version: 66.04
glider: 167
mission: 2
dive: 356
start: 7 23 109 14 46 55
data:
$ID,167
$MISSION,2
$DIVE,356
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-12475.346
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,50
$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
$GPS1,144022,2445.580,12424.923,9,3.1,28,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-64.7
$GPS2,144635,2445.530,12424.931,14,2.0,30,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,135.8,62055,-24.8,-13.043
$D_GRID,776
$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,-1.25,-121.7,0.0,0.0,0,54,0.00,0.00,-37.28,0.000,2,0.000,0.000,139,2500,2488
$GC,57,-1.25,-121.7,3.2,-2.7,6,117,8.07,1.90,-44.62,0.000,4,0.234,0.054,2132,3749,3988
$GC,310,-0.85,-121.7,51.8,-21.2,50,316,0.47,1.80,0.00,0.000,6,0.166,0.021,2267,2452,3989
$GC,656,-1.19,-121.7,90.9,-12.2,111,662,0.25,1.90,0.00,0.000,4,0.057,0.022,2156,1101,3990
$GC,685,-1.19,-121.7,95.4,-15.2,116,691,0.00,2.00,0.00,0.000,6,0.000,0.028,2151,2469,3989
$GC,1030,-1.02,-121.7,147.4,-15.3,177,1038,0.20,1.92,0.00,0.000,4,0.169,0.041,2204,3754,3990
$GC,1153,-1.02,-121.7,164.0,-13.6,198,1159,0.00,1.75,0.00,0.000,6,0.000,0.022,2204,2480,3990
$GC,1498,-1.12,-121.7,206.5,-11.8,259,1504,0.00,1.92,0.00,0.000,4,0.000,0.042,2205,3751,3991
$GC,1636,-1.17,-121.7,222.8,-11.4,283,1642,0.10,1.70,0.00,0.000,6,0.081,0.022,2157,2520,3991
$GC,1982,-1.17,-121.7,264.4,-12.8,344,1988,0.00,1.88,0.00,0.000,4,0.000,0.041,2152,3758,3991
$GC,2018,-1.05,-121.7,269.5,-15.0,350,2024,0.20,1.70,0.00,0.000,6,0.155,0.021,2206,2528,3991
$GC,2367,-1.36,-121.7,301.3,-9.0,411,2372,0.25,2.03,0.00,0.000,4,0.060,0.022,2097,1089,3991
$GC,2594,-1.18,-121.7,334.8,-14.2,430,2600,0.28,2.10,0.00,0.000,6,0.160,0.029,2165,2518,3991
$GC,2919,-1.26,-121.7,365.2,-10.6,461,2923,0.00,2.05,0.00,0.000,4,0.000,0.025,2165,1091,3991
$GC,2959,-1.33,-121.7,369.6,-11.0,464,2966,0.15,2.08,0.00,0.000,6,0.073,0.031,2105,2497,3991
$GC,3285,-1.20,-121.7,408.5,-11.8,495,3289,0.17,1.90,0.00,0.000,4,0.180,0.042,2147,3758,3991
$GC,3400,-1.14,-121.7,421.8,-11.9,505,3405,0.12,1.75,0.00,0.000,6,0.168,0.024,2177,2513,3991
$GC,3732,-1.29,-121.7,452.9,-8.4,536,3737,0.15,1.90,0.00,0.000,4,0.073,0.044,2110,3754,3990
$GC,3760,-1.21,-121.7,456.1,-11.7,538,3767,0.17,1.75,0.00,0.000,6,0.172,0.024,2155,2512,3989
$GC,4087,-1.27,-121.7,489.9,-10.7,569,4090,0.00,1.90,0.00,0.000,4,0.000,0.044,2152,3750,3988
