version: 66.04
glider: 167
mission: 2
dive: 63
start: 6 1 109 6 42 16
data:
$ID,167
$MISSION,2
$DIVE,63
$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,-5017.5293
$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,68
$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
$GPS1,063437,2535.125,12321.515,40,1.4,40,-3.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-68.7
$GPS2,064155,2535.204,12321.551,15,1.5,32,-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,180.9,49974,-18.3,-12.000
$D_GRID,636
$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,-35.08,0.000,2,0.000,0.000,145,2420,2690
$GC,55,-1.05,-194.7,3.2,-3.7,6,108,8.50,2.05,-38.17,0.000,4,0.254,0.043,2200,1018,3988
$GC,132,-0.30,-194.7,14.9,-27.9,19,139,0.90,2.15,0.00,0.000,6,0.193,0.034,2442,2442,3989
$GC,477,-0.44,-194.7,62.6,-10.5,80,484,0.12,2.03,0.00,0.000,4,0.078,0.048,2385,3768,3989
$GC,524,-0.44,-194.7,68.8,-13.8,88,531,0.00,1.92,0.00,0.000,6,0.000,0.025,2384,2406,3989
$GC,869,-0.44,-194.7,122.6,-11.6,149,875,0.00,1.95,0.00,0.000,4,0.000,0.028,2385,1041,3991
$GC,910,-0.58,-194.7,127.2,-10.0,156,918,0.00,2.03,0.00,0.000,6,0.000,0.033,2384,2412,3991
$GC,1256,-0.70,-194.7,159.8,-8.7,217,1263,0.17,2.05,0.00,0.000,4,0.068,0.048,2299,3763,3992
$GC,1286,-0.58,-194.7,163.3,-12.4,222,1293,0.20,1.92,0.00,0.000,6,0.159,0.025,2355,2398,3992
$GC,1631,-0.64,-194.7,199.9,-9.9,283,1638,0.00,2.08,0.00,0.000,4,0.000,0.047,2347,3757,3993
$GC,1684,-0.71,-194.7,205.3,-10.4,292,1691,0.00,1.90,0.00,0.000,6,0.000,0.026,2347,2410,3992
$GC,2030,-0.81,-194.7,240.1,-10.1,353,2036,0.17,2.08,0.00,0.000,4,0.068,0.048,2271,3763,3992
$GC,2094,-0.56,-194.7,250.6,-18.5,364,2102,0.30,1.88,0.00,0.000,6,0.157,0.026,2359,2432,3992
$GC,2441,-0.80,-194.7,281.3,-7.9,425,2447,0.17,2.03,0.00,0.000,4,0.066,0.049,2275,3751,3993
$GC,2488,-0.64,-194.7,287.6,-15.1,433,2495,0.20,1.85,0.00,0.000,6,0.154,0.027,2333,2442,3993
$GC,2822,-0.82,-194.7,313.8,-7.2,476,2826,0.15,2.03,0.00,0.000,4,0.073,0.050,2262,3761,3993
$GC,2868,-0.71,-194.7,319.0,-12.6,480,2872,0.17,1.85,0.00,0.000,6,0.156,0.028,2312,2460,3993
$GC,3198,-0.84,-194.7,351.9,-9.7,511,3202,0.12,2.00,0.00,0.000,4,0.080,0.051,2259,3757,3993
$GC,3244,-0.75,-194.7,357.4,-12.1,515,3248,0.15,1.85,0.00,0.000,6,0.156,0.028,2300,2458,3993
$GC,3575,-0.86,-194.7,391.4,-10.4,546,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2458,3993
$GC,3895,-1.02,-194.7,424.2,-10.3,576,3899,0.22,2.00,0.00,0.000,4,0.067,0.051,2204,3750,3993
$GC,3968,-0.72,-194.7,435.1,-16.8,582,3974,0.38,1.83,0.00,0.000,6,0.169,0.029,2314,2483,3992
$GC,4293,-0.91,-194.7,459.9,-6.7,613,4297,0.17,1.95,0.00,0.000,4,0.073,0.054,2244,3751,3991
$GC,4332,-0.82,-194.7,464.0,-11.5,616,4340,0.12,1.83,0.00,0.000,6,0.164,0.030,2277,2481,3991
$GC,4658,-0.89,-194.7,493.7,-8.8,647,4661,0.00,1.98,0.00,0.000,4,0.000,0.054,2275,3754,3989
$GC,4686,-0.94,-194.7,496.3,-9.1,649,4692,0.00,1.80,0.00,0.000,6,0.000,0.029,2275,2497,3989
$GC,5004,-1.00,-194.7,523.9,-8.8,667,5008,0.15,2.12,0.00,0.000,4,0.078,0.031,2213,1031,3987
$GC,5065,-0.85,-194.7,531.4,-12.9,670,5070,0.22,2.15,0.00,0.000,6,0.168,0.038,2270,2473,3986
$GC,5399,-0.91,-194.7,563.0,-8.7,686,5403,0.00,1.98,0.00,0.000,4,0.000,0.058,2270,3757,3983
$GC,5438,-0.97,-194.7,566.5,-8.7,687,5445,0.12,1.83,0.00,0.000,6,0.085,0.032,2221,2504,3983
$GC,5757,-0.83,-194.7,600.5,-10.5,703,5761,0.17,2.12,0.00,0.000,4,0.167,0.032,2274,1044,3981
