version: 66.04
glider: 167
mission: 2
dive: 98
start: 6 7 109 19 37 35
data:
$ID,167
$MISSION,2
$DIVE,98
$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,-4
$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,-6625.957
$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,72
$R_STBD_OVSHOOT,31
$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
$GPS1,193054,2424.448,12320.328,26,1.2,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-67.2
$GPS2,193713,2424.317,12320.375,13,1.4,30,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,206.4,34514,-18.3,-12.000
$D_GRID,786
$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,-194.7,0.0,0.0,0,47,0.00,0.00,-30.50,0.000,2,0.000,0.000,144,2412,2485
$GC,50,-1.05,-194.7,3.0,-1.8,5,115,8.43,2.03,-48.72,0.000,4,0.249,0.043,2201,1033,3988
$GC,218,-0.42,-194.7,41.4,-29.8,34,226,0.75,2.12,0.00,0.000,6,0.182,0.037,2406,2437,3990
$GC,564,-0.54,-194.7,83.9,-9.8,95,571,0.12,2.05,0.00,0.000,4,0.078,0.049,2345,3771,3991
$GC,616,-0.46,-194.7,91.1,-14.7,104,624,0.17,1.95,0.00,0.000,6,0.152,0.025,2394,2409,3991
$GC,963,-0.67,-194.7,127.7,-9.1,165,970,0.17,2.10,0.00,0.000,4,0.064,0.048,2307,3765,3992
$GC,1011,-0.54,-194.7,134.0,-14.6,173,1017,0.20,1.88,0.00,0.000,6,0.149,0.025,2364,2446,3992
$GC,1356,-0.68,-194.7,169.5,-10.9,234,1363,0.12,2.03,0.00,0.000,4,0.077,0.028,2311,1038,3993
$GC,1443,-0.68,-194.7,180.2,-11.6,249,1449,0.00,2.08,0.00,0.000,6,0.000,0.034,2304,2434,3993
$GC,1787,-0.60,-194.7,228.9,-12.9,310,1794,0.17,2.03,0.00,0.000,4,0.160,0.028,2359,1042,3994
$GC,1806,-0.60,-194.7,231.2,-12.1,313,1812,0.00,2.08,0.00,0.000,6,0.000,0.035,2359,2431,3994
$GC,2150,-0.83,-194.7,258.5,-8.3,374,2156,0.20,2.03,0.00,0.000,4,0.067,0.050,2262,3760,3994
$GC,2219,-0.67,-194.7,266.7,-12.7,386,2226,0.22,1.90,0.00,0.000,6,0.149,0.028,2328,2429,3994
$GC,2571,-0.77,-194.7,301.3,-10.5,447,2574,0.00,2.00,0.00,0.000,4,0.000,0.030,2328,1039,3993
$GC,2684,-0.93,-194.7,312.2,-8.7,457,2689,0.22,2.08,0.00,0.000,6,0.063,0.036,2234,2431,3993
$GC,3010,-0.65,-194.7,367.2,-16.7,487,3014,0.30,2.03,0.00,0.000,4,0.170,0.028,2325,1040,3994
$GC,3077,-0.83,-194.7,375.0,-9.6,492,3085,0.12,2.03,0.00,0.000,6,0.079,0.035,2267,2403,3994
$GC,3402,-0.75,-194.7,413.7,-12.1,523,3404,0.12,0.00,0.00,0.000,6,0.161,0.000,2299,2404,3993
$GC,3723,-0.83,-194.7,443.8,-9.6,553,3726,0.00,2.08,0.00,0.000,4,0.000,0.053,2293,3755,3993
$GC,3814,-0.92,-194.7,453.1,-9.9,561,3819,0.12,1.98,0.00,0.000,6,0.082,0.028,2239,2380,3993
$GC,4145,-0.79,-194.7,498.6,-14.4,592,4149,0.17,1.95,0.00,0.000,4,0.158,0.031,2294,1032,3993
