version: 66.04
glider: 167
mission: 2
dive: 67
start: 6 1 109 19 40 54
data:
$ID,167
$MISSION,2
$DIVE,67
$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,-5122.064
$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,73
$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
$GPS1,192654,2531.114,12327.873,13,2.0,29,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-64.1
$GPS2,194034,2531.178,12327.823,16,2.1,35,-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,196.1,37792,-18.3,-12.000
$D_GRID,940
$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,-194.7,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,146,2404,2694
$GC,62,-1.05,-194.7,3.2,-3.7,7,116,8.38,2.00,-39.03,0.000,4,0.251,0.042,2201,1033,3988
$GC,161,-0.23,-194.7,23.3,-36.1,24,168,0.98,2.10,0.00,0.000,6,0.194,0.032,2464,2437,3989
$GC,507,-0.56,-194.7,60.4,-6.7,85,514,0.25,0.00,0.00,0.000,6,0.057,0.000,2354,2440,3990
$GC,852,-0.40,-194.7,111.4,-15.9,146,858,0.17,2.05,0.00,0.000,4,0.162,0.026,2406,1021,3990
$GC,900,-0.54,-194.7,117.6,-11.2,154,906,0.00,2.08,0.00,0.000,6,0.000,0.034,2400,2418,3991
$GC,1243,-0.77,-194.7,147.5,-7.1,215,1249,0.25,0.00,0.00,0.000,6,0.062,0.000,2287,2421,3992
$GC,1588,-0.51,-194.7,200.9,-16.5,276,1595,0.28,2.00,0.00,0.000,4,0.162,0.026,2372,1030,3992
$GC,1686,-0.77,-194.7,209.9,-7.9,293,1694,0.22,2.00,0.00,0.000,6,0.062,0.034,2276,2391,3992
$GC,2032,-0.62,-194.7,263.7,-14.9,354,2039,0.20,2.08,0.00,0.000,4,0.158,0.047,2332,3758,3992
$GC,2062,-0.62,-194.7,267.5,-11.9,359,2068,0.00,1.95,0.00,0.000,6,0.000,0.026,2332,2374,3992
$GC,2406,-0.76,-194.7,295.0,-6.1,420,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2374,3992
$GC,2736,-0.95,-194.7,314.2,-5.8,458,2741,0.22,2.12,0.00,0.000,4,0.065,0.048,2223,3758,3992
$GC,2780,-0.67,-194.7,319.4,-13.6,461,2788,0.32,1.98,0.00,0.000,6,0.159,0.026,2321,2364,3992
$GC,3105,-0.84,-194.7,347.5,-9.1,492,3110,0.15,2.12,0.00,0.000,4,0.074,0.049,2258,3746,3992
$GC,3189,-0.74,-194.7,358.1,-13.8,499,3193,0.15,1.95,0.00,0.000,6,0.157,0.026,2300,2375,3992
$GC,3519,-0.81,-194.7,397.0,-13.4,530,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2375,3992
$GC,3840,-0.93,-194.7,433.9,-11.0,560,3842,0.15,0.00,0.00,0.000,6,0.076,0.000,2239,2375,3990
$GC,4158,-0.81,-194.7,474.5,-13.0,590,4160,0.15,0.00,0.00,0.000,6,0.169,0.000,2278,2375,3989
$GC,4474,-0.87,-194.7,507.9,-11.0,617,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2375,3987
$GC,4782,-0.93,-194.7,537.3,-9.1,632,4786,0.00,2.15,0.00,0.000,4,0.000,0.054,2276,3755,3985
$GC,4851,-0.99,-194.7,543.8,-9.9,635,4855,0.15,1.98,0.00,0.000,6,0.080,0.029,2214,2384,3984
$GC,5184,-0.83,-194.7,586.9,-13.4,651,5186,0.22,0.00,0.00,0.000,6,0.161,0.000,2278,2383,3982
$GC,5493,-0.94,-194.7,615.3,-9.4,666,5497,0.12,2.12,0.00,0.000,4,0.087,0.054,2222,3746,3980
