version: 66.04
glider: 167
mission: 2
dive: 71
start: 6 2 109 14 33 38
data:
$ID,167
$MISSION,2
$DIVE,71
$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,-4
$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,-5203.7822
$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,65
$R_STBD_OVSHOOT,28
$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
$GPS1,142630,2522.179,12334.611,37,1.5,43,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-65.6
$GPS2,143301,2522.144,12334.607,9,1.6,14,-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,165.9,17580,-18.3,-12.000
$D_GRID,1853
$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,-34.75,0.000,2,0.000,0.000,146,2414,2668
$GC,55,-1.05,-194.7,3.1,-2.9,6,110,8.48,0.00,-41.25,0.000,6,0.251,0.000,2196,2415,3990
$GC,448,-0.36,-194.7,119.2,-27.4,75,454,0.75,2.03,0.00,0.000,4,0.183,0.028,2419,1021,3991
$GC,568,-0.72,-194.7,132.9,-7.4,96,575,0.28,2.12,0.00,0.000,6,0.054,0.034,2297,2444,3992
$GC,913,-0.54,-194.7,189.2,-13.4,157,919,0.20,0.00,0.00,0.000,6,0.163,0.000,2358,2444,3993
$GC,1256,-0.66,-194.7,218.5,-8.7,218,1264,0.00,2.00,0.00,0.000,4,0.000,0.051,2357,3751,3995
$GC,1288,-0.78,-194.7,221.4,-9.4,223,1294,0.17,1.95,0.00,0.000,6,0.068,0.026,2281,2375,3994
$GC,1632,-0.61,-194.7,271.6,-15.6,284,1639,0.17,1.95,0.00,0.000,4,0.155,0.029,2336,1018,3995
$GC,1697,-0.77,-194.7,279.0,-10.2,295,1703,0.00,2.05,0.00,0.000,6,0.000,0.034,2332,2401,3995
$GC,2034,-0.89,-194.7,311.8,-9.2,345,2036,0.20,0.00,0.00,0.000,6,0.069,0.000,2247,2402,3995
$GC,2352,-0.64,-194.7,360.2,-15.4,375,2354,0.30,0.00,0.00,0.000,6,0.163,0.000,2334,2402,3995
$GC,2673,-0.88,-194.7,385.7,-7.1,405,2677,0.17,2.08,0.00,0.000,4,0.072,0.052,2251,3754,3995
$GC,2716,-0.76,-194.7,390.8,-12.0,408,2723,0.17,2.00,0.00,0.000,6,0.153,0.028,2301,2361,3996
$GC,3042,-0.86,-194.7,420.7,-8.6,439,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2361,3995
$GC,3364,-0.98,-194.7,450.0,-9.6,469,3370,0.20,0.00,0.00,0.000,6,0.069,0.000,2214,2361,3995
$GC,3692,-0.77,-194.7,499.9,-14.8,500,3699,0.28,0.00,0.00,0.000,6,0.167,0.000,2293,2361,3994
$GC,4008,-0.89,-194.7,529.7,-8.8,516,4013,0.12,2.17,0.00,0.000,4,0.084,0.054,2244,3754,3993
$GC,4042,-0.83,-194.7,533.5,-11.6,517,4049,0.12,2.00,0.00,0.000,6,0.160,0.030,2277,2373,3994
$GC,4358,-0.89,-194.7,564.2,-9.8,533,4362,0.00,2.15,0.00,0.000,4,0.000,0.055,2275,3748,3992
$GC,4386,-0.94,-194.7,567.2,-10.5,534,4390,0.00,2.00,0.00,0.000,6,0.000,0.030,2275,2367,3991
$GC,4713,-1.03,-194.7,596.3,-8.3,550,4718,0.17,2.17,0.00,0.000,4,0.074,0.053,2192,3760,3990
$GC,4741,-0.87,-194.7,599.9,-13.5,551,4746,0.25,2.03,0.00,0.000,6,0.167,0.030,2263,2363,3990
$GC,5062,-0.87,-194.7,634.5,-11.1,567,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2363,3987
$GC,5372,-0.93,-194.7,668.1,-10.6,582,5375,0.00,2.17,0.00,0.000,4,0.000,0.055,2261,3753,3986
$GC,5422,-0.98,-194.7,673.7,-10.7,584,5426,0.00,2.00,0.00,0.000,6,0.000,0.031,2261,2381,3985
