version: 66.04
glider: 167
mission: 2
dive: 60
start: 5 31 109 19 48 52
data:
$ID,167
$MISSION,2
$DIVE,60
$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,-4955.2173
$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,70
$R_STBD_OVSHOOT,37
$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
$GPS1,194128,2538.540,12316.254,13,99.0,32,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.8
$GPS2,194830,2538.631,12316.295,17,3.1,36,-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,164.7,60481,-18.3,-12.000
$D_GRID,947
$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,-194.7,0.0,0.0,0,54,0.00,0.00,-36.53,0.000,2,0.000,0.000,145,2437,2728
$GC,57,-1.05,-194.7,3.3,-3.3,6,106,8.45,2.12,-35.28,0.000,4,0.253,0.044,2201,1028,3990
$GC,198,-0.14,-194.7,41.5,-38.5,30,205,1.05,2.12,0.00,0.000,6,0.188,0.036,2489,2433,3991
$GC,544,-1.04,-194.7,76.5,-9.9,91,551,0.77,2.03,0.00,0.000,4,0.097,0.048,2213,3761,3993
$GC,636,-0.14,-194.7,99.3,-36.4,107,643,1.00,1.90,0.00,0.000,6,0.189,0.026,2496,2429,3993
$GC,981,-1.10,-194.7,132.2,-9.2,168,988,0.82,2.00,0.00,0.000,4,0.087,0.028,2194,1029,3993
$GC,1011,-1.03,-194.7,135.7,-12.5,173,1017,0.00,2.12,0.00,0.000,6,0.000,0.035,2192,2455,3993
$GC,1355,-0.42,-194.7,222.6,-23.0,234,1363,0.68,2.05,0.00,0.000,4,0.173,0.027,2399,1042,3996
$GC,1467,-0.85,-194.7,231.9,-5.2,253,1474,0.35,2.08,0.00,0.000,6,0.054,0.034,2251,2449,3997
$GC,1811,-0.64,-194.7,284.9,-15.7,314,1818,0.25,1.98,0.00,0.000,4,0.160,0.048,2329,3751,3997
$GC,1836,-0.60,-194.7,288.3,-13.6,318,1844,0.00,1.88,0.00,0.000,6,0.000,0.028,2329,2425,3997
$GC,2175,-0.79,-194.7,319.1,-7.9,360,2180,0.12,2.05,0.00,0.000,4,0.079,0.049,2274,3757,3997
$GC,2226,-0.72,-194.7,324.7,-12.0,364,2233,0.12,1.88,0.00,0.000,6,0.156,0.028,2307,2436,3997
$GC,2551,-0.82,-194.7,355.5,-9.2,395,2555,0.00,2.00,0.00,0.000,4,0.000,0.031,2308,1041,3997
$GC,2590,-0.95,-194.7,359.3,-9.2,398,2599,0.20,2.10,0.00,0.000,6,0.069,0.037,2225,2450,3997
$GC,2915,-0.79,-194.7,405.5,-12.7,429,2919,0.20,2.00,0.00,0.000,4,0.165,0.050,2278,3766,3997
$GC,2942,-0.79,-194.7,409.0,-12.3,431,2948,0.00,1.90,0.00,0.000,6,0.000,0.028,2278,2458,3997
$GC,3270,-0.84,-194.7,440.5,-9.4,462,3273,0.00,2.03,0.00,0.000,4,0.000,0.051,2275,3768,3997
$GC,3342,-0.84,-194.7,447.7,-9.5,468,3348,0.00,1.85,0.00,0.000,6,0.000,0.029,2275,2474,3996
$GC,3668,-0.92,-194.7,477.0,-8.6,499,3672,0.00,2.08,0.00,0.000,4,0.000,0.032,2275,1037,3995
$GC,3718,-1.02,-194.7,481.8,-9.4,503,3725,0.17,2.15,0.00,0.000,6,0.074,0.037,2204,2475,3994
