version: 66.04
glider: 167
mission: 2
dive: 6
start: 5 22 109 1 46 5
data:
$ID,167
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,300
$T_MISSION,340
$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,175
$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,604.4765
$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,-3865.05
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2571
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2181
$C_ROLL_CLIMB,2272
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,013201,2522.748,12300.054,42,1.7,43,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-65.4
$GPS2,014544,2523.010,12300.171,11,1.2,11,-3.7
$SPEED_LIMITS,0.154,0.268
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,299.5,35752,-15.2,-8.889
$D_GRID,1374
$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,-0.82,-170.3,0.0,0.0,0,93,0.00,0.00,-76.35,0.000,2,0.000,0.000,148,2089,3034
$GC,96,-0.82,-170.3,3.2,-3.0,9,141,9.57,1.98,-25.23,0.000,4,0.275,0.047,2299,779,3989
$GC,270,-0.82,-170.3,42.2,-24.1,36,278,0.00,2.15,0.00,0.000,6,0.000,0.035,2291,2184,3989
$GC,624,-0.82,-170.3,125.9,-20.3,97,634,0.00,2.15,0.00,0.000,4,0.000,0.048,2280,3589,3990
$GC,752,-0.82,-170.3,152.7,-20.3,118,761,0.00,2.08,0.00,0.000,6,0.000,0.028,2280,2160,3990
$GC,1107,-0.82,-170.3,210.0,-14.4,179,1113,0.00,2.20,0.00,0.000,4,0.000,0.048,2269,3598,3991
$GC,1166,-0.82,-170.3,219.3,-15.7,189,1174,0.15,2.03,0.00,0.000,6,0.160,0.028,2310,2172,3991
$GC,1513,-0.82,-170.3,255.8,-8.3,250,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2172,3991
$GC,1861,-0.82,-170.3,287.4,-9.6,311,1867,0.00,2.17,0.00,0.000,4,0.000,0.049,2303,3596,3991
$GC,2002,-0.82,-170.3,302.0,-10.1,334,2011,0.00,2.05,0.00,0.000,6,0.000,0.029,2303,2187,3991
$GC,2330,-0.82,-170.3,331.4,-11.2,365,2333,0.00,2.15,0.00,0.000,4,0.000,0.051,2307,3593,3991
$GC,2422,-0.82,-170.3,341.6,-11.1,373,2425,0.00,2.03,0.00,0.000,6,0.000,0.030,2302,2177,3991
$GC,2752,-0.82,-170.3,371.5,-7.8,404,2755,0.00,2.17,0.00,0.000,4,0.000,0.051,2302,3592,3990
$GC,2946,-0.82,-170.3,390.4,-10.9,421,2954,0.00,2.05,0.00,0.000,6,0.000,0.030,2303,2158,3989
$GC,3273,-0.82,-170.3,422.3,-8.6,452,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2157,3987
$GC,3590,-0.82,-170.3,447.9,-8.3,482,3594,0.00,2.20,0.00,0.000,4,0.000,0.054,2302,3589,3985
$GC,3695,-0.82,-170.3,455.7,-7.3,491,3699,0.00,2.03,0.00,0.000,6,0.000,0.031,2303,2179,3984
$GC,4026,-0.82,-170.3,479.3,-7.0,522,4029,0.00,2.17,0.00,0.000,4,0.000,0.054,2302,3586,3982
$GC,4227,-0.82,-170.3,493.4,-7.6,540,4231,0.00,2.03,0.00,0.000,6,0.000,0.032,2303,2185,3980
$GC,4552,-0.82,-170.3,518.9,-8.2,560,4556,0.00,2.17,0.00,0.000,4,0.000,0.056,2303,3589,3977
$GC,4719,-0.82,-170.3,532.2,-7.1,567,4723,0.00,2.05,0.00,0.000,6,0.000,0.033,2302,2174,3973
$GC,5043,-0.82,-170.3,557.6,-8.2,583,5046,0.00,2.20,0.00,0.000,4,0.000,0.057,2302,3589,3974
$GC,5149,-0.82,-170.3,565.7,-7.0,587,5155,0.00,2.05,0.00,0.000,6,0.000,0.034,2302,2180,3973
$GC,5467,-0.82,-170.3,585.5,-6.4,603,5471,0.00,2.17,0.00,0.000,4,0.000,0.056,2302,3584,3971
$GC,5560,-0.82,-170.3,591.2,-5.9,607,5564,0.00,2.05,0.00,0.000,6,0.000,0.033,2302,2176,3970
$GC,5895,-0.82,-170.3,612.1,-6.4,623,5898,0.00,2.20,0.00,0.000,4,0.000,0.057,2302,3589,3968
$GC,6059,-0.82,-170.3,622.9,-6.1,630,6063,0.00,2.05,0.00,0.000,6,0.000,0.035,2302,2184,3967
$GC,6386,-0.82,-170.3,647.4,-8.4,646,6389,0.00,2.17,0.00,0.000,4,0.000,0.058,2302,3586,3962
$GC,6591,-0.82,-170.3,664.4,-8.3,655,6595,0.00,2.05,0.00,0.000,6,0.000,0.037,2302,2183,3964
$GC,6927,-0.82,-170.3,691.3,-7.8,671,6931,0.00,2.20,0.00,0.000,4,0.000,0.060,2302,3589,3962
$GC,7110,-0.82,-170.3,704.9,-6.6,679,7114,0.00,2.08,0.00,0.000,6,0.000,0.036,2302,2173,3961
$GC,7445,-0.82,-170.3,729.5,-7.6,695,7448,0.00,2.20,0.00,0.000,4,0.000,0.060,2302,3579,3960
$GC,7649,-0.82,-170.3,745.2,-7.6,704,7653,0.00,2.05,0.00,0.000,6,0.000,0.038,2302,2183,3958