$GC,4144,-1.27,-121.7,496.6,-12.2,574,4148,0.00,1.73,0.00,0.000,6,0.000,0.025,2153,2538,3987
$GC,4467,-1.47,-121.7,528.9,-9.9,591,4471,0.20,2.08,0.00,0.000,4,0.067,0.026,2067,1090,3985
$GC,4562,-1.27,-121.7,541.5,-13.4,595,4567,0.28,2.10,0.00,0.000,6,0.172,0.031,2132,2501,3985
$GC,4887,-1.27,-121.7,576.4,-11.1,611,4891,0.00,1.90,0.00,0.000,4,0.000,0.044,2124,3755,3982
$GC,4995,-1.18,-121.7,589.8,-11.9,615,5002,0.15,1.77,0.00,0.000,6,0.167,0.025,2162,2511,3981
$GC,5311,-1.45,-121.7,622.2,-10.2,631,5316,0.20,2.05,0.00,0.000,4,0.067,0.026,2078,1087,3979
$GC,5437,-1.31,-121.7,639.6,-15.7,636,5443,0.17,2.10,0.00,0.000,6,0.178,0.033,2116,2487,3977
$GC,5752,-1.31,-121.7,680.1,-11.9,652,5756,0.00,1.95,0.00,0.000,4,0.000,0.049,2110,3757,3975
$GC,5867,-1.22,-121.7,694.2,-11.8,657,5871,0.15,1.83,0.00,0.000,6,0.170,0.027,2148,2497,3974
$GC,6201,-1.28,-121.7,723.2,-7.5,673,6205,0.00,2.03,0.00,0.000,4,0.000,0.028,2148,1087,3971
$GC,6258,-1.35,-121.7,727.4,-7.6,675,6262,0.12,2.12,0.00,0.000,6,0.081,0.037,2101,2488,3970
$GC,6576,-1.27,-121.7,762.7,-9.3,690,6580,0.15,1.98,0.00,0.000,4,0.193,0.048,2129,3767,3968
$GC,6644,-1.27,-121.7,769.0,-8.3,693,6648,0.00,1.88,0.00,0.000,6,0.000,0.027,2129,2480,3967
$STATE,6748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6748,begin apogee
$GC,6754,-0.22,0.0,777.8,8.3,698,6851,1.15,0.00,88.05,1.233,6,0.161,0.000,2470,2392,3532
$STATE,6852,end apogee,CONTROL_FINISHED_OK
$STATE,6852,begin climb
$GC,6854,1.25,121.7,780.8,0.0,703,6962,1.30,2.33,98.53,1.200,4,0.061,0.048,2943,3765,3034
$GC,7197,0.57,148.6,759.5,11.1,718,7227,0.82,2.03,21.65,1.145,6,0.208,0.025,2736,2385,2926
$GC,7539,0.80,237.5,733.8,6.7,735,7616,0.20,2.25,71.12,1.182,4,0.073,0.049,2818,3760,2562
$GC,7669,0.68,237.5,718.7,14.6,740,7673,0.25,2.03,0.00,0.000,6,0.181,0.025,2763,2420,2558
$GC,7996,0.89,290.4,683.3,9.2,756,8046,0.20,2.25,42.22,1.151,4,0.075,0.032,2846,997,2347
$GC,8074,0.89,290.4,671.5,15.5,759,8080,0.00,2.20,0.00,0.000,6,0.000,0.035,2846,2402,2344
$GC,8392,0.83,290.4,625.9,13.3,775,8396,0.12,2.12,0.00,0.000,4,0.189,0.050,2818,3757,2340
$GC,8454,0.79,292.7,617.5,12.9,778,8458,0.00,2.00,0.00,0.000,6,0.000,0.027,2825,2399,2340
$GC,8786,0.81,311.1,578.8,11.7,794,8809,0.00,2.15,16.77,1.076,4,0.000,0.032,2831,1008,2262
$GC,8942,0.89,315.2,559.6,12.7,800,8951,0.00,2.15,4.72,0.802,6,0.000,0.034,2830,2415,2245
$GC,9280,0.94,315.2,512.7,13.4,817,9283,0.00,2.10,0.00,0.000,4,0.000,0.050,2830,3764,2242
$GC,9358,0.94,315.2,501.3,14.3,820,9362,0.00,2.00,0.00,0.000,6,0.000,0.026,2839,2397,2241
