version: 66.04
glider: 167
mission: 2
dive: 69
start: 6 2 109 4 55 50
data:
$ID,167
$MISSION,2
$DIVE,69
$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,-5170.0913
$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,70
$R_STBD_OVSHOOT,38
$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
$GPS1,044906,2526.830,12330.870,26,1.3,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-63.8
$GPS2,045528,2526.802,12330.793,11,2.6,30,-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,172.4,28285,-18.3,-12.000
$D_GRID,1650
$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,-194.7,0.0,0.0,0,47,0.00,0.00,-30.42,0.000,2,0.000,0.000,143,2425,2549
$GC,50,-1.05,-194.7,3.0,-2.2,5,114,8.62,2.12,-47.53,0.000,4,0.258,0.044,2201,1024,3989
$GC,126,-0.32,-194.7,10.2,-21.5,17,133,0.88,2.15,0.00,0.000,6,0.189,0.035,2437,2440,3990
$GC,471,-0.55,-194.7,52.3,-8.3,78,479,0.17,2.08,0.00,0.000,4,0.070,0.028,2358,1030,3991
$GC,525,-0.55,-194.7,59.0,-13.9,87,531,0.00,2.08,0.00,0.000,6,0.000,0.035,2358,2412,3991
$GC,868,-0.38,-194.7,116.0,-17.3,148,874,0.17,0.00,0.00,0.000,6,0.168,0.000,2411,2412,3992
$GC,1212,-0.70,-194.7,144.7,-6.1,209,1218,0.22,2.03,0.00,0.000,4,0.061,0.029,2312,1026,3994
$GC,1293,-0.63,-194.7,154.2,-12.7,223,1300,0.15,2.08,0.00,0.000,6,0.156,0.035,2344,2423,3994
$GC,1637,-0.63,-194.7,191.1,-11.0,284,1643,0.00,2.03,0.00,0.000,4,0.000,0.051,2344,3754,3996
$GC,1718,-0.75,-194.7,199.2,-9.9,298,1725,0.12,1.92,0.00,0.000,6,0.078,0.028,2289,2400,3996
$GC,2065,-0.58,-194.7,252.6,-16.3,359,2071,0.20,1.95,0.00,0.000,4,0.155,0.029,2352,1041,3997
$GC,2102,-0.69,-194.7,257.5,-11.7,365,2108,0.00,2.05,0.00,0.000,6,0.000,0.035,2352,2420,3996
$GC,2448,-0.87,-194.7,289.5,-8.8,426,2456,0.20,2.00,0.00,0.000,4,0.066,0.029,2259,1047,3996
$GC,2496,-0.73,-194.7,295.5,-13.7,434,2505,0.17,2.05,0.00,0.000,6,0.161,0.037,2306,2422,3996
$GC,2829,-0.79,-194.7,325.6,-8.8,468,2832,0.00,2.05,0.00,0.000,4,0.000,0.051,2303,3766,3996
$GC,2857,-0.84,-194.7,328.5,-9.2,470,2863,0.00,1.92,0.00,0.000,6,0.000,0.028,2303,2413,3996
$GC,3183,-0.84,-194.7,361.9,-11.4,501,3187,0.00,2.00,0.00,0.000,4,0.000,0.031,2303,1024,3997
$GC,3244,-0.92,-194.7,369.1,-11.3,506,3252,0.15,2.08,0.00,0.000,6,0.076,0.037,2238,2418,3997
$GC,3569,-0.73,-194.7,422.3,-15.5,537,3573,0.20,2.05,0.00,0.000,4,0.169,0.051,2291,3758,3997
$GC,3595,-0.68,-194.7,426.2,-13.7,539,3602,0.12,1.95,0.00,0.000,6,0.153,0.029,2326,2409,3997
$GC,3921,-0.89,-194.7,450.6,-6.9,570,3926,0.17,1.98,0.00,0.000,4,0.071,0.031,2247,1043,3996
$GC,3967,-0.83,-194.7,455.4,-12.1,574,3971,0.12,2.03,0.00,0.000,6,0.166,0.038,2280,2397,3996
$GC,4297,-0.89,-194.7,485.0,-8.6,605,4301,0.00,2.10,0.00,0.000,4,0.000,0.054,2275,3761,3995
$GC,4366,-0.94,-194.7,491.2,-9.2,611,4369,0.00,2.00,0.00,0.000,6,0.000,0.030,2275,2372,3995
$GC,4702,-0.99,-194.7,520.7,-9.1,632,4704,0.15,0.00,0.00,0.000,6,0.077,0.000,2214,2372,3994
$GC,5010,-0.82,-194.7,560.1,-13.1,647,5014,0.20,1.95,0.00,0.000,4,0.169,0.033,2275,1029,3992
$GC,5043,-0.89,-194.7,563.5,-8.9,648,5046,0.00,2.03,0.00,0.000,6,0.000,0.038,2275,2376,3992
$GC,5364,-0.98,-194.7,590.6,-8.5,664,5366,0.12,0.00,0.00,0.000,6,0.085,0.000,2224,2377,3990