$GC,5898,-0.95,-194.7,612.6,-8.8,709,5902,0.12,2.17,0.00,0.000,6,0.087,0.040,2225,2481,3980
$STATE,6107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6108,begin apogee
$GC,6113,-0.22,0.0,636.4,11.5,719,6202,0.80,0.00,85.50,1.163,6,0.163,0.000,2468,2482,3532
$STATE,6203,end apogee,CONTROL_FINISHED_OK
$STATE,6203,begin climb
$GC,6205,1.05,194.7,639.4,0.0,723,6364,1.15,2.20,150.00,1.124,4,0.060,0.035,2896,1125,2737
$GC,6551,0.51,194.7,604.2,19.1,738,6558,0.68,2.17,0.00,0.000,6,0.199,0.040,2716,2518,2733
$GC,6867,0.49,230.5,571.0,10.5,754,6901,0.00,2.20,28.10,1.075,4,0.000,0.035,2720,1124,2592
$GC,6992,0.50,235.3,556.9,11.8,759,7002,0.00,2.12,4.95,0.789,6,0.000,0.039,2720,2489,2572
$GC,7330,0.52,250.4,517.6,11.4,776,7349,0.00,0.00,12.48,1.006,6,0.000,0.000,2720,2489,2511
$GC,7664,0.52,250.4,475.0,13.3,801,7667,0.00,2.00,0.00,0.000,4,0.000,0.058,2720,3765,2507
$GC,7714,0.44,250.4,467.7,15.5,805,7720,0.12,1.90,0.00,0.000,6,0.190,0.031,2690,2489,2506
$GC,8039,0.62,289.3,432.5,10.4,836,8072,0.15,0.00,30.98,1.025,6,0.084,0.000,2748,2487,2352
$GC,8387,0.62,289.3,384.1,13.0,869,8390,0.00,2.03,0.00,0.000,4,0.000,0.057,2748,3762,2346
$GC,8559,0.55,289.3,360.8,13.7,884,8564,0.12,1.90,0.00,0.000,6,0.183,0.032,2726,2477,2345
$GC,8890,0.69,325.1,327.2,10.5,915,8925,0.12,2.08,27.30,0.945,4,0.087,0.036,2775,1106,2204
$GC,8947,0.69,325.1,319.4,14.3,920,8951,0.00,2.15,0.00,0.000,6,0.000,0.038,2775,2490,2203
$GC,9284,0.69,325.1,270.4,13.9,969,9290,0.00,1.98,0.00,0.000,4,0.000,0.055,2775,3761,2199
$GC,9375,0.59,325.1,257.2,14.3,985,9382,0.15,1.88,0.00,0.000,6,0.179,0.029,2738,2494,2199
$GC,9720,0.79,355.4,220.5,10.7,1046,9750,0.17,2.03,23.50,0.843,4,0.074,0.053,2813,3765,2081
$GC,9824,0.67,355.4,204.1,16.9,1064,9832,0.20,1.90,0.00,0.000,6,0.174,0.030,2763,2498,2078
$GC,10173,0.87,386.9,165.8,10.7,1125,10203,0.17,0.00,24.55,0.782,6,0.074,0.000,2839,2495,1953
$GC,10540,0.87,386.9,101.7,16.0,1190,10546,0.00,1.98,0.00,0.000,4,0.000,0.053,2839,3756,1949
$GC,10614,0.87,386.9,90.3,13.8,1203,10620,0.00,1.85,0.00,0.000,6,0.000,0.028,2841,2495,1949
$GC,10959,0.97,425.2,56.6,10.4,1264,10996,0.00,2.00,29.60,0.675,4,0.000,0.050,2842,3771,1798
$GC,11047,1.03,425.2,45.9,13.0,1279,11053,0.00,1.83,0.00,0.000,6,0.000,0.026,2842,2521,1795
$GC,11390,1.14,425.2,8.4,12.0,1340,11398,0.17,2.08,0.00,0.000,4,0.072,0.032,2924,1105,1794
$STATE,11424,end climb,SURFACE_DEPTH_REACHED
$STATE,11425,begin surface coast
$FINISH,1.5,1.009153
$STATE,11443,end surface coast,CONTROL_FINISHED_OK
$STATE,11443,begin surface
$SM_CCo,11522,0.00,0.000,0,0,1793,426.58
$SM_GC,2.56,7.35,0.00,0.00,0.054,0.000,0.000,146,2440,1793,-7.49,0.37,426.58
$IRIDIUM_FIX,2524.66,12317.55,260898,030341
$TT8_MAMPS,0.029146
$HUMID,1543
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,24.4,14.758
$10V_AH,10.8,9.312
$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,24.425,99.675,416.950,0.000,0.000,23.370,31.465,246.099,4.500,0.000,0.000,32.297,2334.681,6309.769,530.818,2248.877,532.355,0.000,1660.371,0.000,2186.483,0.000,31.070,0.000
$DEVICE_MAMPS,253.877,57.525,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,907.297,977.727,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69380,1349
$CAP_FILE_SIZE,137057,0
$CFSIZE,260165632,219979776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260, 69.1,1
$GPS,010609,095530,2534.214,12323.253,38,1.4,38,-3.8