version: 66.04
glider: 167
mission: 2
dive: 72
start: 6 2 109 19 18 5
data:
$ID,167
$MISSION,2
$DIVE,72
$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,-5215.5498
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,190831,2519.999,12336.598,41,1.0,43,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-64.8
$GPS2,191743,2519.904,12336.566,11,2.0,11,-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,174.7,12355,-18.3,-12.000
$D_GRID,1860
$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,-194.7,0.0,0.0,0,55,0.00,0.00,-37.83,0.000,2,0.000,0.000,144,2434,2745
$GC,58,-1.05,-194.7,3.3,-3.7,7,107,8.55,2.15,-35.03,0.000,4,0.254,0.061,2192,3767,3989
$GC,194,-0.01,-194.7,37.7,-39.4,30,201,1.27,2.00,0.00,0.000,6,0.206,0.026,2536,2390,3990
$GC,541,-0.90,-194.7,73.5,-11.1,91,547,0.77,0.00,0.00,0.000,6,0.087,0.000,2255,2390,3991
$GC,884,-0.46,-194.7,147.8,-21.2,152,891,0.43,1.95,0.00,0.000,4,0.170,0.028,2385,1035,3992
$GC,976,-0.74,-194.7,157.4,-8.0,168,983,0.22,2.10,0.00,0.000,6,0.062,0.035,2288,2439,3992
$GC,1320,-0.51,-194.7,209.4,-16.4,229,1328,0.28,2.03,0.00,0.000,4,0.161,0.049,2368,3764,3993
$GC,1420,-0.79,-194.7,217.9,-6.9,246,1427,0.22,1.92,0.00,0.000,6,0.062,0.028,2273,2414,3993
$GC,1765,-0.62,-194.7,269.3,-14.1,307,1771,0.20,0.00,0.00,0.000,6,0.154,0.000,2336,2414,3993
$GC,2108,-0.78,-194.7,302.5,-9.7,366,2112,0.12,1.98,0.00,0.000,4,0.081,0.031,2283,1045,3994
$GC,2153,-0.78,-194.7,308.1,-12.4,370,2157,0.00,2.08,0.00,0.000,6,0.000,0.036,2279,2435,3993
$GC,2484,-0.69,-194.7,350.5,-13.4,401,2488,0.15,2.03,0.00,0.000,4,0.170,0.051,2316,3760,3993
$GC,2510,-0.69,-194.7,354.2,-12.6,403,2517,0.00,1.95,0.00,0.000,6,0.000,0.029,2316,2426,3994
$GC,2837,-0.84,-194.7,384.5,-8.6,434,2841,0.12,2.08,0.00,0.000,4,0.081,0.052,2261,3763,3994
$GC,2909,-0.77,-194.7,392.7,-12.1,440,2915,0.12,1.90,0.00,0.000,6,0.158,0.028,2294,2428,3994
$GC,3234,-0.84,-194.7,422.5,-8.8,471,3238,0.00,2.08,0.00,0.000,4,0.000,0.053,2291,3765,3994
$GC,3269,-0.91,-194.7,425.6,-9.2,474,3274,0.12,1.90,0.00,0.000,6,0.084,0.028,2237,2438,3994
$GC,3599,-0.76,-194.7,469.5,-13.4,505,3603,0.20,2.03,0.00,0.000,4,0.159,0.031,2299,1047,3993
$GC,3650,-0.90,-194.7,474.9,-8.8,509,3659,0.12,2.10,0.00,0.000,6,0.082,0.037,2247,2444,3993
$GC,3982,-0.84,-194.7,511.7,-11.1,536,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2444,3992
$GC,4292,-0.79,-194.7,548.3,-11.5,551,4296,0.15,2.03,0.00,0.000,4,0.163,0.055,2287,3755,3991
$GC,4361,-0.92,-194.7,555.1,-9.1,554,4365,0.12,1.90,0.00,0.000,6,0.082,0.031,2235,2446,3990
$GC,4695,-0.84,-194.7,591.2,-10.8,570,4699,0.15,2.05,0.00,0.000,4,0.160,0.054,2275,3761,3988
$GC,4786,-0.93,-194.7,599.4,-8.6,574,4790,0.00,1.90,0.00,0.000,6,0.000,0.031,2275,2453,3988
$GC,5119,-1.02,-194.7,628.2,-8.7,590,5121,0.17,0.00,0.00,0.000,6,0.074,0.000,2204,2453,3986
$GC,5427,-0.85,-194.7,668.9,-12.8,605,5431,0.20,2.05,0.00,0.000,4,0.176,0.054,2261,3762,3983
$GC,5459,-0.85,-194.7,673.2,-12.1,606,5465,0.00,1.90,0.00,0.000,6,0.000,0.032,2260,2463,3983
