version: 66.04
glider: 167
mission: 2
dive: 9
start: 5 22 109 12 21 46
data:
$ID,167
$MISSION,2
$DIVE,9
$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,330
$T_MISSION,390
$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,450
$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,-4069.9075
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2553
$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,2270
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,32
$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
$GPS1,121436,2528.539,12300.117,33,2.0,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.7
$GPS2,122126,2528.602,12300.130,11,2.0,11,-3.7
$SPEED_LIMITS,0.173,0.279
$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,304.3,27047,-16.8,-10.000
$D_GRID,853
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.88,-170.3,0.0,0.0,0,67,0.00,0.00,-48.85,0.000,2,0.000,0.000,147,2247,2956
$GC,70,-0.88,-170.3,3.3,-3.9,6,114,9.43,2.03,-26.90,0.000,4,0.276,0.045,2261,868,3990
$GC,266,-0.88,-170.3,55.5,-29.8,37,274,0.00,2.15,0.00,0.000,6,0.000,0.036,2254,2272,3991
$GC,621,-0.88,-170.3,155.1,-21.5,98,627,0.00,2.15,0.00,0.000,4,0.000,0.046,2243,3673,3992
$GC,659,-0.88,-170.3,162.8,-20.5,104,668,0.00,2.05,0.00,0.000,6,0.000,0.026,2243,2261,3992
$GC,1011,-0.88,-170.3,230.7,-16.8,165,1017,0.00,1.98,0.00,0.000,4,0.000,0.030,2243,880,3993
$GC,1026,-0.88,-170.3,233.0,-16.3,167,1034,0.12,2.08,0.00,0.000,6,0.173,0.034,2265,2283,3993
$GC,1372,-0.88,-170.3,283.6,-13.9,228,1380,0.00,2.12,0.00,0.000,4,0.000,0.050,2260,3662,3994
$GC,1450,-0.88,-170.3,294.3,-13.8,241,1457,0.00,2.00,0.00,0.000,6,0.000,0.028,2260,2262,3995
$GC,1780,-0.88,-170.3,337.0,-12.3,275,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2269,3998
$GC,2098,-0.88,-170.3,377.3,-11.9,305,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2264,3995
$GC,2416,-0.88,-170.3,412.1,-10.5,335,2420,0.00,2.17,0.00,0.000,4,0.000,0.053,2260,3678,3995
$GC,2508,-0.88,-170.3,422.4,-11.4,343,2512,0.00,2.00,0.00,0.000,6,0.000,0.031,2260,2284,3995
$GC,2838,-0.88,-170.3,455.5,-10.9,374,2842,0.00,2.05,0.00,0.000,4,0.000,0.035,2260,867,3993
$GC,2897,-0.88,-170.3,461.8,-11.4,379,2901,0.00,2.08,0.00,0.000,6,0.000,0.038,2260,2267,3993
$GC,3227,-0.88,-170.3,488.9,-6.9,410,3230,0.00,2.17,0.00,0.000,4,0.000,0.057,2257,3684,3992
$GC,3395,-0.88,-170.3,506.2,-11.2,423,3399,0.00,2.10,0.00,0.000,6,0.000,0.035,2257,2271,3990
$GC,3718,-0.88,-170.3,541.3,-10.8,439,3722,0.00,2.20,0.00,0.000,4,0.000,0.057,2257,3681,3987
$GC,3791,-0.88,-170.3,550.5,-12.1,442,3795,0.00,2.05,0.00,0.000,6,0.000,0.032,2257,2269,3986
$GC,4118,-0.88,-170.3,594.0,-11.6,458,4121,0.00,2.20,0.00,0.000,4,0.000,0.057,2264,3678,3983
$GC,4223,-0.88,-170.3,606.8,-11.7,462,4230,0.00,2.08,0.00,0.000,6,0.000,0.034,2257,2279,3985
$GC,4539,-0.88,-170.3,635.1,-9.0,478,4543,0.00,2.20,0.00,0.000,4,0.000,0.060,2257,3681,3979
$GC,4623,-0.88,-170.3,641.9,-7.1,481,4629,0.00,2.08,0.00,0.000,6,0.000,0.036,2257,2267,3976
$GC,4941,-0.88,-170.3,662.5,-7.7,497,4944,0.00,2.20,0.00,0.000,4,0.000,0.060,2257,3670,3976
$GC,4997,-0.88,-170.3,666.9,-7.4,499,5000,0.00,2.08,0.00,0.000,6,0.000,0.035,2257,2257,3977