$GC,4040,-0.82,-194.7,521.8,-13.2,526,4045,0.22,2.10,0.00,0.000,4,0.176,0.031,2272,1043,3993
$GC,4219,-0.93,-194.7,539.1,-7.2,534,4223,0.00,2.10,0.00,0.000,6,0.000,0.038,2272,2440,3992
$GC,4546,-1.01,-194.7,571.0,-9.8,550,4550,0.15,2.05,0.00,0.000,4,0.080,0.031,2212,1054,3989
$GC,4596,-0.89,-194.7,577.2,-12.7,552,4601,0.17,2.08,0.00,0.000,6,0.168,0.038,2254,2429,3989
$GC,4923,-0.89,-194.7,610.5,-10.7,568,4927,0.00,2.05,0.00,0.000,4,0.000,0.033,2254,1037,3986
$GC,5007,-0.89,-194.7,618.6,-10.4,571,5013,0.00,2.10,0.00,0.000,6,0.000,0.038,2251,2430,3985
$GC,5324,-0.89,-194.7,651.7,-10.7,587,5328,0.00,2.05,0.00,0.000,4,0.000,0.057,2247,3760,3982
$GC,5397,-0.89,-194.7,660.0,-11.1,590,5401,0.00,1.95,0.00,0.000,6,0.000,0.032,2247,2426,3982
$GC,5723,-0.89,-194.7,696.0,-11.3,606,5727,0.00,2.05,0.00,0.000,4,0.000,0.035,2247,1023,3980
$GC,5757,-0.89,-194.7,699.7,-10.8,607,5764,0.00,2.12,0.00,0.000,6,0.000,0.040,2247,2429,3980
$GC,6080,-0.89,-194.7,737.8,-11.9,623,6084,0.00,2.08,0.00,0.000,4,0.000,0.035,2247,1026,3977
$GC,6186,-0.89,-194.7,749.7,-11.9,627,6192,0.00,2.10,0.00,0.000,6,0.000,0.041,2247,2410,3977
$GC,6503,-0.89,-194.7,781.9,-10.6,643,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2411,3974
$STATE,6541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6541,begin apogee
$GC,6547,-0.22,0.0,786.1,11.0,645,6637,0.73,0.00,86.97,1.291,6,0.155,0.000,2471,2512,3532
$STATE,6637,end apogee,CONTROL_FINISHED_OK
$STATE,6637,begin climb
$GC,6640,1.05,194.7,788.9,0.0,649,6808,1.15,2.15,154.35,1.250,4,0.058,0.057,2889,3761,2736
$GC,6970,0.27,194.7,757.5,22.5,664,6976,1.00,1.90,0.00,0.000,6,0.213,0.031,2635,2511,2732
$GC,7292,0.55,281.9,730.2,8.4,680,7368,0.25,2.12,69.30,1.216,4,0.074,0.058,2728,3749,2381
$GC,7397,0.43,281.9,714.9,17.9,685,7401,0.17,1.92,0.00,0.000,6,0.181,0.031,2690,2501,2378
$GC,7729,0.55,281.9,668.6,13.6,701,7733,0.00,2.03,0.00,0.000,4,0.000,0.056,2690,3762,2374
$GC,7812,0.55,281.9,655.8,15.1,704,7818,0.00,1.90,0.00,0.000,6,0.000,0.033,2693,2515,2373
$GC,8128,0.65,281.9,615.7,12.2,720,8132,0.17,1.98,0.00,0.000,4,0.082,0.057,2760,3757,2371
$GC,8177,0.45,281.9,607.7,17.3,722,8182,0.28,1.85,0.00,0.000,6,0.182,0.032,2689,2520,2371
$GC,8504,0.69,371.3,578.8,8.3,738,8580,0.22,2.12,70.28,1.147,4,0.077,0.057,2773,3755,2017
$GC,8608,0.55,371.3,562.8,19.0,742,8612,0.20,1.92,0.00,0.000,6,0.179,0.032,2726,2518,2012
$GC,8934,0.64,371.3,518.0,13.7,758,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2517,2007
