version: 66.04
glider: 167
mission: 2
dive: 12
start: 5 22 109 23 44 19
data:
$ID,167
$MISSION,2
$DIVE,12
$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,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$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,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,-4117.5181
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$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,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
$GPS1,233737,2533.670,12256.376,25,1.8,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.6
$GPS2,234343,2533.792,12256.345,12,1.7,17,-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,304.2,15632,-16.8,-10.000
$D_GRID,877
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-170.3,0.0,0.0,0,67,0.00,0.00,-50.50,0.000,2,0.000,0.000,146,2237,3010
$GC,70,-0.88,-170.3,3.4,-3.3,6,114,9.30,2.00,-24.08,0.000,4,0.272,0.048,2255,919,3992
$GC,294,-0.88,-170.3,67.6,-34.2,42,303,0.00,2.15,0.00,0.000,6,0.000,0.037,2248,2314,3991
$GC,650,-0.88,-170.3,162.6,-22.0,103,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2314,3997
$GC,999,-0.88,-170.3,222.7,-14.8,164,1007,0.00,2.08,0.00,0.000,4,0.000,0.031,2247,921,3995
$GC,1093,-0.88,-170.3,235.5,-14.1,180,1101,0.00,2.10,0.00,0.000,6,0.000,0.035,2242,2310,3995
$GC,1441,-0.88,-170.3,290.1,-17.8,241,1447,0.00,2.15,0.00,0.000,4,0.000,0.050,2231,3723,3996
$GC,1560,-0.88,-170.3,310.0,-14.4,256,1570,0.10,2.08,0.00,0.000,6,0.163,0.029,2262,2305,3996
$GC,1888,-0.88,-170.3,344.4,-9.2,287,1892,0.00,2.17,0.00,0.000,4,0.000,0.051,2260,3714,3996
$GC,1945,-0.88,-170.3,349.8,-9.4,292,1950,0.00,2.03,0.00,0.000,6,0.000,0.029,2260,2303,3996
$GC,2277,-0.88,-170.3,385.4,-11.8,323,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2302,3994
$GC,2595,-0.88,-170.3,421.9,-9.5,353,2599,0.00,2.20,0.00,0.000,4,0.000,0.054,2260,3723,3995
$GC,2719,-0.88,-170.3,432.3,-7.4,364,2723,0.00,2.03,0.00,0.000,6,0.000,0.031,2260,2308,3994
$GC,3051,-0.88,-170.3,460.2,-10.3,395,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2307,3993
$GC,3370,-0.88,-170.3,492.2,-9.9,425,3373,0.00,2.20,0.00,0.000,4,0.000,0.057,2260,3720,3991
$GC,3417,-0.88,-170.3,497.0,-10.2,429,3421,0.00,2.05,0.00,0.000,6,0.000,0.032,2260,2305,3990
$GC,3740,-0.88,-170.3,524.4,-8.5,446,3743,0.00,2.20,0.00,0.000,4,0.000,0.057,2260,3719,3987
$GC,3819,-0.88,-170.3,531.7,-9.0,449,3823,0.00,2.05,0.00,0.000,6,0.000,0.033,2260,2310,3986
$GC,4142,-0.88,-170.3,559.6,-8.6,465,4146,0.00,2.20,0.00,0.000,4,0.000,0.057,2262,3719,3984
$GC,4220,-0.88,-170.3,567.5,-10.0,468,4224,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2299,3983
$GC,4544,-0.88,-170.3,600.4,-10.7,484,4548,0.00,2.20,0.00,0.000,4,0.000,0.058,2260,3708,3981
$GC,4605,-0.88,-170.3,607.5,-10.8,486,4614,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2310,3980
$GC,4921,-0.88,-170.3,640.6,-10.7,502,4924,0.00,2.20,0.00,0.000,4,0.000,0.059,2260,3717,3978
$GC,4976,-0.88,-170.3,646.8,-11.3,504,4980,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2300,3978
$GC,5297,-0.88,-170.3,681.6,-10.7,520,5301,0.00,2.22,0.00,0.000,4,0.000,0.060,2261,3717,3975
$GC,5413,-0.88,-170.3,694.2,-11.4,525,5416,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2301,3975
$GC,5749,-0.88,-170.3,729.7,-9.8,541,5752,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3717,3973
$GC,5855,-0.88,-170.3,739.9,-8.4,545,5861,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2303,3972
$GC,6173,-0.88,-170.3,767.6,-8.8,561,6177,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3717,3971
$GC,6221,-0.88,-170.3,771.9,-9.0,563,6225,0.00,2.10,0.00,0.000,6,0.000,0.036,2260,2292,3971
$GC,6558,-0.88,-170.3,800.2,-8.4,579,6562,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3710,3967
$GC,6697,-0.88,-170.3,812.5,-8.6,585,6700,0.00,2.08,0.00,0.000,6,0.000,0.036,2261,2300,3965
$GC,7031,-0.88,-170.3,842.8,-9.2,601,7035,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3711,3967
$GC,7126,-0.88,-170.3,852.2,-9.5,605,7130,0.00,2.08,0.00,0.000,6,0.000,0.035,2260,2302,3966