$GC,5320,-0.88,-170.3,694.0,-8.2,515,5324,0.00,2.22,0.00,0.000,4,0.000,0.061,2252,3673,3973
$GC,5414,-0.88,-170.3,702.0,-7.6,519,5418,0.00,2.08,0.00,0.000,6,0.000,0.035,2257,2262,3972
$GC,5743,-0.88,-170.3,724.3,-7.1,535,5747,0.00,2.20,0.00,0.000,4,0.000,0.060,2258,3668,3971
$GC,5844,-0.88,-170.3,733.6,-10.0,539,5848,0.00,2.08,0.00,0.000,6,0.000,0.036,2257,2256,3970
$GC,6168,-0.88,-170.3,762.4,-10.0,555,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2254,3968
$GC,6475,-0.88,-170.3,793.5,-9.5,570,6478,0.00,2.22,0.00,0.000,4,0.000,0.061,2257,3679,3967
$GC,6535,-0.88,-170.3,794.5,0.3,572,6544,0.00,2.10,0.00,0.000,6,0.000,0.038,2257,2280,3964
$STATE,6642,end dive,NO_VERTICAL_VELOCITY
$STATE,6642,begin apogee
$GC,6648,-0.20,0.0,794.6,0.0,578,6736,0.70,0.00,84.82,1.314,6,0.122,0.000,2492,2342,3534
$STATE,6737,end apogee,CONTROL_FINISHED_OK
$STATE,6737,begin climb
$GC,6740,0.88,170.3,794.8,0.0,582,6886,1.02,2.40,138.52,1.280,4,0.106,0.059,2827,3734,2837
$GC,7142,1.20,425.8,794.6,-0.1,600,7365,0.32,2.15,209.98,1.339,6,0.074,0.035,2945,2330,1795
$GC,7674,1.20,425.8,690.5,28.8,625,7678,0.00,2.15,0.00,0.000,4,0.000,0.041,2952,927,1789
$GC,7866,1.20,425.8,639.2,24.8,633,7870,0.00,2.20,0.00,0.000,6,0.000,0.043,2951,2338,1782
$GC,8189,1.20,425.8,544.9,32.4,649,8193,0.00,2.22,0.00,0.000,4,0.000,0.061,2953,3749,1783
$GC,8396,1.20,425.8,458.0,38.3,662,8404,0.00,2.15,0.00,0.000,6,0.000,0.035,2961,2337,1782
$GC,8723,1.20,425.8,362.4,34.6,693,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2336,1780
$GC,9047,1.20,425.8,267.3,26.1,733,9053,0.00,2.10,0.00,0.000,4,0.000,0.043,2970,930,1779
$GC,9096,1.20,425.8,254.3,27.8,741,9102,0.12,2.15,0.00,0.000,6,0.203,0.043,2939,2337,1778
$GC,9443,1.20,425.8,161.5,29.3,802,9450,0.00,2.20,0.00,0.000,4,0.000,0.058,2943,3735,1777
$GC,9545,1.20,425.8,134.4,25.7,819,9555,0.00,2.12,0.00,0.000,6,0.000,0.034,2950,2321,1776
$GC,9901,1.20,425.8,60.9,19.5,880,9909,0.00,2.25,0.00,0.000,4,0.000,0.054,2950,3746,1776
$GC,10078,1.20,425.8,25.1,21.0,910,10086,0.00,2.10,0.00,0.000,6,0.000,0.032,2959,2330,1777
$STATE,10197,end climb,SURFACE_DEPTH_REACHED
$STATE,10197,begin surface coast
$FINISH,1.3,0.997962
$STATE,10216,end surface coast,CONTROL_FINISHED_OK
$STATE,10216,begin surface
$SM_CCo,10232,15.30,0.660,0,0,1698,450.37
$SM_GC,2.26,0.00,0.00,15.30,0.000,0.000,0.660,146,2326,1698,-7.52,1.55,450.37
$IRIDIUM_FIX,2517.50,12301.03,160898,070719
$TT8_MAMPS,0.032214
$HUMID,1646
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,700.3,96.8
$24V_AH,23.7,5.718
$10V_AH,10.7,3.062
$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,19.275,85.375,433.325,15.300,0.000,28.080,32.884,209.440,6.500,0.000,0.000,11.450,1669.146,4694.580,458.010,3314.948,511.333,0.000,1453.208,0.000,3307.616,0.000,39.087,0.000
$DEVICE_MAMPS,276.120,100.477,1339.182,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.177,624.327,2303.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50638,933
$CAP_FILE_SIZE,124440,0
$CFSIZE,260165632,224477184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 58.7,1
$GPS,220509,151335,2529.429,12259.223,14,1.5,24,-3.7