version: 66.04
glider: 167
mission: 2
dive: 70
start: 6 2 109 9 48 48
data:
$ID,167
$MISSION,2
$DIVE,70
$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,-5186.6904
$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,54
$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
$GPS1,094200,2524.461,12332.389,54,1.3,60,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.3
$GPS2,094826,2524.417,12332.395,14,1.5,14,-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,163.9,23119,-18.3,-12.000
$D_GRID,1804
$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,-194.7,0.0,0.0,0,52,0.00,0.00,-35.03,0.000,2,0.000,0.000,146,2421,2676
$GC,55,-1.05,-194.7,3.3,-2.9,6,110,8.52,2.12,-38.42,0.000,4,0.253,0.061,2186,3770,3990
$GC,179,0.08,-194.7,35.2,-43.3,27,186,1.38,2.00,0.00,0.000,6,0.202,0.026,2562,2412,3991
$GC,525,-0.82,-194.7,72.9,-10.5,88,532,0.75,2.03,0.00,0.000,4,0.079,0.029,2283,1017,3993
$GC,555,-0.92,-194.7,76.7,-12.5,93,563,0.00,2.15,0.00,0.000,6,0.000,0.033,2275,2451,3993
$GC,901,-0.56,-194.7,153.6,-19.5,154,908,0.28,2.10,0.00,0.000,4,0.166,0.028,2359,1017,3994
$GC,1068,-0.71,-194.7,172.9,-9.9,183,1075,0.12,2.12,0.00,0.000,6,0.077,0.035,2303,2442,3995
$GC,1414,-0.65,-194.7,218.9,-13.4,244,1421,0.12,2.08,0.00,0.000,4,0.163,0.029,2336,1019,3996
$GC,1469,-0.77,-194.7,225.6,-11.3,253,1477,0.12,2.10,0.00,0.000,6,0.081,0.035,2282,2427,3997
$GC,1815,-0.65,-194.7,275.4,-14.4,314,1822,0.17,2.05,0.00,0.000,4,0.163,0.029,2336,1021,3997
$GC,1890,-0.83,-194.7,283.8,-9.4,327,1897,0.17,2.08,0.00,0.000,6,0.072,0.035,2261,2421,3997
$GC,2229,-0.71,-194.7,328.6,-12.1,369,2233,0.17,2.03,0.00,0.000,4,0.162,0.048,2302,3752,3997
$GC,2279,-0.78,-194.7,334.5,-10.7,373,2286,0.00,1.98,0.00,0.000,6,0.000,0.028,2302,2366,3997
$GC,2606,-0.87,-194.7,369.0,-10.4,404,2610,0.12,1.95,0.00,0.000,4,0.081,0.031,2248,1012,3997
$GC,2640,-0.79,-194.7,373.4,-13.1,407,2644,0.15,2.08,0.00,0.000,6,0.163,0.037,2287,2403,3997
$GC,2965,-0.86,-194.7,406.8,-9.0,437,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2403,3997
$GC,3285,-0.93,-194.7,434.9,-8.7,467,3289,0.12,2.08,0.00,0.000,4,0.086,0.053,2232,3758,3997
$GC,3331,-0.75,-194.7,440.1,-12.3,471,3336,0.22,2.00,0.00,0.000,6,0.156,0.030,2298,2373,3997
$GC,3657,-0.89,-194.7,465.1,-7.1,501,3661,0.12,2.15,0.00,0.000,4,0.081,0.053,2246,3758,3996
$GC,3714,-0.82,-194.7,470.9,-10.5,506,3718,0.12,1.98,0.00,0.000,6,0.160,0.031,2279,2394,3995
$GC,4054,-0.89,-194.7,503.1,-9.9,537,4058,0.00,1.98,0.00,0.000,4,0.000,0.033,2279,1031,3994
$GC,4078,-0.98,-194.7,505.4,-10.0,538,4082,0.12,2.08,0.00,0.000,6,0.084,0.038,2224,2412,3994
$GC,4410,-0.85,-194.7,547.6,-12.8,554,4415,0.17,2.03,0.00,0.000,4,0.169,0.032,2278,1046,3992
$GC,4511,-0.96,-194.7,557.0,-8.0,558,4516,0.12,2.05,0.00,0.000,6,0.087,0.039,2225,2403,3992
$GC,4834,-0.87,-194.7,590.1,-10.5,574,4836,0.15,0.00,0.00,0.000,6,0.170,0.000,2264,2403,3990
$GC,5142,-0.93,-194.7,620.7,-10.2,589,5146,0.00,2.03,0.00,0.000,4,0.000,0.035,2264,1031,3988