$GC,5749,-1.04,-194.7,706.5,-9.5,600,5754,0.15,2.15,0.00,0.000,4,0.082,0.055,2201,3750,3983
$GC,5804,-0.86,-194.7,713.3,-13.4,602,5813,0.22,1.98,0.00,0.000,6,0.168,0.031,2262,2400,3982
$GC,6121,-0.93,-194.7,743.3,-9.8,618,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2401,3981
$GC,6430,-1.01,-194.7,774.5,-9.9,633,6438,0.12,2.00,0.00,0.000,4,0.087,0.035,2216,1036,3978
$GC,6461,-0.95,-194.7,778.1,-11.6,634,6464,0.00,2.08,0.00,0.000,6,0.000,0.041,2213,2403,3978
$GC,6788,-0.83,-194.7,819.5,-12.4,650,6792,0.17,2.12,0.00,0.000,4,0.179,0.058,2261,3763,3976
$GC,6872,-0.92,-194.7,827.5,-9.1,654,6876,0.00,2.00,0.00,0.000,6,0.000,0.032,2261,2407,3976
$GC,7205,-1.00,-194.7,852.7,-7.4,670,7209,0.12,2.03,0.00,0.000,4,0.092,0.035,2211,1029,3973
$GC,7273,-0.93,-194.7,859.3,-10.2,673,7277,0.15,2.10,0.00,0.000,6,0.170,0.041,2249,2408,3973
$GC,7599,-0.93,-194.7,887.5,-8.9,689,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2408,3972
$GC,7908,-0.97,-194.7,915.1,-8.8,704,7912,0.00,2.05,0.00,0.000,4,0.000,0.036,2249,1032,3970
$GC,7947,-1.04,-194.7,918.8,-9.1,705,7954,0.12,2.08,0.00,0.000,6,0.091,0.041,2200,2400,3970
$GC,8265,-0.91,-194.7,953.8,-11.7,721,8269,0.17,2.05,0.00,0.000,4,0.181,0.035,2245,1026,3969
$GC,8333,-0.98,-194.7,961.0,-9.1,724,8337,0.00,2.08,0.00,0.000,6,0.000,0.041,2245,2383,3968
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8649,-0.22,0.0,991.4,9.8,739,8744,0.73,0.00,88.18,1.451,6,0.156,0.000,2468,2512,3531
$STATE,8745,end apogee,CONTROL_FINISHED_OK
$STATE,8745,begin climb
$GC,8747,1.05,194.7,995.3,0.0,744,8920,1.15,2.35,159.50,1.408,4,0.064,0.037,2885,1112,2737
$GC,9044,0.50,194.7,967.8,20.2,757,9049,0.68,2.25,0.00,0.000,6,0.206,0.043,2710,2516,2733
$GC,9360,0.43,202.2,929.8,11.7,772,9373,0.00,2.05,6.75,1.114,4,0.000,0.059,2710,3758,2706
$GC,9403,0.25,202.2,924.2,13.8,774,9407,0.32,1.90,0.00,0.000,6,0.186,0.032,2630,2505,2706
$GC,9729,0.58,309.3,898.0,7.6,790,9824,0.30,2.22,88.75,1.358,4,0.075,0.038,2746,1117,2270
$GC,9847,0.58,309.3,882.2,14.4,795,9851,0.00,2.25,0.00,0.000,6,0.000,0.041,2746,2510,2267
$GC,10175,0.52,309.3,832.5,15.1,811,10179,0.12,2.00,0.00,0.000,4,0.183,0.057,2717,3766,2260
$GC,10253,0.47,309.3,820.4,15.7,814,10256,0.00,1.90,0.00,0.000,6,0.000,0.035,2719,2515,2260
$GC,10573,0.47,309.3,777.8,13.1,830,10577,0.00,2.00,0.00,0.000,4,0.000,0.059,2719,3764,2258
$GC,10657,0.47,309.3,765.2,15.6,833,10663,0.00,1.90,0.00,0.000,6,0.000,0.034,2719,2519,2258
$GC,10972,0.47,309.3,722.4,14.1,849,10976,0.00,2.00,0.00,0.000,4,0.000,0.058,2719,3771,2257
$GC,11018,0.47,309.3,715.4,15.9,851,11022,0.00,1.88,0.00,0.000,6,0.000,0.034,2719,2522,2257
$GC,11351,0.47,309.3,668.3,14.2,867,11354,0.00,1.98,0.00,0.000,4,0.000,0.057,2719,3766,2256
$GC,11473,0.47,309.3,649.2,15.5,872,11477,0.00,1.85,0.00,0.000,6,0.000,0.035,2719,2545,2256
$GC,11795,0.53,309.3,607.5,13.1,888,11798,0.00,1.92,0.00,0.000,4,0.000,0.056,2720,3761,2256