$GC,4235,-0.93,-194.7,509.0,-11.0,597,4239,0.12,2.00,0.00,0.000,6,0.082,0.038,2238,2366,3992
$GC,4570,-0.80,-194.7,553.1,-12.9,613,4574,0.17,1.95,0.00,0.000,4,0.168,0.031,2285,1038,3991
$GC,4648,-0.89,-194.7,561.2,-9.2,616,4652,0.00,1.95,0.00,0.000,6,0.000,0.038,2281,2336,3991
$GC,4970,-0.96,-194.7,589.6,-8.9,632,4974,0.12,2.17,0.00,0.000,4,0.084,0.052,2224,3751,3989
$GC,5019,-0.79,-194.7,595.5,-12.6,634,5024,0.22,2.05,0.00,0.000,6,0.159,0.029,2288,2338,3989
$GC,5336,-0.92,-194.7,619.4,-7.1,649,5340,0.12,1.90,0.00,0.000,4,0.081,0.033,2238,1033,3986
$GC,5374,-0.85,-194.7,623.0,-9.7,650,5381,0.12,1.98,0.00,0.000,6,0.170,0.038,2266,2348,3987
$GC,5690,-0.85,-194.7,652.0,-9.0,666,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2348,3985
$GC,6000,-0.92,-194.7,680.2,-9.1,681,6004,0.00,2.17,0.00,0.000,4,0.000,0.056,2262,3753,3983
$GC,6079,-0.98,-194.7,688.1,-9.8,684,6083,0.00,2.03,0.00,0.000,6,0.000,0.031,2261,2367,3982
$GC,6401,-1.03,-194.7,719.4,-9.9,700,6405,0.15,1.95,0.00,0.000,4,0.081,0.033,2201,1033,3980
$GC,6434,-0.87,-194.7,723.6,-13.8,701,6439,0.22,2.00,0.00,0.000,6,0.163,0.040,2264,2353,3980
$GC,6752,-0.96,-194.7,750.3,-8.2,716,6756,0.00,2.17,0.00,0.000,4,0.000,0.058,2261,3750,3977
$GC,6848,-1.04,-194.7,759.5,-9.5,720,6852,0.15,2.03,0.00,0.000,6,0.082,0.031,2201,2370,3977
$STATE,7068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7068,begin apogee
$GC,7074,-0.22,0.0,788.0,12.7,731,7165,0.88,0.00,86.95,1.263,6,0.160,0.000,2468,2504,3532
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7166,begin climb
$GC,7168,1.05,194.7,791.1,0.0,735,7329,1.12,2.22,153.45,1.222,4,0.053,0.035,2890,1123,2737
$GC,7558,0.50,194.7,748.2,16.9,752,7563,0.68,2.17,0.00,0.000,6,0.198,0.042,2710,2513,2732
$GC,7885,0.53,281.4,719.4,8.4,768,7959,0.00,2.08,68.18,1.185,4,0.000,0.058,2710,3762,2384
$GC,8027,0.53,281.4,702.1,14.2,774,8033,0.00,1.88,0.00,0.000,6,0.000,0.031,2714,2532,2380
$GC,8343,0.56,298.4,665.6,11.3,790,8364,0.00,2.03,14.05,1.092,4,0.000,0.057,2714,3752,2314
$GC,8477,0.56,298.4,648.4,13.3,796,8481,0.00,1.85,0.00,0.000,6,0.000,0.032,2719,2547,2312
$GC,8810,0.61,298.4,606.2,12.6,812,8813,0.00,2.15,0.00,0.000,4,0.000,0.036,2719,1099,2310
$GC,8866,0.79,326.2,599.8,10.8,814,8898,0.22,2.22,22.38,1.111,6,0.071,0.038,2804,2547,2201
$GC,9208,0.59,326.2,541.7,17.1,831,9212,0.22,1.90,0.00,0.000,4,0.180,0.054,2739,3758,2197
$GC,9280,0.59,326.2,530.5,14.4,834,9284,0.00,1.83,0.00,0.000,6,0.000,0.032,2745,2534,2197
$GC,9599,0.59,326.2,490.2,13.3,853,9602,0.00,2.12,0.00,0.000,4,0.000,0.037,2746,1107,2196