$GC,5221,-1.01,-194.7,628.8,-11.0,592,5225,0.12,2.05,0.00,0.000,6,0.087,0.040,2212,2391,3987
$GC,5542,-0.89,-194.7,666.6,-11.5,608,5547,0.15,2.12,0.00,0.000,4,0.175,0.056,2245,3758,3985
$GC,5582,-0.89,-194.7,670.8,-10.2,610,5586,0.00,2.03,0.00,0.000,6,0.000,0.033,2245,2377,3985
$GC,5915,-0.89,-194.7,701.7,-9.3,626,5919,0.00,2.15,0.00,0.000,4,0.000,0.057,2245,3750,3983
$GC,5983,-0.89,-194.7,708.6,-9.6,629,5987,0.00,2.00,0.00,0.000,6,0.000,0.033,2245,2390,3982
$GC,6316,-0.89,-194.7,740.5,-9.3,645,6319,0.00,1.98,0.00,0.000,4,0.000,0.035,2245,1036,3980
$GC,6339,-0.89,-194.7,742.7,-10.1,646,6343,0.00,2.08,0.00,0.000,6,0.000,0.041,2245,2401,3980
$GC,6672,-0.89,-194.7,772.8,-9.2,662,6676,0.00,2.12,0.00,0.000,4,0.000,0.059,2245,3763,3978
$GC,6745,-0.89,-194.7,779.9,-9.3,665,6749,0.00,2.00,0.00,0.000,6,0.000,0.034,2246,2407,3977
$GC,7072,-0.89,-194.7,810.2,-9.2,681,7075,0.00,2.03,0.00,0.000,4,0.000,0.035,2245,1026,3976
$GC,7127,-0.94,-194.7,815.6,-9.7,683,7131,0.00,2.10,0.00,0.000,6,0.000,0.041,2245,2411,3976
$GC,7449,-0.94,-194.7,845.9,-9.8,699,7452,0.00,2.05,0.00,0.000,4,0.000,0.035,2245,1033,3974
$GC,7511,-0.99,-194.7,852.1,-9.9,701,7518,0.00,2.08,0.00,0.000,6,0.000,0.041,2245,2398,3974
$GC,7826,-0.99,-194.7,882.5,-9.6,717,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2398,3972
$GC,8135,-0.99,-194.7,911.7,-9.7,732,8139,0.00,2.12,0.00,0.000,4,0.000,0.061,2245,3761,3971
$GC,8168,-0.99,-194.7,915.0,-9.8,733,8172,0.00,2.03,0.00,0.000,6,0.000,0.034,2245,2391,3970
$GC,8490,-1.04,-194.7,945.1,-9.6,749,8492,0.12,0.00,0.00,0.000,6,0.092,0.000,2196,2389,3969
$GC,8799,-0.91,-194.7,981.5,-11.8,764,8801,0.20,0.00,0.00,0.000,6,0.173,0.000,2249,2388,3968
$STATE,8899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8899,begin apogee
$GC,8905,-0.22,0.0,990.9,8.8,769,8997,0.70,0.00,88.35,1.452,6,0.153,0.000,2467,2506,3532
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8998,begin climb
$GC,9000,1.05,194.7,993.4,0.0,773,9172,1.17,2.17,160.02,1.408,4,0.065,0.058,2885,3754,2737
$GC,9425,0.29,194.7,930.2,22.9,792,9430,0.98,1.90,0.00,0.000,6,0.219,0.033,2642,2507,2731
$GC,9746,0.55,294.6,902.5,7.9,808,9835,0.20,2.17,81.75,1.354,4,0.081,0.059,2721,3755,2329
$GC,9930,0.48,294.6,877.8,14.7,816,9934,0.00,1.92,0.00,0.000,6,0.000,0.033,2722,2513,2323
$GC,10251,0.48,294.6,832.7,14.3,832,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2511,2320
$GC,10560,0.48,294.6,789.1,13.8,847,10564,0.00,2.03,0.00,0.000,4,0.000,0.059,2722,3769,2319
$GC,10606,0.42,294.6,782.3,15.7,849,10610,0.17,1.90,0.00,0.000,6,0.182,0.034,2678,2504,2318
$GC,10939,0.62,326.5,746.7,10.7,865,10971,0.17,2.10,25.12,1.259,4,0.084,0.058,2750,3756,2200
$GC,11085,0.51,326.5,723.2,16.4,871,11089,0.17,1.85,0.00,0.000,6,0.180,0.035,2712,2541,2195
$GC,11406,0.60,326.5,683.5,12.2,887,11409,0.00,1.98,0.00,0.000,4,0.000,0.059,2712,3766,2194
$GC,11489,0.60,326.5,671.6,14.4,890,11495,0.00,1.88,0.00,0.000,6,0.000,0.035,2716,2541,2194
