version: 66.04
glider: 167
mission: 2
dive: 152
start: 6 12 109 23 15 10
data:
$ID,167
$MISSION,2
$DIVE,152
$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,-7891.1553
$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,65
$R_STBD_OVSHOOT,36
$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
$GPS1,230507,2432.025,12247.211,37,1.3,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-67.2
$GPS2,231449,2432.175,12247.140,15,1.5,32,-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,270.2,80880,-18.3,-12.000
$D_GRID,621
$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,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,69,0.00,0.00,-52.17,0.000,2,0.000,0.000,143,2421,2415
$GC,72,-1.05,-194.7,3.1,-2.3,9,136,8.38,2.10,-49.72,0.000,4,0.245,0.042,2200,1026,3990
$GC,193,-0.26,-194.7,25.4,-32.5,29,200,0.93,2.12,0.00,0.000,6,0.183,0.034,2453,2437,3990
$GC,538,-0.57,-194.7,52.1,-7.8,90,545,0.22,2.03,0.00,0.000,4,0.058,0.048,2346,3761,3991
$GC,642,-0.44,-194.7,67.3,-15.4,108,649,0.20,1.90,0.00,0.000,6,0.146,0.025,2402,2420,3992
$GC,987,-0.67,-194.7,105.9,-7.3,169,993,0.17,2.08,0.00,0.000,4,0.064,0.046,2317,3768,3992
$GC,1051,-0.56,-194.7,112.8,-11.8,180,1057,0.17,1.88,0.00,0.000,6,0.146,0.025,2366,2435,3992
$GC,1396,-0.72,-194.7,144.4,-10.9,241,1403,0.17,2.03,0.00,0.000,4,0.065,0.046,2276,3754,3993
$GC,1524,-0.53,-194.7,166.7,-19.7,263,1530,0.32,1.80,0.00,0.000,6,0.142,0.025,2376,2469,3994
$GC,1868,-1.01,-194.7,198.9,-8.3,324,1875,0.38,1.98,0.00,0.000,4,0.053,0.045,2212,3763,3994
$GC,2128,-0.68,-194.7,242.0,-19.2,370,2135,0.38,1.73,0.00,0.000,6,0.152,0.026,2325,2536,3994
$GC,2474,-0.84,-194.7,275.9,-7.3,431,2480,0.15,2.15,0.00,0.000,4,0.067,0.028,2260,1039,3994
$GC,2538,-0.76,-194.7,282.4,-10.5,442,2546,0.12,2.25,0.00,0.000,6,0.160,0.035,2295,2546,3995
$GC,2882,-0.83,-194.7,310.2,-6.7,491,2886,0.00,1.83,0.00,0.000,4,0.000,0.050,2291,3755,3994
$GC,2978,-0.92,-194.7,317.4,-7.7,499,2984,0.12,1.70,0.00,0.000,6,0.081,0.028,2235,2559,3994
$GC,3303,-0.77,-194.7,360.6,-14.5,530,3307,0.20,2.17,0.00,0.000,4,0.154,0.028,2297,1049,3994
$GC,3392,-0.89,-194.7,370.9,-10.2,537,3399,0.12,2.20,0.00,0.000,6,0.079,0.033,2246,2528,3995
$GC,3718,-0.77,-194.7,403.3,-9.1,568,3719,0.17,0.00,0.00,0.000,6,0.167,0.000,2294,2529,3993
$GC,4037,-0.83,-194.7,436.3,-3.5,598,4041,0.00,2.15,0.00,0.000,4,0.000,0.030,2294,1056,3992
$GC,4110,-0.98,-194.7,442.4,-5.5,604,4117,0.17,2.22,0.00,0.000,6,0.073,0.035,2222,2538,3991
$GC,4435,-0.82,-194.7,488.3,-16.9,635,4440,0.20,2.17,0.00,0.000,4,0.163,0.028,2283,1055,3989
$GC,4502,-0.96,-194.7,496.5,-11.2,640,4509,0.15,2.20,0.00,0.000,6,0.078,0.035,2224,2522,3989
$GC,4831,-0.84,-194.7,538.6,-12.8,658,4835,0.17,1.90,0.00,0.000,4,0.161,0.051,2275,3761,3987
$GC,4892,-0.93,-194.7,545.0,-9.1,660,4898,0.00,1.80,0.00,0.000,6,0.000,0.029,2275,2537,3986
$GC,5208,-1.03,-194.7,576.0,-9.6,676,5212,0.17,2.17,0.00,0.000,4,0.074,0.029,2196,1043,3984
$GC,5251,-0.80,-194.7,581.1,-12.9,678,5256,0.32,2.25,0.00,0.000,6,0.161,0.038,2287,2529,3984
$GC,5573,-0.95,-194.7,604.7,-6.5,694,5575,0.15,0.00,0.00,0.000,6,0.081,0.000,2228,2531,3981
