version: 66.04
glider: 167
mission: 2
dive: 150
start: 6 12 109 15 41 45
data:
$ID,167
$MISSION,2
$DIVE,150
$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,-7842.5
$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,66
$R_STBD_OVSHOOT,40
$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
$GPS1,153452,2427.039,12250.500,13,99.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.9
$GPS2,154124,2427.140,12250.522,34,1.7,38,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,270.3,91268,-18.3,-12.000
$D_GRID,752
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.28,0.000,2,0.000,0.000,143,2420,2471
$GC,54,-1.05,-194.7,3.0,-2.1,6,115,8.25,2.12,-46.03,0.000,4,0.242,0.058,2187,3757,3989
$GC,306,-0.16,-194.7,72.8,-31.6,50,313,1.02,1.92,0.00,0.000,6,0.179,0.024,2483,2400,3991
$GC,651,-1.04,-194.7,97.6,-9.6,111,658,0.73,2.08,0.00,0.000,4,0.080,0.044,2211,3755,3992
$GC,766,-0.42,-194.7,121.9,-26.1,131,773,0.65,1.88,0.00,0.000,6,0.165,0.024,2404,2423,3992
$GC,1111,-0.77,-194.7,153.1,-3.3,192,1118,0.25,2.05,0.00,0.000,4,0.055,0.046,2289,3760,3994
$GC,1215,-0.64,-194.7,162.8,-12.6,210,1222,0.17,1.88,0.00,0.000,6,0.137,0.025,2341,2426,3994
$GC,1561,-0.80,-194.7,208.5,-9.9,271,1567,0.15,2.05,0.00,0.000,4,0.067,0.047,2275,3763,3995
$GC,1584,-0.80,-194.7,211.5,-12.2,275,1590,0.00,1.85,0.00,0.000,6,0.000,0.025,2274,2440,3995
$GC,1928,-0.74,-194.7,255.4,-14.2,336,1936,0.12,2.03,0.00,0.000,4,0.150,0.046,2303,3763,3996
$GC,1970,-0.80,-194.7,261.2,-12.9,343,1976,0.00,1.85,0.00,0.000,6,0.000,0.025,2303,2442,3996
$GC,2314,-0.89,-194.7,294.8,-9.1,404,2321,0.12,2.03,0.00,0.000,4,0.078,0.048,2246,3761,3996
$GC,2356,-0.76,-194.7,299.6,-12.1,411,2367,0.17,1.80,0.00,0.000,6,0.147,0.026,2297,2487,3996
$GC,2682,-0.85,-194.7,330.2,-10.2,442,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2487,3996
$GC,3002,-0.96,-194.7,363.0,-10.0,472,3006,0.17,1.98,0.00,0.000,4,0.069,0.049,2221,3764,3996
$GC,3047,-0.76,-194.7,369.1,-14.7,476,3051,0.25,1.80,0.00,0.000,6,0.148,0.028,2295,2500,3996
$GC,3377,-0.87,-194.7,405.0,-10.6,507,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2500,3995
$GC,3698,-1.01,-194.7,435.8,-9.1,537,3704,0.20,0.00,0.00,0.000,6,0.067,0.000,2214,2500,3993
$GC,4023,-0.82,-194.7,478.0,-12.9,568,4028,0.20,2.10,0.00,0.000,4,0.162,0.030,2276,1052,3992
$GC,4063,-0.89,-194.7,482.3,-10.0,571,4067,0.00,2.15,0.00,0.000,6,0.000,0.036,2276,2486,3992
$GC,4401,-0.97,-194.7,516.7,-10.0,595,4403,0.12,0.00,0.00,0.000,6,0.081,0.000,2224,2489,3990
$GC,4709,-0.86,-194.7,558.1,-13.5,610,4713,0.15,2.10,0.00,0.000,4,0.160,0.029,2264,1056,3988
$GC,4735,-0.86,-194.7,561.8,-13.0,611,4739,0.00,2.15,0.00,0.000,6,0.000,0.038,2264,2479,3988
$GC,5057,-0.92,-194.7,598.7,-11.5,627,5061,0.00,2.10,0.00,0.000,4,0.000,0.030,2264,1049,3986
$GC,5085,-1.00,-194.7,602.0,-11.7,628,5090,0.12,2.15,0.00,0.000,6,0.084,0.037,2214,2477,3986
$GC,5406,-0.87,-194.7,643.1,-12.4,644,5410,0.17,2.10,0.00,0.000,4,0.170,0.029,2261,1050,3983
$GC,5456,-0.93,-194.7,649.2,-11.0,646,5459,0.00,2.15,0.00,0.000,6,0.000,0.037,2261,2473,3983
$GC,5777,-0.98,-194.7,681.9,-10.0,662,5781,0.00,2.10,0.00,0.000,4,0.000,0.030,2261,1048,3981
$GC,5828,-1.07,-194.7,687.5,-10.5,664,5833,0.17,2.15,0.00,0.000,6,0.077,0.038,2194,2469,3980
$GC,6150,-0.88,-194.7,731.5,-15.0,680,6155,0.20,2.00,0.00,0.000,4,0.170,0.054,2246,3760,3977
$GC,6183,-0.88,-194.7,736.6,-13.3,681,6187,0.00,1.88,0.00,0.000,6,0.000,0.031,2246,2493,3977
$STATE,6337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6343,-0.22,0.0,752.2,9.5,689,6432,0.70,0.00,86.15,1.229,6,0.138,0.000,2468,2491,3532
