version: 66.04
glider: 167
mission: 2
dive: 157
start: 6 13 109 16 59 54
data:
$ID,167
$MISSION,2
$DIVE,157
$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,-8019.0376
$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,71
$R_STBD_OVSHOOT,34
$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
$GPS1,164824,2444.464,12240.496,24,1.0,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-58.1
$GPS2,165932,2444.659,12240.443,11,1.8,11,-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,257.6,58466,-18.3,-12.000
$D_GRID,769
$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,-194.7,0.0,0.0,0,98,0.00,0.00,-80.97,0.000,2,0.000,0.000,142,2473,2464
$GC,101,-1.05,-194.7,3.1,-2.2,13,165,8.43,2.05,-48.12,0.000,4,0.248,0.059,2193,3765,3990
$GC,396,-0.20,-194.7,87.2,-28.9,64,403,0.98,1.95,0.00,0.000,6,0.170,0.025,2479,2399,3991
$GC,741,-1.04,-194.7,117.3,-16.4,125,747,0.73,0.00,0.00,0.000,6,0.080,0.000,2210,2399,3992
$GC,1085,-0.59,-194.7,183.1,-16.8,186,1092,0.45,0.00,0.00,0.000,6,0.163,0.000,2348,2399,3992
$GC,1430,-0.80,-194.7,213.1,-10.3,247,1437,0.17,2.10,0.00,0.000,4,0.068,0.048,2262,3758,3992
$GC,1574,-0.69,-194.7,231.5,-11.8,272,1581,0.20,1.88,0.00,0.000,6,0.143,0.027,2321,2430,3993
$GC,1919,-0.84,-194.7,263.2,-10.6,333,1926,0.12,2.08,0.00,0.000,4,0.077,0.048,2261,3772,3992
$GC,1972,-0.75,-194.7,270.5,-14.1,342,1979,0.15,1.90,0.00,0.000,6,0.149,0.027,2304,2439,3992
$GC,2318,-0.85,-194.7,307.7,-8.7,396,2321,0.00,2.05,0.00,0.000,4,0.000,0.051,2303,3766,3992
$GC,2436,-0.98,-194.7,317.2,-7.5,406,2444,0.20,1.88,0.00,0.000,6,0.066,0.028,2218,2456,3992
$GC,2761,-0.74,-194.7,359.9,-15.0,437,2765,0.25,2.03,0.00,0.000,4,0.153,0.048,2291,3773,3991
$GC,2878,-0.84,-194.7,372.4,-9.6,447,2884,0.00,1.88,0.00,0.000,6,0.000,0.028,2290,2460,3991
$GC,3204,-0.94,-194.7,400.4,-7.6,478,3208,0.15,2.03,0.00,0.000,4,0.075,0.051,2221,3764,3989
$GC,3284,-0.74,-194.7,409.4,-11.8,485,3288,0.28,1.83,0.00,0.000,6,0.153,0.028,2301,2499,3989
$GC,3615,-0.89,-194.7,438.4,-9.7,516,3619,0.15,1.98,0.00,0.000,4,0.076,0.052,2234,3767,3987
$GC,3732,-0.78,-194.7,454.6,-14.1,526,3740,0.20,1.83,0.00,0.000,6,0.153,0.030,2292,2506,3986
$GC,4057,-0.92,-194.7,488.1,-9.3,557,4061,0.12,1.98,0.00,0.000,4,0.082,0.054,2241,3767,3983
$GC,4130,-0.85,-194.7,496.8,-12.2,563,4136,0.10,1.80,0.00,0.000,6,0.161,0.030,2265,2524,3982
$GC,4457,-0.85,-194.7,523.8,-7.4,581,4460,0.00,2.15,0.00,0.000,4,0.000,0.031,2265,1048,3980
$GC,4490,-0.93,-194.7,526.7,-8.4,582,4494,0.00,2.22,0.00,0.000,6,0.000,0.038,2261,2516,3980
$GC,4806,-0.93,-194.7,551.7,-7.5,597,4809,0.00,1.92,0.00,0.000,4,0.000,0.056,2261,3762,3977
$GC,4862,-0.99,-194.7,556.5,-8.4,599,4866,0.12,1.80,0.00,0.000,6,0.086,0.031,2210,2526,3977
$GC,5183,-0.84,-194.7,593.9,-12.6,615,5188,0.20,2.17,0.00,0.000,4,0.162,0.032,2270,1042,3974
$GC,5302,-0.97,-194.7,605.1,-8.3,620,5307,0.12,2.22,0.00,0.000,6,0.084,0.040,2222,2504,3974
$GC,5619,-0.86,-194.7,638.6,-10.4,635,5623,0.15,1.95,0.00,0.000,4,0.173,0.057,2260,3758,3971
$GC,5691,-0.93,-194.7,645.5,-8.7,638,5695,0.00,1.83,0.00,0.000,6,0.000,0.033,2260,2516,3971
$GC,6018,-0.99,-194.7,672.6,-6.9,654,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2514,3968
$GC,6328,-1.08,-194.7,694.7,-5.6,669,6332,0.17,1.98,0.00,0.000,4,0.078,0.058,2180,3761,3966
$GC,6367,-0.81,-194.7,699.3,-13.1,670,6375,0.35,1.85,0.00,0.000,6,0.170,0.034,2279,2507,3966
$GC,6684,-0.94,-194.7,730.0,-10.7,686,6689,0.12,2.00,0.00,0.000,4,0.087,0.058,2232,3766,3964
$GC,6740,-0.87,-194.7,737.6,-13.4,688,6745,0.12,1.85,0.00,0.000,6,0.166,0.033,2263,2514,3963
$STATE,7039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7039,begin apogee
