version: 66.04
glider: 167
mission: 2
dive: 10
start: 5 22 109 15 21 34
data:
$ID,167
$MISSION,2
$DIVE,10
$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,330
$T_MISSION,390
$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,175
$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,450
$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,-4085.6626
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2553
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,151335,2529.429,12259.223,14,1.5,24,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.4
$GPS2,152114,2529.563,12259.297,15,1.6,15,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$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,309.8,24788,-16.8,-10.000
$D_GRID,853
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.88,-170.3,0.0,0.0,0,60,0.00,0.00,-42.05,0.000,2,0.000,0.000,147,2326,2764
$GC,63,-0.88,-170.3,3.1,-3.0,5,116,9.30,2.15,-35.08,0.000,4,0.276,0.047,2261,869,3987
$GC,228,-0.88,-170.3,39.0,-30.2,30,237,0.00,2.17,0.00,0.000,6,0.000,0.038,2253,2277,3989
$GC,584,-0.88,-170.3,148.5,-26.8,91,591,0.00,2.15,0.00,0.000,4,0.000,0.048,2243,3674,3990
$GC,605,-0.88,-170.3,155.2,-30.4,94,614,0.00,2.08,0.00,0.000,6,0.000,0.028,2243,2248,3988
$GC,961,-0.88,-170.3,229.1,-15.4,155,967,0.00,1.98,0.00,0.000,4,0.000,0.031,2243,876,3993
$GC,1021,-0.88,-170.3,238.1,-14.1,165,1028,0.12,2.08,0.00,0.000,6,0.173,0.035,2265,2278,3993
$GC,1371,-0.88,-170.3,287.3,-13.4,226,1380,0.00,2.15,0.00,0.000,4,0.000,0.051,2260,3672,3994
$GC,1452,-0.88,-170.3,297.2,-12.5,239,1458,0.00,2.00,0.00,0.000,6,0.000,0.029,2260,2274,3994
$GC,1783,-0.88,-170.3,341.1,-13.4,272,1786,0.00,2.15,0.00,0.000,4,0.000,0.051,2260,3668,3995
$GC,1820,-0.88,-170.3,345.6,-13.6,275,1823,0.00,2.00,0.00,0.000,6,0.000,0.028,2260,2271,3994
$GC,2151,-0.88,-170.3,384.6,-10.7,306,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2268,3994
$GC,2468,-0.88,-170.3,420.6,-9.3,336,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2267,3994
$GC,2789,-0.88,-170.3,450.1,-10.2,366,2792,0.00,2.17,0.00,0.000,4,0.000,0.053,2260,3674,3994
$GC,2872,-0.88,-170.3,459.8,-11.1,373,2879,0.00,2.05,0.00,0.000,6,0.000,0.031,2260,2251,3994
$GC,3197,-0.88,-170.3,492.7,-9.6,404,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2246,3992
$GC,3512,-0.88,-170.3,521.8,-9.4,423,3516,0.00,2.20,0.00,0.000,4,0.000,0.056,2260,3668,3991
$GC,3630,-0.88,-170.3,534.8,-10.5,428,3634,0.00,2.08,0.00,0.000,6,0.000,0.033,2260,2242,3990
$GC,3957,-0.88,-170.3,572.0,-11.3,444,3960,0.00,2.22,0.00,0.000,4,0.000,0.056,2260,3670,3989
$GC,4035,-0.88,-170.3,580.5,-10.2,447,4039,0.00,2.05,0.00,0.000,6,0.000,0.033,2260,2262,3988
$GC,4359,-0.88,-170.3,610.5,-9.2,463,4363,0.00,2.20,0.00,0.000,4,0.000,0.057,2260,3673,3986
$GC,4453,-0.88,-170.3,619.4,-9.8,467,4457,0.00,2.05,0.00,0.000,6,0.000,0.034,2260,2260,3985
$GC,4790,-0.88,-170.3,651.9,-9.6,483,4794,0.00,2.20,0.00,0.000,4,0.000,0.059,2261,3667,3982
$GC,4929,-0.88,-170.3,664.6,-8.8,489,4933,0.00,2.05,0.00,0.000,6,0.000,0.036,2260,2268,3982
$GC,5265,-0.88,-170.3,691.7,-8.2,505,5269,0.00,2.20,0.00,0.000,4,0.000,0.058,2261,3670,3979
$GC,5419,-0.88,-170.3,705.1,-8.7,511,5425,0.00,2.08,0.00,0.000,6,0.000,0.035,2261,2255,3978
$GC,5737,-0.88,-170.3,733.8,-8.9,527,5741,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3670,3976
$GC,5831,-0.88,-170.3,742.2,-9.2,531,5835,0.00,2.05,0.00,0.000,6,0.000,0.037,2261,2274,3976
$GC,6169,-0.88,-170.3,769.2,-8.2,547,6173,0.00,2.20,0.00,0.000,4,0.000,0.061,2261,3674,3974
$GC,6282,-0.88,-170.3,779.9,-9.3,552,6286,0.00,2.08,0.00,0.000,6,0.000,0.036,2259,2258,3973