$GC,5674,-0.87,-194.7,624.1,-10.5,679,5676,0.15,0.00,0.00,0.000,6,0.168,0.000,2263,2377,3987
$GC,5983,-0.94,-194.7,647.7,-7.5,694,5987,0.00,2.15,0.00,0.000,4,0.000,0.058,2261,3761,3986
$GC,6012,-0.98,-194.7,650.2,-8.6,695,6016,0.00,2.00,0.00,0.000,6,0.000,0.031,2261,2391,3985
$GC,6340,-1.05,-194.7,677.2,-8.0,711,6342,0.15,0.00,0.00,0.000,6,0.082,0.000,2201,2388,3983
$GC,6648,-0.89,-194.7,713.3,-12.0,726,6653,0.17,2.15,0.00,0.000,4,0.176,0.055,2245,3757,3981
$GC,6692,-0.89,-194.7,718.0,-10.3,728,6696,0.00,2.00,0.00,0.000,6,0.000,0.033,2246,2399,3981
$GC,7020,-0.89,-194.7,750.1,-10.1,744,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2398,3978
$GC,7328,-0.89,-194.7,779.4,-8.9,759,7332,0.00,2.12,0.00,0.000,4,0.000,0.058,2246,3748,3976
$GC,7378,-0.89,-194.7,784.1,-9.1,761,7382,0.00,1.98,0.00,0.000,6,0.000,0.033,2246,2408,3976
$GC,7705,-0.89,-194.7,814.5,-9.3,777,7709,0.00,2.03,0.00,0.000,4,0.000,0.036,2246,1027,3974
$GC,7744,-0.89,-194.7,818.4,-10.4,778,7751,0.00,2.10,0.00,0.000,6,0.000,0.041,2246,2408,3974
$GC,8060,-0.89,-194.7,848.7,-9.5,794,8063,0.00,2.10,0.00,0.000,4,0.000,0.059,2246,3753,3972
$GC,8109,-0.89,-194.7,853.8,-9.5,796,8114,0.00,2.00,0.00,0.000,6,0.000,0.034,2246,2422,3972
$GC,8436,-0.89,-194.7,884.7,-9.5,812,8440,0.00,2.05,0.00,0.000,4,0.000,0.036,2245,1028,3970
$GC,8470,-0.94,-194.7,887.9,-9.1,813,8474,0.00,2.10,0.00,0.000,6,0.000,0.042,2245,2419,3971
$GC,8791,-0.94,-194.7,916.4,-8.6,829,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2419,3969
$GC,9100,-0.94,-194.7,943.2,-8.8,844,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2419,3968
$GC,9410,-0.94,-194.7,972.7,-9.8,859,9413,0.00,2.08,0.00,0.000,4,0.000,0.036,2245,1028,3966
$GC,9501,-0.99,-194.7,981.4,-10.1,863,9505,0.00,2.12,0.00,0.000,6,0.000,0.044,2246,2413,3966
$STATE,9584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9584,begin apogee
$GC,9590,-0.22,0.0,990.5,10.6,867,9685,0.73,0.00,88.00,1.457,6,0.155,0.000,2469,2512,3532
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9689,1.05,194.7,995.3,0.0,872,9856,1.17,2.20,160.02,1.416,4,0.061,0.060,2886,3766,2738
$GC,10110,0.28,194.7,936.2,22.0,891,10115,0.98,1.92,0.00,0.000,6,0.219,0.034,2643,2508,2731
$GC,10432,0.56,309.7,910.6,7.2,907,10532,0.20,2.12,94.25,1.361,4,0.084,0.060,2722,3755,2267
$GC,10590,0.51,309.7,890.6,14.7,913,10593,0.00,1.95,0.00,0.000,6,0.000,0.034,2723,2506,2262
$GC,10910,0.51,309.7,845.2,14.2,929,10914,0.00,2.03,0.00,0.000,4,0.000,0.058,2722,3758,2258
$GC,10972,0.47,309.7,835.7,15.6,931,10978,0.00,1.90,0.00,0.000,6,0.000,0.035,2722,2505,2257
$GC,11287,0.47,309.7,791.5,14.2,947,11291,0.00,2.03,0.00,0.000,4,0.000,0.058,2722,3769,2257
$GC,11355,0.47,309.7,780.8,16.1,950,11359,0.00,1.88,0.00,0.000,6,0.000,0.035,2722,2526,2256
$GC,11687,0.47,309.7,734.1,13.7,966,11691,0.00,1.98,0.00,0.000,4,0.000,0.058,2722,3765,2256
$GC,11770,0.47,309.7,721.3,15.4,969,11777,0.00,1.88,0.00,0.000,6,0.000,0.035,2722,2538,2255
$GC,12086,0.47,309.7,677.4,13.5,985,12090,0.00,1.95,0.00,0.000,4,0.000,0.059,2722,3764,2254
$GC,12192,0.47,309.7,661.4,14.4,989,12198,0.00,1.83,0.00,0.000,6,0.000,0.035,2722,2565,2255
