version: 66.04
glider: 167
mission: 2
dive: 25
start: 5 25 109 4 4 12
data:
$ID,167
$MISSION,2
$DIVE,25
$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,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,-4321.3003
$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,2435
$C_ROLL_CLIMB,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,32
$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
$GPS1,034607,2532.600,12301.402,36,1.0,37,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-64.6
$GPS2,040350,2533.014,12301.895,15,1.4,15,-3.8
$SPEED_LIMITS,0.173,0.296
$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,155.7,42413,-15.7,-10.000
$D_GRID,748
$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,-0.94,-194.7,0.0,0.0,0,73,0.00,0.00,-55.72,0.000,2,0.000,0.000,145,2408,2871
$GC,76,-0.94,-194.7,3.5,-4.2,9,120,8.93,2.05,-29.48,0.000,4,0.263,0.044,2238,1049,3990
$GC,240,-0.12,-194.7,48.9,-33.4,37,248,0.95,2.10,0.00,0.000,6,0.191,0.035,2496,2440,3991
$GC,587,-0.87,-194.7,78.0,-9.9,98,594,0.65,2.00,0.00,0.000,4,0.094,0.048,2261,3755,3991
$GC,674,-0.22,-194.7,93.6,-24.2,113,681,0.73,1.88,0.00,0.000,6,0.183,0.026,2469,2436,3991
$GC,1019,-0.92,-194.7,126.1,-9.9,174,1026,0.57,2.03,0.00,0.000,4,0.084,0.047,2254,3761,3991
$GC,1084,-0.53,-194.7,135.1,-16.3,185,1091,0.38,1.85,0.00,0.000,6,0.157,0.026,2366,2450,3991
$GC,1429,-0.62,-194.7,166.8,-8.0,246,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2449,3992
$GC,1772,-0.77,-194.7,195.9,-9.1,307,1779,0.17,2.00,0.00,0.000,4,0.067,0.048,2280,3763,3992
$GC,1858,-0.54,-194.7,208.1,-15.2,322,1865,0.30,1.85,0.00,0.000,6,0.151,0.027,2370,2449,3992
$GC,2203,-0.75,-194.7,229.9,-5.0,383,2210,0.17,2.00,0.00,0.000,4,0.068,0.028,2288,1047,3992
$GC,2278,-0.64,-194.7,237.1,-10.8,396,2286,0.20,2.08,0.00,0.000,6,0.153,0.035,2340,2453,3993
$GC,2625,-0.72,-194.7,265.7,-7.4,457,2630,0.00,1.98,0.00,0.000,4,0.000,0.051,2340,3764,3992
$GC,2688,-0.85,-194.7,271.6,-9.7,468,2696,0.20,1.88,0.00,0.000,6,0.067,0.028,2257,2441,3992
$GC,3027,-0.66,-194.7,314.4,-11.1,518,3029,0.25,0.00,0.00,0.000,6,0.153,0.000,2332,2439,3993
$GC,3347,-0.79,-194.7,335.8,-6.2,548,3351,0.12,2.03,0.00,0.000,4,0.082,0.051,2275,3758,3991
$GC,3382,-0.71,-194.7,338.7,-9.0,551,3386,0.15,1.88,0.00,0.000,6,0.158,0.030,2316,2447,3991
$GC,3712,-0.79,-194.7,366.2,-7.9,582,3716,0.00,2.03,0.00,0.000,4,0.000,0.032,2316,1038,3990
$GC,3803,-0.90,-194.7,373.9,-8.2,590,3808,0.17,2.10,0.00,0.000,6,0.074,0.036,2245,2451,3989
$GC,4128,-0.69,-194.7,414.8,-13.8,620,4132,0.22,2.05,0.00,0.000,4,0.167,0.030,2315,1043,3987