$GC,11912,0.53,309.3,590.7,13.9,893,11916,0.00,1.83,0.00,0.000,6,0.000,0.036,2719,2561,2256
$GC,12239,0.61,316.4,552.1,11.7,909,12249,0.00,1.95,4.62,0.855,4,0.000,0.058,2720,3764,2242
$GC,12356,0.61,316.4,536.5,15.1,914,12360,0.00,1.80,0.00,0.000,6,0.000,0.035,2720,2573,2241
$GC,12673,0.71,316.4,497.8,13.0,930,12675,0.15,0.00,0.00,0.000,6,0.084,0.000,2776,2572,2240
$GC,12993,0.62,316.4,446.4,15.8,960,12997,0.12,1.88,0.00,0.000,4,0.190,0.055,2747,3765,2241
$GC,13094,0.56,316.4,430.2,15.6,969,13098,0.00,1.77,0.00,0.000,6,0.000,0.035,2750,2564,2240
$GC,13426,0.58,330.6,388.1,11.4,1000,13444,0.00,0.00,12.73,0.964,6,0.000,0.000,2751,2562,2184
$GC,13764,0.58,330.6,345.8,13.2,1032,13768,0.00,1.90,0.00,0.000,4,0.000,0.057,2751,3763,2182
$GC,13854,0.58,330.6,332.2,14.4,1040,13858,0.00,1.77,0.00,0.000,6,0.000,0.034,2757,2560,2182
$GC,14184,0.58,330.6,285.0,14.5,1079,14190,0.00,2.15,0.00,0.000,4,0.000,0.037,2760,1109,2182
$GC,14231,0.69,330.6,278.6,12.6,1087,14237,0.00,2.22,0.00,0.000,6,0.000,0.039,2760,2570,2182
$GC,14575,0.74,330.6,234.2,12.2,1148,14580,0.00,1.85,0.00,0.000,4,0.000,0.055,2760,3772,2182
$GC,14648,0.74,330.6,224.3,12.2,1161,14654,0.00,1.77,0.00,0.000,6,0.000,0.031,2760,2555,2182
$GC,14993,0.81,330.6,184.4,12.1,1222,15000,0.12,2.12,0.00,0.000,4,0.089,0.034,2813,1106,2183
$GC,15047,0.81,330.6,177.3,13.7,1231,15053,0.00,2.22,0.00,0.000,6,0.000,0.038,2813,2579,2182
$GC,15391,0.75,330.6,126.4,13.3,1292,15397,0.00,1.83,0.00,0.000,4,0.000,0.056,2813,3769,2184
$GC,15426,0.64,330.6,121.5,14.3,1298,15434,0.22,1.77,0.00,0.000,6,0.172,0.030,2751,2541,2184
$GC,15774,0.95,410.4,88.2,8.7,1359,15844,0.25,2.15,61.58,0.719,4,0.067,0.033,2868,1120,1856
$GC,15940,0.95,410.4,65.0,13.8,1388,15946,0.00,2.25,0.00,0.000,6,0.000,0.037,2868,2578,1851
$GC,16284,0.95,410.4,14.6,14.4,1449,16290,0.00,2.20,0.00,0.000,4,0.000,0.033,2871,1110,1849
$GC,16343,0.99,410.4,6.1,14.8,1459,16349,0.00,2.22,0.00,0.000,6,0.000,0.035,2871,2577,1849
$STATE,16364,end climb,SURFACE_DEPTH_REACHED
$STATE,16365,begin surface coast
$FINISH,1.5,0.999589
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16405,8.10,0.572,0,0,1799,425.10
$SM_GC,3.13,0.00,0.00,8.10,0.000,0.000,0.572,144,2433,1799,-7.50,0.17,425.10
$IRIDIUM_FIX,2515.12,12330.82,270898,090955
$TT8_MAMPS,0.029146
$HUMID,1561
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,16.053
$10V_AH,10.8,9.991
$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,24.775,126.050,422.100,8.100,0.000,21.182,35.219,199.640,8.000,0.000,0.000,16.464,2627.188,10524.486,564.122,2552.397,545.738,0.000,1864.764,0.000,2494.064,0.000,54.447,0.000
$DEVICE_MAMPS,250.809,75.166,1451.164,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.429,978.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78900,1467
$CAP_FILE_SIZE,165283,0
$CFSIZE,260165632,219320320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 78.7,1
$GPS,020609,190831,2519.999,12336.598,41,1.0,43,-3.8