$GC,11806,0.67,326.5,629.3,12.9,906,11810,0.12,1.95,0.00,0.000,4,0.090,0.058,2764,3762,2193
$GC,11934,0.54,326.5,605.5,19.1,911,11941,0.20,1.77,0.00,0.000,6,0.183,0.035,2717,2571,2193
$GC,12250,0.63,326.5,563.6,12.7,927,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2571,2192
$GC,12560,0.74,326.5,524.0,12.7,942,12564,0.17,1.90,0.00,0.000,4,0.080,0.056,2788,3772,2192
$GC,12592,0.55,326.5,518.3,17.1,943,12597,0.25,1.77,0.00,0.000,6,0.183,0.034,2725,2575,2191
$GC,12921,0.64,327.1,476.6,12.0,967,12924,0.00,1.88,0.00,0.000,4,0.000,0.058,2725,3761,2191
$GC,13000,0.64,327.1,466.1,13.8,974,13003,0.00,1.75,0.00,0.000,6,0.000,0.035,2730,2582,2191
$GC,13332,0.71,327.1,425.9,12.4,1005,13336,0.12,1.88,0.00,0.000,4,0.087,0.058,2778,3765,2191
$GC,13366,0.56,327.1,420.4,17.1,1008,13370,0.22,1.73,0.00,0.000,6,0.179,0.035,2725,2592,2191
$GC,13696,0.67,327.1,378.1,12.5,1039,13698,0.12,0.00,0.00,0.000,6,0.087,0.000,2772,2592,2191
$GC,14016,0.67,327.1,330.3,14.5,1069,14019,0.00,1.85,0.00,0.000,4,0.000,0.056,2772,3774,2191
$GC,14118,0.58,327.1,314.3,15.4,1078,14122,0.17,1.73,0.00,0.000,6,0.178,0.032,2730,2592,2191
$GC,14453,0.72,327.1,274.8,12.2,1127,14459,0.15,0.00,0.00,0.000,6,0.080,0.000,2788,2589,2190
$GC,14796,0.72,327.1,226.8,13.0,1188,14802,0.00,2.17,0.00,0.000,4,0.000,0.035,2789,1098,2191
$GC,14831,0.74,344.2,222.8,11.3,1194,14855,0.00,2.28,14.02,0.828,6,0.000,0.037,2789,2608,2127
$GC,15193,0.74,344.2,174.1,12.5,1258,15198,0.00,1.80,0.00,0.000,4,0.000,0.057,2789,3773,2125
$GC,15216,0.74,344.2,170.9,13.7,1262,15222,0.00,1.75,0.00,0.000,6,0.000,0.030,2795,2570,2126
$GC,15560,0.74,344.2,128.1,12.2,1323,15566,0.00,1.88,0.00,0.000,4,0.000,0.053,2795,3775,2126
$GC,15639,0.74,344.2,117.6,13.4,1337,15646,0.00,1.73,0.00,0.000,6,0.000,0.029,2802,2577,2126
$GC,15986,0.82,351.7,80.4,11.7,1398,15999,0.00,2.22,7.75,0.634,4,0.000,0.034,2802,1103,2098
$GC,16162,1.05,413.7,61.5,9.4,1429,16217,0.22,2.25,47.62,0.686,6,0.066,0.035,2893,2598,1844
$STATE,16537,end climb,SURFACE_DEPTH_REACHED
$STATE,16537,begin surface coast
$FINISH,1.5,1.012376
$STATE,16559,end surface coast,CONTROL_FINISHED_OK
$STATE,16559,begin surface
$SM_CCo,16576,6.03,0.526,0,0,1798,425.10
$SM_GC,3.36,0.00,0.00,6.03,0.000,0.000,0.526,146,2414,1798,-7.50,-0.34,425.10
$IRIDIUM_FIX,2515.12,12332.14,270898,050556
$TT8_MAMPS,0.029146
$HUMID,1552
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,15.883
$10V_AH,10.8,9.902
$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,26.600,132.725,424.650,6.025,0.000,29.071,37.586,190.123,8.000,0.000,0.000,15.968,2695.494,10537.596,537.283,2649.460,541.915,0.000,1881.623,0.000,2586.479,0.000,54.417,0.000
$DEVICE_MAMPS,253.110,72.865,1451.931,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.783,1018.538,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78862,1499
$CAP_FILE_SIZE,170097,0
$CFSIZE,260165632,219402240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085, 92.5,1
$GPS,020609,142630,2522.179,12334.611,37,1.5,43,-3.8