0.000,6,0.181,0.031,2747,2533,2039
$GC,9410,0.74,365.4,300.3,14.2,863,9414,0.10,1.92,0.00,0.000,4,0.096,0.056,2784,3769,2037
$GC,9472,0.66,365.4,289.3,18.0,873,9478,0.00,1.83,0.00,0.000,6,0.000,0.031,2785,2538,2037
$GC,9816,0.66,365.4,237.1,16.7,934,9822,0.00,1.92,0.00,0.000,4,0.000,0.055,2786,3762,2036
$GC,9895,0.66,365.4,223.9,16.1,948,9903,0.12,1.77,0.00,0.000,6,0.183,0.031,2759,2546,2036
$GC,10241,0.87,395.8,183.8,10.7,1009,10271,0.17,1.92,24.02,0.808,4,0.077,0.052,2833,3761,1916
$GC,10284,0.79,395.8,177.7,16.0,1016,10292,0.17,1.73,0.00,0.000,6,0.179,0.031,2797,2586,1915
$GC,10630,0.93,395.8,132.4,12.7,1077,10637,0.15,2.17,0.00,0.000,4,0.081,0.034,2859,1117,1913
$GC,10800,0.93,395.8,106.5,15.1,1107,10806,0.00,2.20,0.00,0.000,6,0.000,0.035,2858,2578,1913
$GC,11143,0.93,395.8,59.0,14.0,1168,11150,0.00,1.80,0.00,0.000,4,0.000,0.051,2858,3762,1913
$GC,11315,0.87,395.8,35.6,12.9,1198,11321,0.15,1.70,0.00,0.000,6,0.175,0.028,2827,2565,1914
$STATE,11612,end climb,SURFACE_DEPTH_REACHED
$STATE,11612,begin surface coast
$FINISH,1.5,1.022048
$STATE,11641,end surface coast,CONTROL_FINISHED_OK
$STATE,11641,begin surface
$SM_CCo,11658,19.98,0.621,0,0,1798,425.10
$SM_GC,2.41,0.00,0.00,19.98,0.000,0.000,0.621,145,2420,1798,-7.50,-0.20,425.10
$IRIDIUM_FIX,2527.05,12315.56,250898,232349
$TT8_MAMPS,0.029146
$HUMID,1542
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.8,67.4
$24V_AH,24.3,14.618
$10V_AH,10.8,9.233
$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,24.650,95.600,400.375,19.975,0.000,28.141,32.813,195.862,5.500,0.000,0.000,17.094,2212.244,6688.381,516.041,2152.100,486.920,0.000,1608.841,0.000,2101.006,0.000,39.005,0.000
$DEVICE_MAMPS,253.877,85.904,1217.229,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,846.820,902.243,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66382,1256
$CAP_FILE_SIZE,132740,0
$CFSIZE,260165632,220057600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182, 49.4,1
$GPS,010609,063437,2535.125,12321.515,40,1.4,40,-3.8