$GC,6614,-0.88,-170.3,808.5,-8.9,568,6618,0.00,2.22,0.00,0.000,4,0.000,0.060,2261,3674,3971
$STATE,6787,end dive,NO_VERTICAL_VELOCITY
$STATE,6787,begin apogee
$GC,6795,-0.20,0.0,811.1,0.0,576,6884,0.68,0.00,86.45,1.338,6,0.110,0.000,2491,2340,3534
$STATE,6885,end apogee,CONTROL_FINISHED_OK
$STATE,6885,begin climb
$GC,6887,0.88,170.3,811.0,0.0,580,7034,1.02,0.00,141.07,1.364,6,0.099,0.000,2830,2340,2837
$GC,7346,0.88,170.3,792.6,15.6,603,7350,0.00,2.25,0.00,0.000,4,0.000,0.059,2830,3732,2832
$GC,7453,0.88,170.3,772.6,17.2,608,7457,0.00,2.12,0.00,0.000,6,0.000,0.035,2839,2333,2831
$GC,7785,0.88,170.3,721.6,15.6,624,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2330,2829
$GC,8097,0.88,170.3,672.8,15.1,639,8100,0.00,2.25,0.00,0.000,4,0.000,0.061,2840,3740,2828
$GC,8198,0.88,170.3,655.6,16.9,643,8202,0.00,2.12,0.00,0.000,6,0.000,0.035,2850,2321,2828
$GC,8522,0.88,170.3,608.1,15.8,659,8526,0.00,2.25,0.00,0.000,4,0.000,0.059,2851,3737,2827
$GC,8782,0.88,170.3,560.9,17.3,670,8786,0.00,2.12,0.00,0.000,6,0.000,0.036,2861,2337,2826
$GC,9103,0.88,170.3,518.6,11.9,686,9107,0.00,2.20,0.00,0.000,4,0.000,0.060,2861,3730,2825
$GC,9365,0.88,170.3,480.9,14.9,703,9370,0.15,2.08,0.00,0.000,6,0.231,0.034,2838,2327,2824
$GC,9692,0.88,170.3,441.8,11.7,733,9696,0.00,2.08,0.00,0.000,4,0.000,0.041,2846,927,2823
$GC,9945,0.88,170.3,413.0,13.1,755,9951,0.00,2.15,0.00,0.000,6,0.000,0.043,2846,2339,2823
$GC,10271,0.89,175.7,376.3,9.8,786,10275,0.00,2.17,0.00,0.000,4,0.000,0.060,2846,3749,2822
$GC,10398,0.89,175.7,362.6,12.0,797,10402,0.00,2.10,0.00,0.000,6,0.000,0.035,2856,2335,2822
$GC,10729,0.89,175.7,326.8,11.3,828,10733,0.00,2.17,0.00,0.000,4,0.000,0.058,2857,3742,2822
$GC,10989,0.89,175.7,289.7,16.4,856,10998,0.00,2.12,0.00,0.000,6,0.000,0.035,2867,2318,2822
$GC,11343,1.00,266.3,254.6,6.4,917,11420,0.00,2.35,69.62,0.913,4,0.000,0.056,2867,3740,2444
$GC,11524,1.00,266.3,229.9,17.6,946,11534,0.00,2.17,0.00,0.000,6,0.000,0.034,2878,2327,2440
$GC,11880,1.00,266.3,176.4,13.7,1007,11889,0.00,2.10,0.00,0.000,4,0.000,0.039,2886,938,2438
$GC,12150,1.00,266.3,143.5,11.5,1053,12159,0.00,2.15,0.00,0.000,6,0.000,0.038,2886,2336,2438
$GC,12505,1.00,266.3,101.3,12.2,1114,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2336,2438
$GC,12860,1.00,266.3,67.7,10.3,1175,12869,0.00,2.17,0.00,0.000,4,0.000,0.054,2886,3737,2440
$GC,13129,1.06,315.4,42.1,8.1,1221,13179,0.00,2.08,36.88,0.676,6,0.000,0.029,2896,2332,2246
$STATE,13489,end climb,SURFACE_DEPTH_REACHED
$STATE,13489,begin surface coast
$FINISH,1.3,1.021906
$STATE,13521,end surface coast,CONTROL_FINISHED_OK
$STATE,13521,begin surface
$SM_CCo,13537,95.35,0.637,0,0,1696,450.13
$SM_GC,2.00,0.00,0.00,95.35,0.000,0.000,0.637,146,2329,1696,-7.52,1.70,450.13
$IRIDIUM_FIX,2519.89,12259.03,160898,151559
$TT8_MAMPS,0.032981
$HUMID,1446
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,29.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,751.1,59.8
$24V_AH,23.8,5.862
$10V_AH,10.7,3.265
$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,18.600,102.450,334.025,95.350,0.000,49.703,113.687,130.744,6.250,0.000,0.000,15.128,2269.473,6218.413,508.461,4537.796,561.341,0.000,1741.375,0.000,4538.087,0.000,42.319,0.000
$DEVICE_MAMPS,276.120,61.360,1364.493,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.092,878.765,3249.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69505,1286
$CAP_FILE_SIZE,159496,0
$CFSIZE,260165632,224370688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 25.5,1
$GPS,220509,191006,2530.841,12258.387,37,1.1,42,-3.7