$GC,4172,-0.80,-194.7,420.0,-10.0,623,4178,0.00,2.10,0.00,0.000,6,0.000,0.036,2315,2456,3987
$GC,4497,-0.90,-194.7,448.7,-7.4,654,4501,0.17,1.98,0.00,0.000,4,0.076,0.051,2244,3761,3985
$GC,4638,-0.70,-194.7,465.3,-13.4,666,4644,0.25,1.88,0.00,0.000,6,0.159,0.030,2317,2454,3983
$GC,4963,-0.84,-194.7,492.8,-7.8,697,4967,0.12,2.05,0.00,0.000,4,0.083,0.031,2265,1041,3981
$GC,5211,-0.84,-194.7,518.7,-10.8,712,5214,0.00,2.12,0.00,0.000,6,0.000,0.040,2261,2445,3979
$GC,5546,-0.77,-194.7,551.8,-9.5,728,5550,0.12,2.05,0.00,0.000,4,0.180,0.032,2294,1045,3977
$GC,5624,-0.85,-194.7,558.7,-8.2,731,5627,0.00,2.10,0.00,0.000,6,0.000,0.040,2294,2443,3977
$GC,5945,-0.94,-194.7,581.9,-6.7,747,5949,0.15,2.03,0.00,0.000,4,0.084,0.057,2233,3763,3974
$GC,5973,-0.82,-194.7,584.3,-9.4,748,5977,0.17,1.92,0.00,0.000,6,0.171,0.032,2280,2435,3974
$GC,6299,-0.82,-194.7,612.5,-9.3,764,6303,0.00,2.03,0.00,0.000,4,0.000,0.035,2280,1039,3971
$GC,6332,-0.82,-194.7,615.9,-10.2,765,6336,0.00,2.10,0.00,0.000,6,0.000,0.040,2280,2436,3971
$GC,6654,-0.82,-194.7,645.9,-8.9,781,6657,0.00,2.05,0.00,0.000,4,0.000,0.034,2280,1040,3969
$GC,6681,-0.82,-194.7,648.3,-8.4,782,6685,0.00,2.10,0.00,0.000,6,0.000,0.041,2280,2434,3969
$GC,7008,-0.82,-194.7,672.8,-7.5,798,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2434,3966
$GC,7318,-0.82,-194.7,696.0,-7.7,813,7321,0.00,2.08,0.00,0.000,4,0.000,0.037,2281,1032,3964
$GC,7356,-0.82,-194.7,699.2,-7.9,814,7362,0.00,2.12,0.00,0.000,6,0.000,0.041,2278,2436,3964
$STATE,7649,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7649,begin apogee
$GC,7655,-0.22,0.0,723.2,8.3,829,7742,0.60,0.00,83.60,1.259,6,0.150,0.000,2466,2437,3532
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7742,begin climb
$GC,7745,0.94,194.7,726.0,0.0,833,7903,1.05,0.00,154.07,1.223,6,0.061,0.000,2846,2437,2738
$GC,8201,0.33,194.7,674.9,15.8,855,8206,0.68,2.10,0.00,0.000,4,0.204,0.055,2658,3763,2732
$GC,8246,0.30,243.9,670.4,8.3,857,8291,0.00,1.95,39.22,1.183,6,0.000,0.033,2664,2463,2537
$GC,8614,0.30,243.9,637.6,10.0,875,8618,0.00,2.08,0.00,0.000,4,0.000,0.058,2664,3758,2531
$GC,8637,0.30,243.9,634.8,11.4,876,8641,0.00,1.95,0.00,0.000,6,0.000,0.034,2666,2469,2530
$GC,8969,0.35,277.8,604.4,8.8,892,9000,0.00,2.12,26.62,1.167,4,0.000,0.059,2666,3762,2399
$GC,9051,0.35,277.8,596.2,10.6,895,9057,0.00,1.98,0.00,0.000,6,0.000,0.033,2666,2462,2396
$GC,9367,0.45,294.4,567.3,9.4,911,9388,0.00,2.12,14.35,1.112,4,0.000,0.039,2666,1069,2330
$GC,9439,0.64,326.1,560.9,8.9,914,9471,0.25,2.15,26.38,1.135,6,0.074,0.039,2759,2462,2202
$GC,9782,0.44,326.1,511.8,14.8,930,9786,0.22,2.12,0.00,0.000,4,0.179,0.038,2695,1077,2195
