version: 66.04
glider: 167
mission: 2
dive: 64
start: 6 1 109 10 1 53
data:
$ID,167
$MISSION,2
$DIVE,64
$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,-5049.7529
$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,68
$R_STBD_OVSHOOT,33
$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
$GPS1,095530,2534.214,12323.253,38,1.4,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-67.4
$GPS2,100131,2534.223,12323.278,14,1.5,31,-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,192.0,46771,-18.3,-12.000
$D_GRID,636
$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,14,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-35.10,0.000,2,0.000,0.000,146,2441,2675
$GC,55,-1.05,-194.7,3.3,-3.7,6,109,8.43,2.12,-39.55,0.000,4,0.252,0.043,2200,1029,3990
$GC,144,-0.26,-194.7,19.2,-33.2,21,151,0.95,2.12,0.00,0.000,6,0.194,0.036,2456,2435,3990
$GC,489,-0.53,-194.7,59.3,-8.0,82,496,0.20,2.03,0.00,0.000,4,0.062,0.048,2362,3760,3991
$GC,564,-0.26,-194.7,72.2,-22.3,95,572,0.32,1.90,0.00,0.000,6,0.162,0.026,2455,2423,3991
$GC,910,-0.68,-194.7,104.6,-5.5,156,917,0.32,1.98,0.00,0.000,4,0.061,0.028,2316,1042,3993
$GC,980,-0.54,-194.7,112.6,-13.5,168,987,0.20,2.10,0.00,0.000,6,0.156,0.035,2372,2453,3993
$GC,1325,-0.62,-194.7,151.4,-9.4,229,1331,0.00,1.98,0.00,0.000,4,0.000,0.049,2372,3760,3994
$GC,1372,-0.75,-194.7,155.6,-8.7,237,1378,0.20,1.85,0.00,0.000,6,0.064,0.026,2286,2446,3994
$GC,1716,-0.53,-194.7,215.0,-18.5,298,1723,0.25,2.00,0.00,0.000,4,0.156,0.047,2359,3756,3995
$GC,1799,-0.72,-194.7,225.6,-11.0,312,1805,0.12,1.83,0.00,0.000,6,0.077,0.026,2301,2463,3996
$GC,2143,-0.72,-194.7,268.1,-12.0,373,2149,0.00,2.03,0.00,0.000,4,0.000,0.028,2301,1043,3996
$GC,2200,-0.72,-194.7,274.6,-11.2,383,2208,0.00,2.10,0.00,0.000,6,0.000,0.035,2299,2461,3996
$GC,2544,-0.72,-194.7,314.5,-10.4,432,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2461,3997
$GC,2864,-0.78,-194.7,344.3,-8.9,462,2868,0.00,1.98,0.00,0.000,4,0.000,0.051,2290,3767,3996
$GC,2932,-0.78,-194.7,351.4,-10.5,468,2936,0.00,1.90,0.00,0.000,6,0.000,0.028,2290,2455,3997
$GC,3263,-0.85,-194.7,384.9,-9.1,499,3267,0.00,2.03,0.00,0.000,4,0.000,0.031,2290,1043,3996
$GC,3291,-0.93,-194.7,387.7,-9.9,501,3298,0.12,2.08,0.00,0.000,6,0.083,0.036,2235,2441,3997
$GC,3617,-0.81,-194.7,428.9,-11.6,532,3621,0.17,2.00,0.00,0.000,4,0.171,0.049,2275,3757,3995
$GC,3695,-0.81,-194.7,436.9,-9.5,539,3699,0.00,1.88,0.00,0.000,6,0.000,0.028,2275,2445,3995
$GC,4026,-0.87,-194.7,466.5,-8.2,570,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2445,3994
$GC,4348,-0.94,-194.7,493.4,-8.7,600,4352,0.00,2.05,0.00,0.000,4,0.000,0.054,2275,3764,3993
$GC,4410,-1.01,-194.7,499.1,-8.4,605,4416,0.15,1.90,0.00,0.000,6,0.081,0.029,2214,2443,3992
$GC,4738,-0.84,-194.7,534.4,-10.3,622,4740,0.20,0.00,0.00,0.000,6,0.162,0.000,2269,2443,3990
$GC,5046,-0.90,-194.7,558.3,-7.7,637,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2443,3987
$GC,5355,-0.97,-194.7,580.5,-7.0,652,5359,0.12,2.05,0.00,0.000,4,0.087,0.034,2220,1047,3984
$GC,5394,-0.87,-194.7,584.2,-10.4,653,5401,0.15,2.12,0.00,0.000,6,0.171,0.039,2258,2448,3984
$GC,5710,-0.87,-194.7,610.8,-8.7,669,5714,0.00,2.03,0.00,0.000,4,0.000,0.056,2258,3763,3982
$GC,5760,-0.87,-194.7,615.6,-10.0,671,5764,0.00,1.90,0.00,0.000,6,0.000,0.031,2258,2459,3982
$STATE,5981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5981,begin apogee