$GC,9248,0.74,371.3,476.2,12.4,781,9252,0.17,1.98,0.00,0.000,4,0.081,0.058,2791,3758,2005
$GC,9282,0.58,371.3,470.5,17.4,784,9287,0.22,1.85,0.00,0.000,6,0.182,0.032,2737,2510,2005
$GC,9613,0.67,371.3,425.5,13.6,815,9617,0.00,1.98,0.00,0.000,4,0.000,0.057,2737,3759,2003
$GC,9788,0.75,371.3,398.2,15.4,830,9796,0.12,1.80,0.00,0.000,6,0.087,0.034,2791,2538,2003
$GC,10113,0.68,371.3,346.7,15.9,861,10117,0.00,1.92,0.00,0.000,4,0.000,0.058,2791,3756,2002
$GC,10192,0.54,371.3,333.0,17.7,868,10196,0.28,1.75,0.00,0.000,6,0.181,0.032,2722,2563,2001
$GC,10518,0.76,389.5,295.3,11.2,902,10538,0.17,2.17,13.00,0.901,4,0.075,0.036,2803,1108,1943
$GC,10550,0.76,389.5,290.5,16.3,907,10556,0.00,2.22,0.00,0.000,6,0.000,0.040,2802,2558,1942
$GC,10894,0.71,389.5,228.9,16.8,968,10900,0.00,1.88,0.00,0.000,4,0.000,0.058,2803,3765,1939
$GC,10940,0.61,389.5,220.7,18.0,976,10947,0.22,1.77,0.00,0.000,6,0.176,0.031,2741,2565,1939
$GC,11284,0.89,428.7,181.0,10.4,1037,11321,0.22,0.00,31.27,0.820,6,0.071,0.000,2837,2563,1783
$GC,11659,0.89,428.7,119.3,16.1,1103,11665,0.00,1.90,0.00,0.000,4,0.000,0.055,2837,3768,1777
$GC,11694,0.89,428.7,113.2,17.6,1109,11700,0.00,1.73,0.00,0.000,6,0.000,0.029,2842,2591,1777
$GC,12038,0.95,428.7,65.9,12.6,1170,12045,0.00,1.83,0.00,0.000,4,0.000,0.051,2842,3765,1777
$GC,12141,1.03,428.7,50.8,14.8,1188,12147,0.00,1.67,0.00,0.000,6,0.000,0.029,2845,2598,1777
$GC,12484,1.13,428.7,7.5,12.8,1249,12491,0.17,2.17,0.00,0.000,4,0.073,0.032,2925,1109,1778
$STATE,12511,end climb,SURFACE_DEPTH_REACHED
$STATE,12512,begin surface coast
$FINISH,1.6,1.009015
$STATE,12529,end surface coast,CONTROL_FINISHED_OK
$STATE,12530,begin surface
$SM_CCo,12609,0.00,0.000,0,0,1777,430.50
$SM_GC,2.64,7.40,0.00,0.00,0.060,0.000,0.000,144,2437,1777,-7.50,0.28,430.50
$IRIDIUM_FIX,2529.44,12259.63,250898,161613
$TT8_MAMPS,0.029146
$HUMID,1562
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.3,109.8
$24V_AH,24.2,14.315
$10V_AH,10.8,9.079
$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,27.925,115.800,425.175,0.000,0.000,29.349,36.385,212.597,5.500,0.000,0.000,39.139,2236.566,7508.312,543.424,2223.218,515.223,0.000,1670.886,0.000,2149.205,0.000,39.148,0.000
$DEVICE_MAMPS,253.110,82.836,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.876,881.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66288,1257
$CAP_FILE_SIZE,139786,0
$CFSIZE,260165632,220200960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 41.2,1
$GPS,310509,232007,2537.290,12318.080,31,1.8,32,-3.8