version: 66.04
glider: 167
mission: 2
dive: 17
start: 5 23 109 16 13 39
data:
$ID,167
$MISSION,2
$DIVE,17
$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,-4195.3418
$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,25
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,42
$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
$GPS1,160804,2539.297,12250.334,10,99.0,29,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.0
$GPS2,161319,2539.348,12250.291,12,1.2,17,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,125.5,64716,-16.8,-10.000
$D_GRID,678
$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,15,-0.88,-170.3,0.0,0.0,0,60,0.00,0.00,-42.72,0.000,2,0.000,0.000,146,2302,2861
$GC,63,-0.88,-170.3,3.1,-2.9,5,107,8.93,2.08,-30.27,0.000,4,0.265,0.044,2251,917,3988
$GC,192,-0.19,-170.3,36.4,-30.7,24,199,0.75,2.12,0.00,0.000,6,0.186,0.035,2473,2312,3990
$GC,547,-0.58,-170.3,64.5,-5.9,85,555,0.30,2.15,0.00,0.000,4,0.058,0.048,2344,3710,3991
$GC,599,-0.46,-170.3,70.4,-13.0,93,608,0.15,2.05,0.00,0.000,6,0.144,0.026,2393,2288,3991
$GC,954,-0.57,-170.3,108.4,-11.8,154,964,0.00,1.98,0.00,0.000,4,0.000,0.031,2394,930,3996
$GC,1054,-0.73,-170.3,118.6,-10.8,170,1062,0.20,2.05,0.00,0.000,6,0.055,0.033,2296,2312,3992
$GC,1410,-0.60,-170.3,176.0,-13.1,231,1419,0.17,2.12,0.00,0.000,4,0.164,0.046,2345,3703,3993
$GC,1560,-0.71,-170.3,193.8,-10.9,256,1568,0.00,2.00,0.00,0.000,6,0.000,0.026,2345,2307,3994
$GC,1918,-0.85,-170.3,230.6,-9.0,317,1924,0.17,2.12,0.00,0.000,4,0.070,0.047,2262,3701,3994
$GC,2003,-0.57,-170.3,243.3,-18.1,331,2009,0.32,1.98,0.00,0.000,6,0.162,0.028,2358,2306,3994
$GC,2352,-0.78,-170.3,269.5,-3.9,392,2360,0.17,0.00,0.00,0.000,6,0.068,0.000,2278,2305,3995
$GC,2702,-0.65,-170.3,303.4,-9.7,450,2706,0.17,2.12,0.00,0.000,4,0.166,0.048,2329,3706,3994
$GC,2761,-0.75,-170.3,308.0,-7.6,455,2765,0.00,2.00,0.00,0.000,6,0.000,0.028,2329,2296,3994
$GC,3093,-0.87,-170.3,331.7,-7.5,486,3098,0.17,1.98,0.00,0.000,4,0.071,0.031,2255,921,3994
$GC,3111,-0.87,-170.3,333.6,-8.7,487,3117,0.00,2.05,0.00,0.000,6,0.000,0.035,2250,2314,3994
$GC,3435,-0.69,-170.3,379.1,-16.2,518,3440,0.22,2.03,0.00,0.000,4,0.166,0.031,2319,921,3993
$GC,3577,-0.83,-170.3,397.3,-11.7,530,3581,0.12,2.05,0.00,0.000,6,0.084,0.035,2265,2312,3993
$GC,3909,-0.79,-170.3,442.0,-10.0,561,3913,0.00,2.12,0.00,0.000,4,0.000,0.052,2261,3711,3993
$GC,3966,-0.72,-170.3,446.8,-8.1,566,3971,0.17,2.00,0.00,0.000,6,0.153,0.029,2311,2299,3993
$GC,4299,-0.86,-170.3,457.9,-2.3,597,4305,0.12,0.00,0.00,0.000,6,0.084,0.000,2261,2299,3992
$GC,4624,-0.86,-170.3,480.1,-7.6,628,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2299,3990
$GC,4943,-0.86,-170.3,507.9,-11.4,655,4947,0.00,2.17,0.00,0.000,4,0.000,0.054,2260,3716,3988
$GC,5056,-0.80,-170.3,520.9,-13.0,660,5060,0.00,2.03,0.00,0.000,6,0.000,0.031,2260,2307,3987
$GC,5388,-0.80,-170.3,555.1,-9.1,676,5392,0.00,2.03,0.00,0.000,4,0.000,0.036,2260,915,3985
$GC,5467,-0.80,-170.3,562.8,-9.0,679,5471,0.00,2.08,0.00,0.000,6,0.000,0.038,2260,2305,3985
$GC,5791,-0.80,-170.3,589.1,-7.1,695,5795,0.00,2.15,0.00,0.000,4,0.000,0.056,2257,3710,3982
$GC,5824,-0.80,-170.3,591.2,-7.0,696,5828,0.10,2.03,0.00,0.000,6,0.166,0.031,2283,2307,3983
$GC,6147,-0.89,-170.3,605.8,-7.5,712,6151,0.00,2.17,0.00,0.000,4,0.000,0.055,2279,3710,3981