$GC,9815,0.55,335.6,508.2,9.7,931,9829,0.00,2.10,8.62,1.004,6,0.000,0.041,2695,2437,2162
$GC,10148,0.69,398.0,477.9,7.8,959,10204,0.17,2.22,50.45,1.104,4,0.084,0.058,2766,3757,1908
$GC,10344,0.48,398.0,447.2,17.3,976,10352,0.25,2.03,0.00,0.000,6,0.176,0.033,2705,2434,1900
$GC,10669,0.60,398.0,408.7,11.2,1007,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2434,1899
$GC,10990,0.72,398.0,372.3,11.8,1037,10995,0.17,2.10,0.00,0.000,4,0.080,0.056,2777,3761,1897
$GC,11029,0.50,398.0,365.6,17.7,1040,11034,0.25,1.95,0.00,0.000,6,0.179,0.033,2710,2456,1897
$GC,11354,0.61,398.0,327.2,12.4,1070,11358,0.00,2.05,0.00,0.000,4,0.000,0.055,2710,3761,1897
$GC,11489,0.68,398.0,310.0,11.8,1082,11494,0.15,1.92,0.00,0.000,6,0.081,0.033,2774,2457,1896
$GC,11830,0.61,398.0,261.1,13.9,1136,11837,0.12,2.05,0.00,0.000,4,0.182,0.055,2743,3764,1896
$GC,11945,0.61,398.0,243.5,14.7,1156,11952,0.00,1.88,0.00,0.000,6,0.000,0.032,2745,2484,1895
$GC,12290,0.68,398.0,199.3,12.5,1217,12296,0.00,2.00,0.00,0.000,4,0.000,0.056,2746,3758,1895
$GC,12319,0.68,398.0,195.2,13.5,1222,12325,0.00,1.83,0.00,0.000,6,0.000,0.031,2746,2501,1895
$GC,12663,0.89,443.0,159.6,8.4,1283,12705,0.20,2.05,33.83,0.808,4,0.071,0.054,2832,3759,1725
$GC,12959,0.71,443.0,106.7,19.4,1335,12965,0.22,1.77,0.00,0.000,6,0.170,0.031,2778,2543,1720
$GC,13304,0.93,465.2,66.8,9.2,1396,13329,0.17,1.92,17.77,0.686,4,0.073,0.052,2857,3764,1635
$GC,13427,0.79,465.2,47.2,17.6,1417,13434,0.20,1.80,0.00,0.000,6,0.163,0.029,2803,2532,1633
$GC,13771,1.13,510.1,14.8,8.4,1478,13814,0.25,1.95,34.60,0.642,4,0.064,0.051,2912,3770,1454
$STATE,13846,end climb,SURFACE_DEPTH_REACHED
$STATE,13846,begin surface coast
$FINISH,1.1,1.009611
$STATE,13866,end surface coast,CONTROL_FINISHED_OK
$STATE,13866,begin surface
$SM_CCo,13945,0.00,0.000,0,0,1447,511.45
$SM_GC,1.94,7.32,0.00,0.00,0.047,0.000,0.000,143,2427,1447,-7.49,-0.23,511.45
$IRIDIUM_FIX,2522.28,12300.33,190898,040405
$TT8_MAMPS,0.028379
$HUMID,1508
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.3,45.2
$24V_AH,24.1,8.273
$10V_AH,10.8,5.939
$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,27.475,116.675,489.525,0.000,0.000,117.922,203.449,415.261,5.500,0.000,0.000,16.812,2608.678,8259.229,595.921,2517.165,1014.759,0.000,1872.607,0.000,2463.987,0.000,40.565,0.000
$DEVICE_MAMPS,263.081,59.059,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.746,1064.876,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78918,1494
$CAP_FILE_SIZE,163042,0
$CFSIZE,260165632,223117312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260, 82.9,1
$GPS,250509,075737,2531.571,12305.300,26,1.9,26,-3.8