$GC,7044,-0.22,0.0,769.5,9.3,703,7131,0.65,0.00,83.70,1.254,6,0.143,0.000,2468,2514,3532
$STATE,7132,end apogee,CONTROL_FINISHED_OK
$STATE,7132,begin climb
$GC,7134,1.05,194.7,771.6,0.0,707,7293,1.15,0.00,153.82,1.209,6,0.060,0.000,2884,2514,2738
$GC,7592,0.45,194.7,707.0,20.1,729,7597,0.68,2.03,0.00,0.000,4,0.201,0.058,2698,3762,2731
$GC,7681,0.34,194.7,693.6,13.9,733,7685,0.17,1.85,0.00,0.000,6,0.180,0.032,2659,2522,2730
$GC,8008,0.58,273.6,662.5,8.7,749,8075,0.20,2.20,61.60,1.159,4,0.075,0.035,2738,1120,2415
$GC,8119,0.58,273.6,648.1,14.0,754,8123,0.00,2.20,0.00,0.000,6,0.000,0.038,2738,2505,2410
$GC,8441,0.58,273.6,604.1,12.9,770,8444,0.00,2.12,0.00,0.000,4,0.000,0.035,2745,1110,2406
$GC,8486,0.58,273.6,598.5,12.3,772,8489,0.00,2.17,0.00,0.000,6,0.000,0.041,2745,2507,2405
$GC,8818,0.51,273.6,555.5,13.3,788,8823,0.15,2.12,0.00,0.000,4,0.170,0.036,2707,1106,2404
$GC,8908,0.66,294.0,545.7,11.2,792,8929,0.15,2.12,15.85,1.065,6,0.083,0.041,2766,2483,2333
$GC,9242,0.59,294.0,497.7,14.6,809,9247,0.12,2.00,0.00,0.000,4,0.176,0.054,2736,3757,2328
$GC,9277,0.52,294.0,493.3,12.2,812,9280,0.00,1.90,0.00,0.000,6,0.000,0.031,2742,2481,2328
$GC,9609,0.52,294.0,453.3,12.8,843,9612,0.00,2.05,0.00,0.000,4,0.000,0.036,2746,1101,2326
$GC,9710,0.52,295.4,441.0,11.9,852,9715,0.12,2.15,0.00,0.000,6,0.166,0.038,2714,2506,2326
$GC,10036,0.75,386.6,412.4,8.2,882,10114,0.17,2.20,71.43,1.012,4,0.075,0.035,2789,1117,1954
$GC,10130,0.75,386.6,399.5,15.5,890,10138,0.00,2.15,0.00,0.000,6,0.000,0.038,2789,2474,1950
$GC,10458,0.75,386.6,348.0,17.9,921,10462,0.00,2.10,0.00,0.000,4,0.000,0.035,2789,1101,1944
$GC,10553,0.75,386.6,331.0,15.9,929,10559,0.00,2.10,0.00,0.000,6,0.000,0.038,2789,2460,1943
$GC,10885,0.75,386.6,280.7,14.4,971,10891,0.00,2.05,0.00,0.000,4,0.000,0.054,2789,3768,1942
$GC,10909,0.70,386.6,276.9,15.6,975,10915,0.00,2.00,0.00,0.000,6,0.000,0.030,2789,2425,1942
$GC,11252,0.70,386.6,226.0,14.4,1036,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2424,1942
$GC,11595,0.77,393.1,178.6,11.7,1097,11608,0.00,1.98,4.68,0.621,4,0.000,0.036,2789,1115,1929
$GC,11678,0.93,423.1,169.5,10.8,1111,11708,0.15,2.00,24.50,0.794,6,0.079,0.038,2849,2435,1806
$GC,12049,0.87,423.1,115.0,19.4,1176,12055,0.00,1.98,0.00,0.000,4,0.000,0.033,2855,1110,1801
$GC,12187,1.00,476.1,95.3,9.8,1200,12234,0.00,2.00,40.72,0.721,6,0.000,0.036,2855,2430,1590
$GC,12574,1.15,476.1,56.9,14.6,1268,12580,0.17,1.98,0.00,0.000,4,0.071,0.031,2937,1110,1583
$GC,12649,1.09,476.1,43.3,15.9,1281,12655,0.15,1.98,0.00,0.000,6,0.160,0.035,2898,2422,1583
$STATE,12962,end climb,SURFACE_DEPTH_REACHED
$STATE,12963,begin surface coast
$FINISH,1.7,1.008705
$STATE,12986,end surface coast,CONTROL_FINISHED_OK
$STATE,12987,begin surface
$SM_CCo,13064,0.00,0.000,0,0,1582,478.33
$SM_GC,2.58,7.40,0.00,0.00,0.061,0.000,0.000,141,2426,1582,-7.50,-0.03,478.33
$IRIDIUM_FIX,2434.69,12237.55,070998,171706
$TT8_MAMPS,0.028379
$HUMID,1623
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.2,28.224
$10V_AH,10.8,16.208
$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,25.500,104.575,456.300,0.000,0.000,54.904,68.573,360.090,5.750,0.000,0.000,11.618,2344.954,7755.874,587.797,2303.376,736.725,0.000,1764.233,0.000,2250.825,0.000,39.405,0.000
$DEVICE_MAMPS,247.741,59.059,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.846,938.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72692,1341
$CAP_FILE_SIZE,147001,0
$CFSIZE,260165632,213639168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.310, 18.1,1
$GPS,130609,203854,2446.544,12238.967,25,1.3,42,-3.5