$GC,5587,-0.85,-194.7,626.7,-12.6,670,5591,0.17,1.95,0.00,0.000,6,0.163,0.030,2270,2400,3979
$GC,5910,-0.94,-194.7,656.7,-9.1,686,5914,0.00,1.98,0.00,0.000,4,0.000,0.035,2271,1028,3977
$GC,6033,-1.05,-194.7,668.2,-8.4,691,6038,0.17,2.05,0.00,0.000,6,0.079,0.040,2203,2393,3976
$GC,6349,-0.90,-194.7,706.6,-12.5,706,6351,0.17,0.00,0.00,0.000,6,0.179,0.000,2249,2393,3974
$GC,6658,-0.90,-194.7,736.3,-9.1,721,6661,0.00,2.10,0.00,0.000,4,0.000,0.056,2246,3748,3971
$GC,6691,-0.90,-194.7,739.6,-10.1,722,6695,0.00,2.00,0.00,0.000,6,0.000,0.031,2246,2380,3971
$GC,7012,-0.90,-194.7,770.6,-10.2,738,7016,0.00,1.98,0.00,0.000,4,0.000,0.035,2247,1028,3969
$GC,7058,-0.90,-194.7,775.8,-11.4,740,7061,0.00,2.08,0.00,0.000,6,0.000,0.041,2247,2396,3969
$GC,7390,-0.90,-194.7,810.8,-10.6,756,7394,0.00,2.12,0.00,0.000,4,0.000,0.058,2246,3759,3967
$GC,7446,-0.90,-194.7,816.7,-10.2,758,7450,0.00,2.03,0.00,0.000,6,0.000,0.033,2246,2400,3966
$GC,7767,-0.90,-194.7,847.3,-10.3,774,7771,0.00,2.00,0.00,0.000,4,0.000,0.035,2246,1023,3965
$GC,7795,-0.90,-194.7,850.5,-11.3,775,7799,0.00,2.10,0.00,0.000,6,0.000,0.041,2246,2406,3964
$GC,8124,-0.90,-194.7,882.5,-9.0,791,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2407,3963
$GC,8432,-0.90,-194.7,907.5,-7.6,806,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2407,3962
$STATE,8738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8738,begin apogee
$GC,8744,-0.22,0.0,931.4,8.2,821,8833,0.73,0.00,85.60,1.416,6,0.154,0.000,2470,2506,3532
$STATE,8834,end apogee,CONTROL_FINISHED_OK
$STATE,8834,begin climb
$GC,8836,1.05,194.7,933.1,0.0,825,9004,1.15,2.28,157.82,1.372,4,0.062,0.037,2890,1105,2737
$GC,9149,0.49,194.7,898.5,19.9,840,9155,0.70,2.25,0.00,0.000,6,0.203,0.044,2706,2518,2731
$GC,9471,0.45,223.0,861.1,10.8,856,9501,0.00,2.05,23.35,1.289,4,0.000,0.060,2705,3752,2621
$GC,9569,0.33,223.0,848.3,14.4,860,9573,0.20,1.90,0.00,0.000,6,0.184,0.031,2656,2503,2619
$GC,9891,0.56,298.9,816.0,8.9,876,9958,0.17,2.15,61.55,1.309,4,0.083,0.057,2727,3755,2312
$GC,10010,0.48,298.9,799.7,15.8,881,10015,0.12,1.92,0.00,0.000,6,0.189,0.032,2704,2495,2308
$GC,10331,0.57,298.9,756.5,14.3,897,10335,0.00,2.05,0.00,0.000,4,0.000,0.058,2704,3762,2304
$GC,10399,0.57,298.9,746.1,15.7,900,10403,0.00,1.88,0.00,0.000,6,0.000,0.034,2706,2518,2304
$GC,10731,0.65,298.9,700.8,13.2,916,10733,0.12,0.00,0.00,0.000,6,0.091,0.000,2754,2515,2302
$GC,11041,0.57,298.9,654.1,14.9,931,11044,0.00,2.00,0.00,0.000,4,0.000,0.059,2754,3767,2301
$GC,11124,0.42,298.9,639.6,16.7,934,11131,0.28,1.85,0.00,0.000,6,0.179,0.033,2684,2525,2301
$GC,11441,0.63,332.3,604.9,10.6,950,11470,0.17,0.00,25.98,1.181,6,0.083,0.000,2750,2523,2177
$GC,11772,0.63,332.3,558.7,13.7,966,11776,0.00,1.98,0.00,0.000,4,0.000,0.057,2750,3759,2172