$STATE,6433,end apogee,CONTROL_FINISHED_OK
$STATE,6433,begin climb
$GC,6436,1.05,194.7,755.6,0.0,693,6593,1.12,0.00,152.95,1.189,6,0.056,0.000,2882,2491,2737
$GC,6893,0.45,194.7,699.2,18.6,716,6896,0.70,0.00,0.00,0.000,6,0.196,0.000,2692,2491,2731
$GC,7201,0.53,263.1,665.7,9.2,731,7264,0.00,2.15,52.40,1.145,4,0.000,0.035,2693,1140,2458
$GC,7329,0.73,317.0,653.4,9.8,736,7379,0.25,2.15,43.50,1.118,6,0.069,0.039,2787,2512,2238
$GC,7690,0.58,317.0,596.6,16.0,754,7694,0.17,2.05,0.00,0.000,4,0.175,0.032,2744,1140,2230
$GC,7762,0.58,317.0,586.7,12.7,757,7765,0.00,2.10,0.00,0.000,6,0.000,0.038,2743,2507,2229
$GC,8083,0.58,317.1,549.9,12.0,773,8087,0.00,1.98,0.00,0.000,4,0.000,0.054,2744,3783,2227
$GC,8135,0.52,317.1,542.9,14.4,775,8139,0.12,1.83,0.00,0.000,6,0.180,0.031,2716,2543,2227
$GC,8461,0.65,352.4,509.2,10.5,791,8495,0.12,2.22,26.95,1.062,4,0.084,0.036,2775,1113,2094
$GC,8558,0.65,352.4,495.6,14.3,796,8562,0.00,2.20,0.00,0.000,6,0.000,0.038,2775,2530,2091
$GC,8885,0.58,352.4,448.7,14.8,826,8890,0.15,2.15,0.00,0.000,4,0.173,0.032,2745,1100,2088
$GC,8913,0.64,352.4,444.5,13.0,828,8918,0.00,2.20,0.00,0.000,6,0.000,0.037,2745,2537,2088
$GC,9240,0.70,352.4,402.1,13.2,858,9244,0.00,2.15,0.00,0.000,4,0.000,0.035,2746,1109,2087
$GC,9291,0.86,380.4,395.7,10.8,862,9319,0.20,2.15,21.80,0.974,6,0.072,0.038,2825,2518,1980
$GC,9637,0.69,380.4,341.3,14.9,895,9639,0.20,0.00,0.00,0.000,6,0.163,0.000,2772,2520,1975
$GC,9959,0.69,380.4,296.4,13.7,927,9965,0.00,1.92,0.00,0.000,4,0.000,0.056,2772,3755,1974
$GC,10005,0.69,380.4,289.3,15.0,935,10011,0.00,1.83,0.00,0.000,6,0.000,0.029,2775,2505,1974
$GC,10348,0.69,380.4,239.6,13.4,996,10354,0.00,2.05,0.00,0.000,4,0.000,0.034,2775,1107,1974
$GC,10462,0.80,398.2,226.4,11.3,1016,10481,0.00,2.12,14.68,0.820,6,0.000,0.037,2775,2507,1908
$GC,10821,0.94,412.4,191.1,11.4,1079,10841,0.17,2.15,12.27,0.770,4,0.072,0.032,2862,1113,1849
$GC,10910,0.82,412.4,176.5,18.3,1094,10916,0.20,2.12,0.00,0.000,6,0.170,0.037,2808,2507,1848
$GC,11255,0.99,451.2,125.7,10.4,1155,11292,0.15,2.17,31.08,0.742,4,0.073,0.032,2877,1108,1691
$GC,11450,0.99,451.2,99.1,12.4,1189,11456,0.00,2.10,0.00,0.000,6,0.000,0.035,2877,2480,1686
$GC,11795,1.03,486.6,56.9,10.5,1250,11830,0.00,2.10,27.08,0.664,4,0.000,0.031,2884,1112,1547
$GC,11853,1.14,489.4,50.3,11.9,1260,11859,0.00,2.08,0.00,0.000,6,0.000,0.033,2884,2476,1544
$GC,12197,1.27,497.4,10.6,11.7,1321,12212,0.17,2.10,9.62,0.565,4,0.070,0.030,2971,1101,1503
$GC,12231,1.19,497.4,5.8,15.1,1326,12237,0.17,2.05,0.00,0.000,6,0.178,0.033,2927,2466,1502
$STATE,12247,end climb,SURFACE_DEPTH_REACHED
$STATE,12247,begin surface coast
$FINISH,1.6,0.996974
$STATE,12265,end surface coast,CONTROL_FINISHED_OK
$STATE,12265,begin surface
$SM_CCo,12342,0.00,0.000,0,0,1499,498.45
$SM_GC,2.38,7.45,0.00,0.00,0.057,0.000,0.000,142,2471,1499,-7.50,1.24,498.45
$IRIDIUM_FIX,2415.74,12525.11,060998,131345
$TT8_MAMPS,0.028379
$HUMID,1618
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.9,118.3
$24V_AH,24.3,26.999
$10V_AH,10.8,15.641
$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,25.500,102.550,478.475,0.000,0.000,27.622,38.187,185.130,5.500,0.000,0.000,38.879,2309.232,7162.603,596.300,2164.692,499.527,0.000,1687.322,0.000,2096.310,0.000,39.164,0.000
$DEVICE_MAMPS,242.372,57.525,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.821,949.638,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69412,1332
$CAP_FILE_SIZE,136539,0
$CFSIZE,260165632,214175744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.412, 15.9,1
$GPS,120609,190837,2430.059,12249.167,36,1.0,36,-3.5