$STATE,7411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7411,begin apogee
$GC,7417,-0.20,0.0,878.8,9.3,619,7506,0.73,0.00,86.18,1.388,6,0.157,0.000,2485,2397,3534
$STATE,7507,end apogee,CONTROL_FINISHED_OK
$STATE,7507,begin climb
$GC,7509,0.88,170.3,882.3,0.0,623,7659,0.98,0.00,142.10,1.415,6,0.069,0.000,2831,2397,2837
$GC,7970,0.88,170.3,839.3,15.0,645,7974,0.00,2.20,0.00,0.000,4,0.000,0.061,2831,3759,2832
$GC,8019,0.88,170.3,830.4,17.5,647,8023,0.00,2.10,0.00,0.000,6,0.000,0.035,2841,2377,2832
$GC,8349,0.88,170.3,779.6,16.2,663,8352,0.00,2.20,0.00,0.000,4,0.000,0.058,2841,3755,2830
$GC,8461,0.88,170.3,758.1,19.8,668,8465,0.00,2.05,0.00,0.000,6,0.000,0.033,2850,2385,2830
$GC,8794,0.88,170.3,706.2,15.3,684,8798,0.00,2.10,0.00,0.000,4,0.000,0.041,2861,983,2829
$GC,8864,0.88,170.3,695.1,16.9,687,8868,0.00,2.17,0.00,0.000,6,0.000,0.044,2856,2402,2829
$GC,9193,0.88,170.3,640.6,16.2,703,9196,0.00,2.15,0.00,0.000,4,0.000,0.064,2861,3765,2828
$GC,9298,0.88,170.3,620.7,18.8,707,9306,0.15,2.08,0.00,0.000,6,0.232,0.035,2837,2377,2828
$GC,9616,0.88,170.3,570.8,15.1,723,9620,0.00,2.20,0.00,0.000,4,0.000,0.058,2838,3768,2827
$GC,9808,0.88,170.3,537.8,18.2,731,9812,0.00,2.08,0.00,0.000,6,0.000,0.035,2845,2397,2827
$GC,10136,0.88,170.3,485.7,16.4,751,10139,0.00,2.10,0.00,0.000,4,0.000,0.041,2852,986,2826
$GC,10214,0.88,170.3,473.3,14.6,758,10217,0.00,2.15,0.00,0.000,6,0.000,0.042,2856,2405,2826
$GC,10546,0.88,170.3,433.2,11.4,789,10550,0.00,2.15,0.00,0.000,4,0.000,0.041,2865,971,2825
$GC,10593,0.88,170.3,428.1,10.9,793,10597,0.00,2.17,0.00,0.000,6,0.000,0.044,2865,2402,2825
$GC,10924,0.88,170.3,386.5,11.8,824,10928,0.00,2.10,0.00,0.000,4,0.000,0.061,2865,3754,2825
$GC,11183,0.88,170.3,350.3,14.5,847,11188,0.15,2.03,0.00,0.000,6,0.228,0.034,2841,2373,2824
$GC,11513,0.88,170.3,311.5,11.6,878,11517,0.00,2.17,0.00,0.000,4,0.000,0.061,2841,3752,2824
$GC,11536,0.88,170.3,308.8,12.2,880,11540,0.00,2.00,0.00,0.000,6,0.000,0.032,2850,2382,2824
$GC,11879,0.94,214.1,274.3,8.3,933,11921,0.00,2.12,31.42,0.955,4,0.000,0.040,2859,1005,2658
$GC,11960,0.94,214.1,265.3,11.4,946,11969,0.00,2.17,0.00,0.000,6,0.000,0.042,2859,2391,2657
$GC,12307,0.94,214.1,224.3,10.1,1007,12314,0.00,2.10,0.00,0.000,4,0.000,0.038,2868,988,2655
$GC,12401,0.94,214.1,214.2,11.0,1023,12408,0.00,2.15,0.00,0.000,6,0.000,0.041,2868,2401,2655
$GC,12753,0.94,214.1,172.4,10.2,1084,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2401,2655
$GC,13108,0.98,246.9,135.9,8.7,1145,13134,0.00,0.00,25.02,0.797,6,0.000,0.000,2868,2401,2525
$GC,13483,1.02,282.7,106.2,8.6,1208,13516,0.00,0.00,28.05,0.754,6,0.000,0.000,2868,2401,2379
$GC,13864,1.02,284.5,66.4,9.9,1272,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2401,2376
$GC,14219,1.09,339.4,32.3,7.8,1333,14268,0.10,2.15,42.72,0.670,4,0.099,0.035,2911,995,2146
$GC,14376,1.09,339.4,14.6,13.2,1357,14382,0.00,2.15,0.00,0.000,6,0.000,0.035,2912,2391,2145
$STATE,14470,end climb,SURFACE_DEPTH_REACHED
$STATE,14470,begin surface coast
$FINISH,1.1,1.008346
$STATE,14495,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14512,60.08,0.640,0,0,1799,425.10
$SM_GC,1.87,0.00,0.00,60.08,0.000,0.000,0.640,147,2293,1799,-7.52,-0.31,425.10
$IRIDIUM_FIX,2522.28,12302.33,160898,191935
$TT8_MAMPS,0.032214
$HUMID,1465
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,28.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,850.1,62.6
$24V_AH,23.7,6.158
$10V_AH,10.6,3.695
$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,19.025,115.100,355.500,60.075,0.000,28.719,37.671,170.294,7.250,0.000,0.000,17.433,2444.208,6682.471,467.738,4804.309,550.039,0.000,1786.054,0.000,4799.962,0.000,49.002,0.000
$DEVICE_MAMPS,272.285,81.302,1415.115,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.285,945.238,3491.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72685,1377
$CAP_FILE_SIZE,173249,0
$CFSIZE,260165632,224194560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.004,236.6,1
$GPS,230509,034830,2534.761,12254.770,42,1.2,42,-3.7