$GC,5987,-0.22,0.0,637.6,10.1,682,6076,0.68,0.00,86.10,1.170,6,0.149,0.000,2468,2518,3532
$STATE,6077,end apogee,CONTROL_FINISHED_OK
$STATE,6077,begin climb
$GC,6080,1.05,194.7,640.6,0.0,686,6238,1.12,2.25,150.32,1.130,4,0.054,0.035,2894,1122,2738
$GC,6391,0.52,194.7,607.3,19.9,700,6397,0.68,2.17,0.00,0.000,6,0.199,0.040,2713,2514,2733
$GC,6713,0.54,210.3,568.3,11.4,716,6735,0.00,2.03,12.85,1.020,4,0.000,0.057,2713,3755,2674
$GC,6763,0.42,210.3,561.9,13.2,718,6767,0.15,1.88,0.00,0.000,6,0.188,0.031,2682,2502,2673
$GC,7089,0.59,266.8,529.1,9.7,734,7138,0.15,2.12,43.80,1.078,4,0.084,0.035,2745,1109,2443
$GC,7256,0.59,266.8,506.3,13.7,741,7262,0.00,2.15,0.00,0.000,6,0.000,0.038,2745,2490,2439
$GC,7580,0.59,266.8,462.4,13.0,769,7584,0.00,2.00,0.00,0.000,4,0.000,0.057,2745,3765,2436
$GC,7615,0.48,266.8,457.1,15.1,772,7619,0.17,1.90,0.00,0.000,6,0.181,0.031,2706,2486,2436
$GC,7945,0.61,288.5,419.1,11.1,803,7969,0.10,2.05,17.12,0.996,4,0.097,0.056,2743,3761,2354
$GC,8149,0.61,288.5,391.0,14.5,821,8153,0.00,1.85,0.00,0.000,6,0.000,0.033,2749,2519,2350
$GC,8481,0.61,288.5,349.3,12.1,852,8485,0.00,1.95,0.00,0.000,4,0.000,0.055,2749,3757,2349
$GC,8549,0.54,288.5,339.5,14.4,858,8554,0.08,1.85,0.00,0.000,6,0.184,0.031,2722,2521,2348
$GC,8880,0.71,305.2,302.8,11.3,889,8902,0.15,2.00,13.40,0.898,4,0.081,0.054,2779,3756,2286
$GC,8976,0.61,305.2,288.5,14.8,903,8983,0.17,1.80,0.00,0.000,6,0.176,0.030,2740,2530,2284
$GC,9322,0.73,306.9,249.1,11.9,964,9328,0.12,1.95,0.00,0.000,4,0.085,0.055,2788,3768,2283
$GC,9357,0.61,306.9,244.0,15.4,970,9364,0.20,1.80,0.00,0.000,6,0.181,0.031,2741,2532,2283
$GC,9701,0.85,388.4,208.6,8.6,1031,9772,0.17,2.17,63.12,0.836,4,0.076,0.035,2815,1110,1947
$GC,9802,0.90,388.4,196.0,14.0,1048,9808,0.00,2.22,0.00,0.000,6,0.000,0.037,2815,2538,1943
$GC,10145,0.90,388.4,147.4,14.8,1109,10151,0.00,1.90,0.00,0.000,4,0.000,0.054,2815,3757,1939
$GC,10174,0.90,388.4,143.2,15.2,1114,10180,0.00,1.77,0.00,0.000,6,0.000,0.028,2822,2535,1938
$GC,10518,0.98,393.5,100.2,11.8,1175,10528,0.12,2.12,4.32,0.522,4,0.082,0.031,2882,1121,1926
$GC,10659,0.98,393.5,81.0,14.2,1199,10666,0.00,2.08,0.00,0.000,6,0.000,0.035,2883,2503,1926
$GC,11004,0.98,393.5,34.3,14.1,1260,11010,0.00,1.90,0.00,0.000,4,0.000,0.051,2882,3755,1926
$GC,11165,0.89,393.5,10.6,14.6,1288,11171,0.20,1.80,0.00,0.000,6,0.170,0.026,2836,2493,1927
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11232,begin surface coast
$FINISH,1.6,1.022259
$STATE,11268,end surface coast,CONTROL_FINISHED_OK
$STATE,11268,begin surface
$SM_CCo,11284,21.95,0.621,0,0,1798,425.10
$SM_GC,2.34,0.00,0.00,21.95,0.000,0.000,0.621,145,2488,1798,-7.50,1.72,425.10
$IRIDIUM_FIX,2527.05,12322.86,260898,060609
$TT8_MAMPS,0.028379
$HUMID,1549
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,24.4,14.892
$10V_AH,10.8,9.388
$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,23.375,95.725,391.050,21.950,0.000,25.968,33.500,165.355,4.500,0.000,0.000,31.594,2260.440,6264.041,514.679,2172.522,455.245,0.000,1608.317,0.000,2110.591,0.000,31.070,0.000
$DEVICE_MAMPS,252.343,92.807,1170.442,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,879.214,945.062,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69419,1306
$CAP_FILE_SIZE,130891,0
$CFSIZE,260165632,219914240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.278, 80.6,1
$GPS,010609,131137,2532.924,12324.875,41,1.0,41,-3.8