$GC,9693,1.04,354.7,463.7,10.2,851,9737,0.10,2.25,32.42,1.036,4,0.094,0.051,2880,3754,2084
$GC,9895,0.92,354.7,435.0,14.3,869,9900,0.17,2.05,0.00,0.000,6,0.187,0.027,2841,2372,2080
$GC,10221,1.05,360.6,396.1,12.6,899,10230,0.12,0.00,5.53,0.785,6,0.084,0.000,2889,2369,2061
$GC,10548,1.06,369.7,351.0,12.4,930,10560,0.00,0.00,9.02,0.861,6,0.000,0.000,2889,2369,2024
$GC,10880,1.10,395.2,311.5,11.2,961,10906,0.00,2.05,21.70,0.895,4,0.000,0.031,2898,1008,1919
$GC,11028,1.18,427.3,295.6,10.7,977,11063,0.00,2.10,26.73,0.874,6,0.000,0.032,2899,2392,1791
$GC,11404,1.32,427.3,249.1,13.9,1043,11411,0.17,2.08,0.00,0.000,4,0.077,0.029,2982,1009,1784
$GC,11463,1.19,427.3,239.2,17.7,1053,11470,0.20,2.08,0.00,0.000,6,0.189,0.032,2932,2388,1784
$GC,11811,1.26,440.1,191.7,12.1,1114,11830,0.00,2.10,11.48,0.742,4,0.000,0.030,2940,1009,1736
$GC,11921,1.34,459.2,177.8,11.7,1133,11946,0.10,2.03,17.10,0.749,6,0.087,0.030,2980,2357,1658
$GC,12285,1.34,459.2,127.0,13.5,1197,12291,0.00,2.00,0.00,0.000,4,0.000,0.029,2988,1006,1654
$GC,12365,1.34,459.2,115.5,13.5,1211,12371,0.00,1.92,0.00,0.000,6,0.000,0.029,2988,2304,1654
$GC,12709,1.34,459.2,67.7,13.1,1272,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2304,1654
$GC,13052,1.47,485.5,27.7,11.2,1333,13081,0.00,1.98,21.52,0.622,4,0.000,0.028,2996,999,1551
$GC,13122,1.57,485.5,19.0,13.1,1345,13128,0.15,1.98,0.00,0.000,6,0.081,0.029,3052,2325,1549
$STATE,13245,end climb,SURFACE_DEPTH_REACHED
$STATE,13245,begin surface coast
$FINISH,1.7,1.000552
$STATE,13262,end surface coast,CONTROL_FINISHED_OK
$STATE,13262,begin surface
$SM_CCo,13341,0.00,0.000,0,0,1546,487.41
$SM_GC,2.57,7.75,0.00,0.00,0.051,0.000,0.000,139,2484,1546,-7.50,0.03,487.41
$IRIDIUM_FIX,2437.06,12428.80,171098,131357
$TT8_MAMPS,0.028379
$HUMID,1659
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.9,63.251
$10V_AH,10.8,35.111
$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,24.850,111.900,488.575,0.000,0.000,28.566,32.878,148.089,6.000,0.000,0.000,30.285,2426.411,7660.007,589.215,2473.909,567.561,0.000,1839.774,0.000,2399.124,0.000,41.102,0.000
$DEVICE_MAMPS,233.935,85.904,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,920.599,964.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72694,1370
$CAP_FILE_SIZE,148787,0
$CFSIZE,260165632,196108288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,167.7,1
$GPS,230709,183050,2443.715,12425.834,40,5.2,59,-3.7