version: 66.04
glider: 167
mission: 2
dive: 14
start: 5 23 109 8 26 41
data:
$ID,167
$MISSION,2
$DIVE,14
$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,396
$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,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,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,-4148.8467
$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,25
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,37
$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,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
$GPS1,081637,2537.143,12252.577,32,1.2,33,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-69.2
$GPS2,082620,2537.315,12252.735,15,1.4,15,-3.8
$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,324.2,6751,-16.8,-10.000
$D_GRID,678
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.88,-170.3,0.0,0.0,0,61,0.00,0.00,-42.72,0.000,2,0.000,0.000,146,2294,2907
$GC,64,-0.88,-170.3,3.1,-3.5,5,107,9.23,2.12,-29.38,0.000,4,0.272,0.045,2248,892,3989
$GC,243,-0.15,-170.3,44.8,-28.1,33,250,0.85,2.17,0.00,0.000,6,0.196,0.035,2491,2311,3991
$GC,600,-1.06,-170.3,72.2,-8.2,94,609,0.80,2.17,0.00,0.000,4,0.091,0.048,2201,3718,3991
$GC,688,-0.11,-170.3,91.7,-34.5,108,696,1.00,2.08,0.00,0.000,6,0.196,0.026,2500,2304,3992
$GC,1045,-0.92,-170.3,127.2,-7.6,169,1055,0.68,2.20,0.00,0.000,4,0.084,0.047,2247,3718,3993
$GC,1134,-0.30,-170.3,140.3,-21.6,183,1143,0.62,2.08,0.00,0.000,6,0.172,0.027,2439,2293,3992
$GC,1495,-1.13,-170.3,165.9,-8.1,244,1504,0.70,2.20,0.00,0.000,4,0.092,0.046,2185,3718,3993
$GC,1578,-0.49,-170.3,179.3,-22.1,257,1586,0.60,2.05,0.00,0.000,6,0.176,0.026,2381,2301,3993
$GC,1931,-0.76,-170.3,206.3,-5.0,318,1939,0.20,0.00,0.00,0.000,6,0.067,0.000,2293,2300,3994
$GC,2277,-0.65,-170.3,247.0,-12.0,379,2284,0.17,1.98,0.00,0.000,4,0.162,0.030,2345,919,3995
$GC,2349,-0.82,-170.3,253.6,-8.5,391,2356,0.17,2.05,0.00,0.000,6,0.071,0.034,2269,2313,3995
$GC,2692,-0.71,-170.3,297.4,-10.6,452,2701,0.15,2.12,0.00,0.000,4,0.168,0.049,2302,3701,3999
$GC,2823,-0.77,-170.3,308.7,-8.0,465,2827,0.00,2.00,0.00,0.000,6,0.000,0.029,2302,2299,3995
$GC,3154,-0.85,-170.3,339.7,-10.3,496,3157,0.00,2.17,0.00,0.000,4,0.000,0.051,2302,3716,3995
$GC,3215,-0.95,-170.3,345.9,-9.9,501,3223,0.17,2.03,0.00,0.000,6,0.074,0.030,2228,2299,3995
$GC,3541,-0.76,-170.3,386.6,-10.7,532,3545,0.20,1.98,0.00,0.000,4,0.164,0.032,2292,931,3995
$GC,3655,-0.87,-170.3,394.6,-5.7,542,3659,0.00,2.03,0.00,0.000,6,0.000,0.035,2289,2304,3994
$GC,3988,-0.95,-170.3,418.8,-9.0,573,3993,0.15,2.15,0.00,0.000,4,0.081,0.051,2220,3720,3993
$GC,4032,-0.75,-170.3,424.3,-12.9,576,4043,0.22,2.05,0.00,0.000,6,0.159,0.029,2294,2311,3997
$GC,4361,-0.87,-170.3,451.3,-8.1,607,4364,0.00,2.17,0.00,0.000,4,0.000,0.054,2289,3720,3991
$GC,4409,-1.00,-170.3,455.3,-8.4,611,4414,0.17,2.05,0.00,0.000,6,0.077,0.030,2218,2292,3989
$GC,4736,-0.81,-170.3,492.7,-11.8,641,4743,0.22,0.00,0.00,0.000,6,0.174,0.000,2280,2290,3988
$GC,5069,-0.90,-170.3,523.7,-9.7,661,5073,0.00,2.20,0.00,0.000,4,0.000,0.056,2275,3707,3986
$GC,5170,-0.98,-170.3,534.7,-10.4,665,5174,0.12,2.05,0.00,0.000,6,0.092,0.034,2224,2300,3984
$GC,5494,-0.84,-170.3,572.0,-11.3,681,5499,0.17,2.20,0.00,0.000,4,0.175,0.057,2271,3708,3982
$GC,5544,-0.89,-170.3,577.2,-8.8,683,5548,0.00,2.05,0.00,0.000,6,0.000,0.035,2270,2302,3981
$GC,5869,-0.95,-170.3,605.5,-9.5,699,5873,0.00,2.20,0.00,0.000,4,0.000,0.059,2271,3708,3978
$GC,5931,-1.01,-170.3,612.3,-10.1,701,5938,0.15,2.05,0.00,0.000,6,0.087,0.035,2212,2305,3977