$GC,5776,-0.92,-194.7,703.9,-9.3,622,5779,0.00,2.10,0.00,0.000,4,0.000,0.035,2261,1029,3981
$GC,5809,-1.00,-194.7,707.4,-9.6,623,5814,0.12,2.20,0.00,0.000,6,0.087,0.042,2212,2476,3981
$GC,6127,-0.88,-194.7,744.4,-11.8,638,6132,0.17,2.15,0.00,0.000,4,0.176,0.033,2264,1028,3979
$GC,6172,-0.99,-194.7,749.4,-9.5,640,6176,0.00,2.17,0.00,0.000,6,0.000,0.040,2262,2460,3979
$GC,6495,-1.06,-194.7,776.6,-7.8,656,6499,0.17,2.03,0.00,0.000,4,0.080,0.058,2193,3764,3977
$GC,6545,-0.85,-194.7,782.5,-12.1,658,6549,0.28,1.90,0.00,0.000,6,0.173,0.033,2269,2470,3976
$GC,6873,-0.97,-194.7,804.8,-6.5,674,6878,0.12,2.12,0.00,0.000,4,0.086,0.034,2222,1024,3974
$GC,6923,-0.92,-194.7,809.3,-9.5,676,6928,0.12,2.20,0.00,0.000,6,0.175,0.040,2250,2469,3974
$GC,7241,-0.97,-194.7,833.9,-8.0,691,7244,0.00,2.00,0.00,0.000,4,0.000,0.058,2248,3758,3972
$GC,7274,-0.97,-194.7,837.2,-9.4,692,7278,0.00,1.90,0.00,0.000,6,0.000,0.034,2248,2473,3972
$GC,7595,-0.97,-194.7,864.3,-8.7,708,7599,0.00,2.05,0.00,0.000,4,0.000,0.059,2247,3771,3970
$GC,7618,-0.97,-194.7,866.3,-8.8,709,7622,0.00,1.92,0.00,0.000,6,0.000,0.033,2247,2468,3970
$GC,7951,-1.02,-194.7,896.1,-9.0,725,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2466,3969
$GC,8260,-1.07,-194.7,923.7,-9.3,740,8264,0.12,2.05,0.00,0.000,4,0.091,0.058,2192,3763,3967
$GC,8330,-0.89,-194.7,932.0,-12.8,743,8334,0.22,1.90,0.00,0.000,6,0.174,0.035,2254,2476,3967
$GC,8662,-0.98,-194.7,962.2,-8.8,759,8666,0.00,2.15,0.00,0.000,4,0.000,0.036,2254,1020,3966
$GC,8690,-1.07,-194.7,964.8,-9.3,760,8695,0.15,2.25,0.00,0.000,6,0.086,0.041,2196,2492,3966
$STATE,8905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8905,begin apogee
$GC,8911,-0.22,0.0,990.1,12.1,771,9001,0.93,0.00,87.60,1.451,6,0.173,0.000,2471,2493,3532
$STATE,9002,end apogee,CONTROL_FINISHED_OK
$STATE,9002,begin climb
$GC,9005,1.05,194.7,993.0,0.0,775,9177,1.15,2.30,159.75,1.406,4,0.058,0.035,2894,1109,2737
$GC,9411,0.47,194.7,944.1,19.3,793,9416,0.73,2.22,0.00,0.000,6,0.206,0.045,2703,2507,2731
$GC,9732,0.43,217.0,906.5,11.1,809,9756,0.00,2.10,18.60,1.303,4,0.000,0.059,2703,3764,2646
$GC,9806,0.30,217.0,897.1,13.0,812,9810,0.25,1.92,0.00,0.000,6,0.184,0.033,2642,2507,2645
$GC,10133,0.56,293.2,867.8,8.9,828,10199,0.25,0.00,63.42,1.338,6,0.075,0.000,2733,2504,2336
$GC,10502,0.56,293.2,815.6,14.5,846,10505,0.00,2.05,0.00,0.000,4,0.000,0.060,2733,3760,2328
$GC,10631,0.46,293.2,794.0,16.3,851,10637,0.15,1.90,0.00,0.000,6,0.189,0.036,2697,2512,2327
$GC,10946,0.56,293.2,754.6,12.3,867,10950,0.00,2.03,0.00,0.000,4,0.000,0.059,2698,3771,2325
$GC,10969,0.60,293.2,751.6,12.7,868,10973,0.12,1.90,0.00,0.000,6,0.094,0.034,2742,2507,2325
$GC,11301,0.60,293.2,701.7,15.1,884,11304,0.00,2.10,0.00,0.000,4,0.000,0.038,2745,1110,2325
$GC,11333,0.60,293.2,696.6,14.7,885,11337,0.00,2.20,0.00,0.000,6,0.000,0.042,2746,2532,2324
$GC,11655,0.54,293.2,649.8,13.5,901,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2532,2323