$STATE,6195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6195,begin apogee
$GC,6203,-0.20,0.0,609.3,6.4,714,6292,0.60,0.00,85.70,1.179,6,0.143,0.000,2470,2398,3531
$STATE,6292,end apogee,CONTROL_FINISHED_OK
$STATE,6292,begin climb
$GC,6295,0.88,170.3,611.1,0.0,718,6439,0.98,2.22,135.62,1.269,4,0.060,0.035,2841,1008,2836
$GC,6508,0.34,170.3,602.3,16.0,728,6514,0.68,2.17,0.00,0.000,6,0.193,0.037,2660,2408,2834
$GC,6831,0.34,170.3,566.7,12.9,744,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2407,2831
$GC,7142,0.41,227.2,537.9,7.8,759,7188,0.00,0.00,44.20,1.200,6,0.000,0.000,2660,2408,2605
$GC,7488,0.52,227.2,499.6,10.4,776,7492,0.15,2.12,0.00,0.000,4,0.090,0.058,2714,3755,2604
$GC,7747,0.32,227.2,467.7,11.8,798,7755,0.22,2.05,0.00,0.000,6,0.183,0.033,2640,2400,2596
$GC,8074,0.58,289.3,446.2,7.5,829,8128,0.22,2.22,47.78,1.163,4,0.077,0.057,2732,3745,2352
$GC,8262,0.44,289.3,421.0,15.0,845,8266,0.17,2.05,0.00,0.000,6,0.180,0.033,2689,2387,2347
$GC,8589,0.57,289.3,383.8,12.9,875,8594,0.12,2.17,0.00,0.000,4,0.091,0.056,2735,3759,2344
$GC,8737,0.46,289.3,357.6,18.2,887,8743,0.20,2.05,0.00,0.000,6,0.175,0.035,2691,2384,2343
$GC,9062,0.70,349.2,324.9,7.6,918,9119,0.22,2.25,45.20,0.992,4,0.077,0.056,2776,3742,2107
$GC,9145,0.52,349.2,315.2,13.3,925,9150,0.25,2.03,0.00,0.000,6,0.179,0.032,2717,2388,2105
$GC,9482,0.71,391.7,286.2,8.3,970,9522,0.17,2.17,33.78,1.020,4,0.081,0.037,2796,1005,1935
$GC,9559,0.66,391.7,276.7,14.0,981,9566,0.15,2.15,0.00,0.000,6,0.169,0.037,2762,2396,1933
$GC,9907,0.71,391.7,228.6,13.2,1042,9917,0.00,2.15,0.00,0.000,4,0.000,0.055,2761,3753,1928
$GC,10049,0.71,391.7,206.8,15.0,1066,10057,0.00,2.03,0.00,0.000,6,0.000,0.031,2758,2394,1928
$GC,10403,0.81,391.7,167.4,11.8,1127,10412,0.12,2.15,0.00,0.000,4,0.086,0.053,2811,3749,1927
$GC,10542,0.66,391.7,144.5,18.7,1150,10550,0.17,2.00,0.00,0.000,6,0.169,0.030,2764,2395,1928
$GC,10898,0.86,391.7,102.6,10.6,1211,10907,0.17,2.08,0.00,0.000,4,0.073,0.035,2845,988,1928
$GC,11070,0.86,391.7,79.3,13.6,1240,11079,0.00,2.12,0.00,0.000,6,0.000,0.036,2846,2394,1928
$GC,11425,0.86,391.7,33.9,11.5,1301,11434,0.00,2.10,0.00,0.000,4,0.000,0.052,2845,3760,1930
$GC,11535,0.86,391.7,19.2,13.2,1319,11542,0.08,2.00,0.00,0.000,6,0.173,0.027,2830,2386,1930
$STATE,11692,end climb,SURFACE_DEPTH_REACHED
$STATE,11692,begin surface coast
$FINISH,1.1,1.020941
$STATE,11735,end surface coast,CONTROL_FINISHED_OK
$STATE,11736,begin surface
$SM_CCo,11752,22.50,0.640,0,0,1799,425.35
$SM_GC,1.64,0.00,0.00,22.50,0.000,0.000,0.640,146,2286,1799,-7.48,-0.59,425.35
$IRIDIUM_FIX,2529.44,12249.71,170898,141440
$TT8_MAMPS,0.031447
$HUMID,1524
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,28.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,500.7,133.4
$24V_AH,24.1,6.847
$10V_AH,10.7,4.715
$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,24.075,95.925,392.275,22.500,0.000,27.475,33.805,146.425,4.750,0.000,0.000,17.442,2342.307,4157.025,471.807,4632.979,489.117,0.000,1676.380,0.000,4651.122,0.000,27.310,0.000
$DEVICE_MAMPS,265.382,88.205,1268.618,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,915.876,969.968,3576.496,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72560,1353
$CAP_FILE_SIZE,165562,0
$CFSIZE,260165632,223838208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,225.0,1
$GPS,230509,193107,2538.296,12251.236,36,1.3,36,-3.8