$GC,6252,-0.83,-170.3,652.2,-12.3,717,6254,0.22,0.00,0.00,0.000,6,0.179,0.000,2275,2303,3975
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6553,begin apogee
$GC,6559,-0.20,0.0,678.3,7.5,732,6647,0.65,0.00,85.43,1.220,6,0.151,0.000,2479,2403,3532
$STATE,6648,end apogee,CONTROL_FINISHED_OK
$STATE,6648,begin climb
$GC,6651,0.88,170.3,680.1,0.0,736,6790,0.95,0.00,135.60,1.210,6,0.062,0.000,2826,2402,2837
$GC,7094,0.35,170.3,629.9,16.5,757,7099,0.57,2.17,0.00,0.000,4,0.199,0.057,2665,3761,2828
$GC,7228,0.23,170.3,615.2,10.5,763,7232,0.20,2.05,0.00,0.000,6,0.182,0.035,2619,2396,2830
$GC,7558,0.52,268.9,593.2,6.1,779,7647,0.22,2.35,76.43,1.200,4,0.081,0.058,2708,3752,2433
$GC,7742,0.40,268.9,572.2,13.3,787,7747,0.12,2.08,0.00,0.000,6,0.190,0.035,2681,2402,2429
$GC,8072,0.48,268.9,537.5,10.6,803,8076,0.00,2.17,0.00,0.000,4,0.000,0.058,2682,3760,2426
$GC,8165,0.48,268.9,525.6,13.9,807,8169,0.00,2.08,0.00,0.000,6,0.000,0.035,2688,2376,2425
$GC,8493,0.53,268.9,487.7,12.0,827,8497,0.00,2.20,0.00,0.000,4,0.000,0.058,2690,3762,2424
$GC,8638,0.53,268.9,468.7,12.9,840,8642,0.00,2.05,0.00,0.000,6,0.000,0.035,2693,2395,2423
$GC,8971,0.63,309.3,438.7,8.4,871,9011,0.15,0.00,31.02,1.081,6,0.093,0.000,2748,2392,2270
$GC,9330,0.55,309.3,389.9,14.7,905,9334,0.00,2.17,0.00,0.000,4,0.000,0.060,2748,3754,2264
$GC,9358,0.42,309.3,384.8,16.6,907,9364,0.28,2.08,0.00,0.000,6,0.183,0.035,2684,2379,2264
$GC,9685,0.59,327.7,348.4,9.3,938,9709,0.15,2.28,14.52,0.989,4,0.091,0.059,2739,3756,2196
$GC,9768,0.50,327.7,337.5,14.7,945,9773,0.15,2.08,0.00,0.000,6,0.185,0.034,2709,2381,2193
$GC,10096,0.60,327.7,302.3,13.9,975,10099,0.00,2.17,0.00,0.000,4,0.000,0.058,2709,3756,2192
$GC,10233,0.60,327.7,282.1,12.8,997,10241,0.00,2.05,0.00,0.000,6,0.000,0.033,2716,2379,2191
$GC,10579,0.71,327.7,244.4,12.2,1058,10588,0.17,2.10,0.00,0.000,4,0.082,0.039,2793,984,2191
$GC,10602,0.71,327.7,241.2,14.4,1061,10609,0.00,2.15,0.00,0.000,6,0.000,0.039,2793,2408,2194
$GC,10952,0.59,327.7,184.1,15.0,1122,10961,0.17,2.10,0.00,0.000,4,0.181,0.055,2741,3750,2190
$GC,11171,0.59,327.7,157.5,12.1,1159,11179,0.00,2.05,0.00,0.000,6,0.000,0.033,2746,2384,2190
$GC,11528,0.71,327.7,117.4,10.1,1220,11536,0.00,2.15,0.00,0.000,4,0.000,0.054,2746,3752,2190
$GC,11661,0.82,414.5,105.1,6.6,1242,11737,0.12,2.03,65.80,0.781,6,0.067,0.031,2807,2384,1840
$GC,12085,0.90,414.5,51.6,12.9,1311,12093,0.00,2.10,0.00,0.000,4,0.000,0.036,2814,995,1832
$GC,12211,1.11,432.2,38.4,9.3,1332,12231,0.20,2.15,13.62,0.667,6,0.062,0.037,2902,2399,1770
$STATE,12445,end climb,SURFACE_DEPTH_REACHED
$STATE,12445,begin surface coast
$FINISH,1.2,1.021953
$STATE,12470,end surface coast,CONTROL_FINISHED_OK
$STATE,12470,begin surface
$SM_CCo,12548,0.00,0.000,0,0,1765,433.45
$SM_GC,2.06,7.47,0.00,0.00,0.065,0.000,0.000,147,2291,1765,-7.49,-0.45,433.45
$IRIDIUM_FIX,2527.05,12251.72,170898,080823
$TT8_MAMPS,0.032214
$HUMID,1546
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.90
$XPDR_PINGS,3
$24V_AH,24.1,6.475
$10V_AH,10.7,4.148
$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,28.600,101.650,422.425,0.000,0.000,51.688,68.905,271.192,5.750,0.000,0.000,15.405,2401.629,4799.726,477.668,4738.038,702.938,0.000,1726.062,0.000,4758.236,0.000,35.860,0.000
$DEVICE_MAMPS,272.285,77.467,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,933.035,991.358,3665.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72483,1375
$CAP_FILE_SIZE,177220,0
$CFSIZE,260165632,224022528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,306.6,1
$GPS,230509,115700,2539.825,12249.927,38,1.4,38,-3.8