$GC,11932,0.55,332.3,533.0,16.7,973,11936,0.12,1.88,0.00,0.000,6,0.183,0.034,2729,2511,2170
$GC,12257,0.64,332.3,488.7,13.8,992,12261,0.00,1.98,0.00,0.000,4,0.000,0.058,2729,3761,2169
$GC,12296,0.64,332.3,482.8,14.2,995,12302,0.00,1.88,0.00,0.000,6,0.000,0.034,2732,2521,2169
$GC,12623,0.71,332.3,437.9,13.9,1026,12627,0.12,1.98,0.00,0.000,4,0.088,0.057,2779,3765,2169
$GC,12717,0.58,332.3,420.6,18.8,1034,12724,0.20,1.83,0.00,0.000,6,0.176,0.033,2734,2532,2168
$GC,13043,0.69,341.2,381.1,11.6,1065,13056,0.00,2.03,7.22,0.900,4,0.000,0.058,2733,3769,2141
$GC,13079,0.74,341.2,376.6,12.5,1068,13084,0.15,1.83,0.00,0.000,6,0.083,0.031,2790,2532,2140
$GC,13410,0.68,341.2,324.6,15.7,1099,13413,0.00,1.95,0.00,0.000,4,0.000,0.058,2790,3767,2140
$GC,13545,0.56,341.2,300.2,17.5,1111,13549,0.25,1.75,0.00,0.000,6,0.176,0.031,2729,2561,2139
$GC,13889,0.75,353.3,260.4,11.5,1171,13908,0.17,2.15,11.23,0.856,4,0.074,0.034,2812,1115,2090
$GC,13942,0.75,353.3,252.5,15.5,1180,13948,0.00,2.25,0.00,0.000,6,0.000,0.039,2812,2582,2089
$GC,14286,0.67,353.3,196.7,15.3,1241,14294,0.17,2.20,0.00,0.000,4,0.172,0.035,2762,1119,2089
$GC,14336,0.88,372.4,190.7,11.2,1249,14361,0.17,2.17,15.75,0.812,6,0.078,0.038,2831,2546,2014
$GC,14700,0.80,372.4,136.3,15.2,1313,14706,0.00,1.88,0.00,0.000,4,0.000,0.054,2831,3759,2011
$GC,14758,0.68,372.4,126.2,17.4,1323,14765,0.25,1.80,0.00,0.000,6,0.174,0.030,2764,2530,2010
$GC,15104,1.02,430.9,94.0,9.6,1384,15158,0.28,2.00,45.58,0.728,4,0.062,0.054,2879,3765,1773
$GC,15192,0.88,430.9,79.0,20.5,1399,15199,0.22,1.80,0.00,0.000,6,0.176,0.028,2825,2562,1770
$GC,15536,1.07,460.3,38.7,10.8,1460,15567,0.17,2.15,23.17,0.657,4,0.071,0.031,2911,1105,1654
$GC,15612,1.07,460.3,27.4,16.0,1473,15620,0.00,2.25,0.00,0.000,6,0.000,0.037,2911,2572,1651
$STATE,15753,end climb,SURFACE_DEPTH_REACHED
$STATE,15753,begin surface coast
$FINISH,1.6,1.022237
$STATE,15772,end surface coast,CONTROL_FINISHED_OK
$STATE,15773,begin surface
$SM_CCo,15850,0.00,0.000,0,0,1647,462.39
$SM_GC,2.43,7.45,0.00,0.00,0.060,0.000,0.000,145,2412,1647,-7.49,-0.42,462.39
$IRIDIUM_FIX,2519.89,12328.16,260898,191927
$TT8_MAMPS,0.028379
$HUMID,1580
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,877.0,79.2
$24V_AH,24.0,15.372
$10V_AH,10.8,9.628
$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,26.300,113.400,457.250,0.000,0.000,90.894,108.624,358.012,7.250,0.000,0.000,36.291,2648.350,10011.587,555.660,2612.068,841.538,0.000,1870.034,0.000,2531.598,0.000,50.718,0.000
$DEVICE_MAMPS,250.809,82.069,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.748,1043.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78956,1501
$CAP_FILE_SIZE,167711,0
$CFSIZE,260165632,219660288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194, 79.4,1
$GPS,020609,000607,2529.199,12329.286,28,1.2,29,-3.8