$GC,12508,0.51,309.7,619.3,13.1,1005,12512,0.00,1.90,0.00,0.000,4,0.000,0.058,2722,3759,2254
$GC,12546,0.51,309.7,613.5,14.3,1006,12554,0.00,1.77,0.00,0.000,6,0.000,0.035,2723,2583,2254
$GC,12862,0.57,309.7,572.8,12.5,1022,12866,0.00,2.20,0.00,0.000,4,0.000,0.040,2722,1106,2253
$GC,12890,0.68,311.5,569.3,11.9,1023,12895,0.12,2.28,0.00,0.000,6,0.087,0.041,2772,2588,2253
$GC,13211,0.59,311.5,521.6,15.5,1039,13215,0.15,1.83,0.00,0.000,4,0.189,0.058,2734,3763,2252
$GC,13244,0.59,311.5,516.0,16.2,1040,13248,0.00,1.80,0.00,0.000,6,0.000,0.034,2739,2569,2252
$GC,13572,0.59,311.5,470.2,13.4,1066,13575,0.00,1.88,0.00,0.000,4,0.000,0.057,2739,3759,2252
$GC,13735,0.53,311.5,445.6,15.4,1080,13741,0.00,1.75,0.00,0.000,6,0.000,0.034,2744,2570,2252
$GC,14062,0.53,311.5,402.1,13.5,1111,14066,0.00,2.17,0.00,0.000,4,0.000,0.038,2745,1106,2252
$GC,14090,0.61,311.5,398.1,13.2,1113,14096,0.00,2.28,0.00,0.000,6,0.000,0.041,2746,2595,2251
$GC,14416,0.61,311.5,355.7,13.1,1144,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2595,2252
$GC,14735,0.67,311.5,314.4,13.4,1174,14738,0.00,1.80,0.00,0.000,4,0.000,0.058,2746,3761,2251
$GC,14802,0.67,311.5,304.5,14.3,1180,14806,0.00,1.75,0.00,0.000,6,0.000,0.034,2745,2593,2251
$GC,15143,0.74,311.5,262.7,12.0,1237,15150,0.12,1.83,0.00,0.000,4,0.088,0.054,2796,3761,2252
$GC,15190,0.59,311.5,255.1,17.6,1245,15197,0.25,1.73,0.00,0.000,6,0.179,0.035,2733,2583,2252
$GC,15535,0.80,366.4,214.2,9.7,1306,15583,0.17,2.25,41.38,0.848,4,0.077,0.035,2815,1101,2039
$GC,15634,0.80,366.4,200.4,14.4,1323,15640,0.00,2.30,0.00,0.000,6,0.000,0.038,2815,2580,2036
$GC,15978,0.80,366.4,150.7,15.4,1384,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2581,2033
$GC,16320,0.84,403.8,106.7,10.5,1445,16357,0.00,2.33,29.58,0.734,4,0.000,0.035,2815,1095,1884
$GC,16436,0.99,403.8,93.5,12.4,1465,16443,0.15,2.28,0.00,0.000,6,0.077,0.036,2877,2576,1881
$GC,16780,0.99,403.8,37.2,14.5,1526,16787,0.00,2.20,0.00,0.000,4,0.000,0.033,2883,1096,1879
$GC,16849,0.99,403.8,27.6,12.3,1538,16856,0.00,2.22,0.00,0.000,6,0.000,0.037,2883,2562,1879
$STATE,17025,end climb,SURFACE_DEPTH_REACHED
$STATE,17025,begin surface coast
$FINISH,1.6,1.020705
$STATE,17041,end surface coast,CONTROL_FINISHED_OK
$STATE,17041,begin surface
$SM_CCo,17058,15.05,0.622,0,0,1799,425.10
$SM_GC,2.98,0.00,0.00,15.05,0.000,0.000,0.622,146,2421,1799,-7.50,-0.17,425.10
$IRIDIUM_FIX,2522.28,12328.16,270898,000057
$TT8_MAMPS,0.029146
$HUMID,1582
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,15.713
$10V_AH,10.8,9.810
$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,24.000,142.125,413.225,15.050,0.000,31.527,31.646,173.845,8.000,0.000,0.000,31.567,2785.017,10830.646,569.719,2735.943,528.699,0.000,1950.243,0.000,2652.371,0.000,54.410,0.000
$DEVICE_MAMPS,257.712,85.904,1457.300,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.775,1083.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82219,1572
$CAP_FILE_SIZE,172540,0
$CFSIZE,260165632,219471872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 78.0,1
$GPS,020609,094200,2524.461,12332.389,54,1.3,60,-3.8