$GC,11964,0.54,293.2,607.1,14.0,916,11968,0.00,1.95,0.00,0.000,4,0.000,0.061,2745,3775,2323
$GC,12150,0.42,293.2,577.7,15.4,924,12154,0.25,1.85,0.00,0.000,6,0.181,0.035,2684,2530,2322
$GC,12477,0.68,351.1,545.7,9.6,940,12529,0.20,2.10,44.85,1.141,4,0.076,0.058,2767,3764,2099
$GC,12615,0.58,351.1,523.4,17.5,946,12619,0.15,1.88,0.00,0.000,6,0.184,0.035,2737,2542,2094
$GC,12936,0.66,351.1,478.0,13.5,968,12940,0.00,1.98,0.00,0.000,4,0.000,0.058,2737,3765,2092
$GC,12997,0.66,351.1,468.2,15.1,973,13004,0.00,1.83,0.00,0.000,6,0.000,0.033,2741,2564,2091
$GC,13324,0.74,351.1,425.3,12.4,1004,13329,0.12,2.20,0.00,0.000,4,0.088,0.038,2788,1098,2091
$GC,13375,0.74,351.1,417.9,14.4,1008,13379,0.00,2.28,0.00,0.000,6,0.000,0.040,2788,2570,2091
$GC,13707,0.69,351.1,364.1,16.4,1039,13710,0.00,1.88,0.00,0.000,4,0.000,0.058,2788,3769,2090
$GC,13741,0.56,351.1,357.7,18.8,1042,13746,0.25,1.80,0.00,0.000,6,0.179,0.032,2727,2548,2090
$GC,14072,0.74,378.2,318.9,10.9,1073,14099,0.17,2.20,20.85,0.933,4,0.077,0.036,2806,1114,1989
$GC,14117,0.68,378.2,312.4,16.4,1077,14122,0.15,2.28,0.00,0.000,6,0.177,0.039,2769,2576,1988
$GC,14456,0.77,378.2,262.8,13.7,1129,14463,0.00,2.20,0.00,0.000,4,0.000,0.035,2775,1103,1985
$GC,14509,0.90,378.2,255.8,12.8,1138,14516,0.17,2.25,0.00,0.000,6,0.075,0.039,2842,2565,1986
$GC,14853,0.77,378.2,194.2,18.9,1199,14860,0.17,2.17,0.00,0.000,4,0.173,0.033,2799,1113,1985
$GC,14923,0.87,378.2,183.4,14.9,1211,14929,0.00,2.17,0.00,0.000,6,0.000,0.038,2799,2541,1986
$GC,15266,0.87,378.2,134.5,12.8,1272,15272,0.00,2.15,0.00,0.000,4,0.000,0.035,2799,1101,1986
$GC,15302,0.98,379.6,130.5,11.9,1278,15309,0.17,2.15,0.00,0.000,6,0.072,0.037,2871,2522,1985
$GC,15647,0.85,379.6,76.0,15.7,1339,15653,0.17,2.10,0.00,0.000,4,0.183,0.032,2828,1107,1986
$GC,15705,0.95,392.3,68.6,11.5,1349,15723,0.00,2.12,12.52,0.674,6,0.000,0.035,2828,2522,1931
$GC,16063,1.04,394.5,24.8,11.9,1412,16068,0.15,0.00,0.00,0.000,6,0.075,0.000,2890,2522,1930
$STATE,16208,end climb,SURFACE_DEPTH_REACHED
$STATE,16208,begin surface coast
$FINISH,1.6,1.021562
$STATE,16225,end surface coast,CONTROL_FINISHED_OK
$STATE,16225,begin surface
$SM_CCo,16242,24.33,0.640,0,0,1798,425.10
$SM_GC,2.21,0.00,0.00,24.33,0.000,0.000,0.640,145,2429,1798,-7.50,0.06,425.10
$IRIDIUM_FIX,2510.35,12332.81,270898,141413
$TT8_MAMPS,0.029146
$HUMID,1582
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,16.229
$10V_AH,10.8,10.081
$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,28.300,139.550,407.600,24.325,0.000,58.193,116.173,192.904,8.000,0.000,0.000,11.140,2624.618,10423.676,555.175,2554.547,655.705,0.000,1859.133,0.000,2496.676,0.000,54.437,0.000
$DEVICE_MAMPS,253.877,61.360,1451.164,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,977.473,973.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75815,1441
$CAP_FILE_SIZE,171364,0
$CFSIZE,260165632,219230208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 78.8,1
$GPS,020609,235030,2517.589,12337.879,41,1.1,42,-3.7