$GC,7983,-0.82,-170.3,769.9,-7.8,720,7987,0.00,2.20,0.00,0.000,4,0.000,0.060,2302,3591,3957
$GC,8145,-0.82,-170.3,783.3,-8.0,727,8148,0.00,2.08,0.00,0.000,6,0.000,0.037,2302,2177,3956
$STATE,8331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8331,begin apogee
$GC,8337,-0.20,0.0,800.1,8.8,736,8423,0.62,0.00,83.45,1.348,6,0.137,0.000,2502,2274,3536
$STATE,8424,end apogee,CONTROL_FINISHED_OK
$STATE,8424,begin climb
$GC,8426,0.82,170.3,804.7,0.0,740,8569,0.93,0.00,139.02,1.321,6,0.066,0.000,2831,2274,2840
$GC,8869,0.82,170.3,767.5,15.4,761,8873,0.00,2.25,0.00,0.000,4,0.000,0.061,2831,3671,2834
$GC,9048,0.82,170.3,736.9,19.2,769,9052,0.00,2.12,0.00,0.000,6,0.000,0.035,2841,2274,2833
$GC,9382,0.82,170.3,682.5,15.5,785,9386,0.00,2.22,0.00,0.000,4,0.000,0.058,2841,3669,2832
$GC,9573,0.82,170.3,649.3,16.2,793,9578,0.00,2.12,0.00,0.000,6,0.000,0.035,2850,2277,2829
$GC,9897,0.82,170.3,603.4,14.8,809,9901,0.00,2.12,0.00,0.000,4,0.000,0.043,2860,852,2830
$GC,10003,0.82,170.3,588.3,13.2,813,10010,0.00,2.17,0.00,0.000,6,0.000,0.041,2860,2281,2830
$GC,10321,0.82,170.3,545.9,13.8,829,10324,0.00,2.15,0.00,0.000,4,0.000,0.041,2869,856,2830
$GC,10359,0.82,170.3,539.8,14.2,830,10369,0.10,2.20,0.00,0.000,6,0.218,0.043,2842,2281,2829
$GC,10675,0.82,170.3,497.9,12.9,846,10679,0.00,2.17,0.00,0.000,4,0.000,0.061,2842,3673,2829
$GC,10778,0.82,170.3,484.0,13.2,855,10782,0.00,2.10,0.00,0.000,6,0.000,0.035,2849,2262,2828
$GC,11110,0.82,170.3,442.2,12.5,886,11114,0.00,2.08,0.00,0.000,4,0.000,0.043,2859,865,2828
$GC,11369,0.82,170.3,410.9,11.1,909,11373,0.00,2.15,0.00,0.000,6,0.000,0.044,2859,2281,2827
$GC,11699,0.82,170.3,377.3,11.1,940,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2281,2826
$GC,12018,0.82,170.3,339.1,11.0,970,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2281,2826
$GC,12336,0.82,170.3,303.5,11.3,1000,12340,0.00,2.17,0.00,0.000,4,0.000,0.058,2859,3688,2826
$GC,12420,0.82,170.3,293.7,11.4,1012,12427,0.10,2.12,0.00,0.000,6,0.219,0.035,2842,2266,2826
$GC,12768,0.82,170.3,260.6,9.4,1073,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2265,2825
$GC,13112,0.90,235.2,236.8,6.6,1134,13169,0.00,2.15,47.35,0.893,4,0.000,0.040,2849,884,2572
$GC,13422,0.90,235.2,203.1,11.0,1187,13428,0.00,2.12,0.00,0.000,6,0.000,0.039,2849,2275,2568
$GC,13775,0.90,235.2,166.4,9.0,1248,13784,0.00,2.20,0.00,0.000,4,0.000,0.054,2849,3675,2568
$GC,14046,0.90,235.2,144.4,9.5,1294,14054,0.00,2.10,0.00,0.000,6,0.000,0.031,2858,2272,2568
$GC,14402,1.04,352.0,119.1,4.8,1355,14496,0.12,2.35,87.22,0.743,4,0.092,0.051,2906,3677,2095
$GC,14740,1.04,352.0,72.9,15.8,1408,14749,0.00,2.12,0.00,0.000,6,0.000,0.030,2914,2263,2089
$GC,15095,1.04,352.0,23.1,14.0,1469,15105,0.00,2.22,0.00,0.000,4,0.000,0.048,2915,3673,2089
$STATE,15215,end climb,SURFACE_DEPTH_REACHED
$STATE,15215,begin surface coast
$FINISH,1.2,1.021591
$STATE,15228,end surface coast,CONTROL_FINISHED_OK
$STATE,15229,begin surface
$SM_CCo,15247,185.85,0.636,0,0,1067,604.66
$SM_GC,1.89,0.00,0.00,185.85,0.000,0.000,0.636,144,2168,1067,-7.58,-0.37,604.66
$IRIDIUM_FIX,2515.12,12259.73,160898,010144
$TT8_MAMPS,0.032214
$HUMID,1425
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,29.30
$XPDR_PINGS,8
$24V_AH,23.8,5.232
$10V_AH,10.7,2.627
$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,18.975,115.425,357.050,185.850,0.000,79.176,168.029,314.169,8.250,0.000,0.000,11.374,2629.457,6875.912,614.900,5228.619,897.627,0.000,2059.951,0.000,5237.906,0.000,44.187,0.000
$DEVICE_MAMPS,275.353,79.001,1348.386,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.460,1000.040,3699.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78938,1491
$CAP_FILE_SIZE,188046,0
$CFSIZE,260165632,224591872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 68.9,1
$GPS,220509,060437,2524.501,12300.005,42,1.2,42,-3.7