$STATE,5858,end dive,NO_VERTICAL_VELOCITY
$STATE,5858,begin apogee
$GC,5864,-0.22,0.0,613.0,0.0,708,5952,0.65,0.00,85.00,1.110,6,0.052,0.000,2484,2532,3532
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5952,begin climb
$GC,5955,1.05,194.7,612.9,0.0,712,6113,1.08,2.25,148.95,1.068,4,0.051,0.031,2896,1136,2737
$GC,6187,0.50,194.7,592.7,17.0,722,6196,0.70,2.17,0.00,0.000,6,0.196,0.038,2710,2514,2733
$GC,6503,0.52,211.1,559.5,11.3,738,6526,0.00,2.00,13.40,0.976,4,0.000,0.055,2710,3752,2670
$GC,6576,0.42,211.1,550.1,13.3,741,6580,0.15,1.83,0.00,0.000,6,0.178,0.029,2679,2516,2669
$GC,6903,0.62,286.9,519.0,8.9,757,6965,0.17,0.00,58.40,1.035,6,0.074,0.000,2755,2516,2361
$GC,7280,0.55,286.9,466.6,13.8,785,7284,0.12,2.10,0.00,0.000,4,0.166,0.033,2731,1110,2353
$GC,7335,0.55,286.9,458.8,15.7,789,7341,0.00,2.17,0.00,0.000,6,0.000,0.039,2731,2518,2353
$GC,7661,0.62,347.8,417.6,9.5,820,7712,0.00,2.25,45.72,0.981,4,0.000,0.036,2734,1117,2113
$GC,7897,0.81,413.0,402.8,9.3,841,7959,0.20,2.17,51.10,0.956,6,0.070,0.035,2812,2532,1848
$GC,8276,0.86,520.1,350.1,7.6,877,8366,0.00,2.25,83.97,0.915,4,0.000,0.033,2816,1127,1410
$GC,8453,0.94,520.1,329.7,15.5,893,8457,0.00,2.17,0.00,0.000,6,0.000,0.038,2815,2511,1404
$GC,8787,0.94,520.1,258.7,22.3,940,8793,0.00,1.95,0.00,0.000,4,0.000,0.054,2815,3756,1400
$GC,8816,0.94,520.1,252.0,22.4,945,8822,0.00,1.85,0.00,0.000,6,0.000,0.028,2816,2504,1399
$GC,9160,1.00,520.1,186.0,17.4,1006,9167,0.15,2.05,0.00,0.000,4,0.076,0.032,2882,1111,1398
$GC,9270,0.93,520.1,168.5,12.9,1025,9277,0.15,2.08,0.00,0.000,6,0.173,0.038,2843,2477,1398
$GC,9614,1.05,520.1,115.6,18.9,1086,9621,0.12,0.00,0.00,0.000,6,0.077,0.000,2894,2477,1396
$GC,9958,1.05,520.1,65.2,12.9,1147,9964,0.00,1.98,0.00,0.000,4,0.000,0.053,2894,3756,1396
$GC,9976,1.05,520.1,62.5,14.5,1150,9983,0.00,1.88,0.00,0.000,6,0.000,0.026,2904,2448,1395
$GC,10321,1.11,520.1,13.1,12.3,1211,10327,0.00,1.95,0.00,0.000,4,0.000,0.031,2911,1105,1395
$GC,10396,1.23,520.1,3.1,13.4,1224,10402,0.00,2.08,0.00,0.000,6,0.000,0.035,2911,2496,1395
$STATE,10406,end climb,SURFACE_DEPTH_REACHED
$STATE,10406,begin surface coast
$FINISH,1.7,1.009660
$STATE,10430,end surface coast,CONTROL_FINISHED_OK
$STATE,10430,begin surface
$SM_CCo,10506,0.00,0.000,0,0,1395,524.21
$SM_GC,2.59,7.32,0.00,0.00,0.057,0.000,0.000,141,2501,1395,-7.50,2.09,524.21
$IRIDIUM_FIX,2422.84,12315.13,060998,191922
$TT8_MAMPS,0.029146
$HUMID,1617
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.1,136.5
$24V_AH,24.4,27.333
$10V_AH,10.8,15.799
$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,24.400,85.975,486.550,0.000,0.000,57.353,130.695,187.491,3.750,0.000,0.000,32.587,2102.510,5726.208,589.506,2065.965,596.636,0.000,1643.078,0.000,2000.510,0.000,27.518,0.000
$DEVICE_MAMPS,244.673,55.224,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,825.759,916.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66350,1230
$CAP_FILE_SIZE,122582,0
$CFSIZE,260165632,214040576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.365,  5.7,1
$GPS,130609,021131,2434.422,12245.691,41,1.6,41,-3.5