$GC,9637,0.68,326.2,485.1,12.3,856,9645,0.00,2.20,0.00,0.000,6,0.000,0.039,2746,2541,2195
$GC,9963,0.68,326.2,444.3,13.6,887,9967,0.00,1.90,0.00,0.000,4,0.000,0.058,2746,3758,2194
$GC,10053,0.68,326.2,431.0,15.4,895,10057,0.00,1.80,0.00,0.000,6,0.000,0.031,2748,2539,2194
$GC,10387,0.68,326.2,386.9,14.1,926,10390,0.00,1.92,0.00,0.000,4,0.000,0.056,2748,3758,2193
$GC,10443,0.68,326.2,378.4,13.8,931,10447,0.00,1.75,0.00,0.000,6,0.000,0.031,2748,2559,2193
$GC,10776,0.76,339.6,339.1,11.4,962,10792,0.12,2.15,11.02,0.886,4,0.085,0.035,2802,1113,2146
$GC,10842,0.72,339.6,329.2,14.5,967,10848,0.00,2.22,0.00,0.000,6,0.000,0.039,2803,2566,2144
$GC,11174,0.63,339.6,277.6,14.4,1010,11180,0.17,2.17,0.00,0.000,4,0.172,0.031,2759,1106,2143
$GC,11216,0.77,356.4,272.7,11.3,1017,11241,0.10,2.20,14.18,0.849,6,0.098,0.038,2799,2555,2077
$GC,11580,0.77,356.4,215.6,14.3,1081,11586,0.00,1.88,0.00,0.000,4,0.000,0.054,2799,3768,2075
$GC,11799,0.69,356.4,182.1,14.1,1120,11807,0.12,1.77,0.00,0.000,6,0.179,0.028,2772,2544,2075
$GC,12147,0.87,413.2,147.3,9.7,1181,12200,0.15,2.17,44.05,0.763,4,0.077,0.033,2835,1124,1845
$GC,12257,0.87,413.2,131.5,14.0,1200,12265,0.00,2.22,0.00,0.000,6,0.000,0.038,2835,2559,1842
$GC,12603,0.87,413.2,83.1,14.1,1261,12609,0.00,1.88,0.00,0.000,4,0.000,0.054,2835,3765,1839
$GC,12654,0.87,413.2,75.7,13.9,1270,12660,0.00,1.77,0.00,0.000,6,0.000,0.028,2842,2539,1839
$GC,12998,0.97,433.9,31.1,11.1,1331,13022,0.00,1.95,16.15,0.633,4,0.000,0.051,2842,3754,1762
$GC,13102,1.06,433.9,18.3,12.4,1349,13109,0.12,1.70,0.00,0.000,6,0.079,0.026,2896,2565,1760
$STATE,13214,end climb,SURFACE_DEPTH_REACHED
$STATE,13214,begin surface coast
$FINISH,1.7,1.000092
$STATE,13241,end surface coast,CONTROL_FINISHED_OK
$STATE,13242,begin surface
$SM_CCo,13319,0.00,0.000,0,0,1758,435.16
$SM_GC,2.82,7.35,0.00,0.00,0.059,0.000,0.000,145,2414,1758,-7.50,-0.37,435.16
$IRIDIUM_FIX,2418.11,12319.09,010998,141440
$TT8_MAMPS,0.028379
$HUMID,1546
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.2,20.775
$10V_AH,10.8,12.428
$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,24.350,121.200,430.400,0.000,0.000,26.268,32.003,175.690,6.000,0.000,0.000,30.215,2426.297,7802.798,541.516,2415.334,503.058,0.000,1765.463,0.000,2345.773,0.000,41.068,0.000
$DEVICE_MAMPS,249.275,65.962,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.634,983.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72529,1373
$CAP_FILE_SIZE,149919,0
$CFSIZE,260165632,217059328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 64.9,1
$GPS,070609,232037,2422.795,12320.386,28,1.2,29,-3.5