version: 66.04
glider: 167
mission: 2
dive: 27
start: 5 25 109 11 53 25
data:
$ID,167
$MISSION,2
$DIVE,27
$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,-4355.6953
$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,59
$R_STBD_OVSHOOT,24
$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
$GPS1,114655,2531.516,12306.620,40,1.1,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.7
$GPS2,115302,2531.609,12306.769,16,1.1,16,-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,189.5,34971,-15.7,-10.000
$D_GRID,771
$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,-194.7,0.0,0.0,0,62,0.00,0.00,-44.72,0.000,2,0.000,0.000,147,2433,2701
$GC,65,-0.94,-194.7,3.1,-3.6,7,120,8.80,2.10,-36.47,0.000,4,0.261,0.044,2238,1027,3989
$GC,212,-0.19,-194.7,38.3,-33.0,32,219,0.90,2.15,0.00,0.000,6,0.199,0.036,2477,2449,3991
$GC,557,-0.54,-194.7,72.9,-6.0,93,563,0.28,0.00,0.00,0.000,6,0.058,0.000,2357,2452,3991
$GC,900,-0.36,-194.7,121.8,-15.1,154,906,0.20,0.00,0.00,0.000,6,0.156,0.000,2419,2452,3992
$GC,1244,-0.64,-194.7,147.2,-5.9,215,1252,0.20,1.98,0.00,0.000,4,0.064,0.048,2328,3761,3993
$GC,1389,-0.53,-194.7,163.0,-11.3,240,1396,0.17,1.88,0.00,0.000,6,0.150,0.027,2376,2430,3993
$GC,1734,-0.67,-194.7,189.2,-7.7,301,1741,0.15,2.05,0.00,0.000,4,0.069,0.048,2312,3773,3994
$GC,1786,-0.52,-194.7,195.2,-12.3,310,1793,0.22,1.85,0.00,0.000,6,0.148,0.027,2378,2460,3994
$GC,2130,-0.75,-194.7,219.4,-5.4,371,2138,0.17,2.03,0.00,0.000,4,0.065,0.029,2297,1043,3995
$GC,2162,-0.75,-194.7,222.0,-9.2,376,2168,0.00,2.12,0.00,0.000,6,0.000,0.035,2290,2481,3995
$GC,2505,-0.61,-194.7,261.9,-13.2,437,2512,0.17,2.08,0.00,0.000,4,0.158,0.028,2346,1044,3995
$GC,2662,-0.74,-194.7,278.5,-10.9,464,2669,0.12,2.10,0.00,0.000,6,0.078,0.035,2289,2467,3995
$GC,2997,-0.74,-194.7,318.9,-9.9,509,3001,0.00,1.92,0.00,0.000,4,0.000,0.051,2288,3753,3995
$GC,3047,-0.69,-194.7,324.0,-10.1,513,3054,0.12,1.83,0.00,0.000,6,0.153,0.028,2322,2463,3995
$GC,3373,-0.79,-194.7,346.7,-6.4,544,3377,0.00,1.98,0.00,0.000,4,0.000,0.051,2318,3754,3995
$GC,3441,-0.89,-194.7,351.6,-7.3,550,3446,0.17,1.83,0.00,0.000,6,0.073,0.028,2244,2471,3995
$GC,3772,-0.70,-194.7,390.9,-12.4,581,3776,0.22,2.05,0.00,0.000,4,0.160,0.031,2314,1046,3994
$GC,3822,-0.84,-194.7,396.3,-10.1,585,3827,0.12,2.12,0.00,0.000,6,0.084,0.036,2263,2477,3994
$GC,4153,-0.76,-194.7,432.4,-10.5,616,4157,0.15,1.92,0.00,0.000,4,0.158,0.052,2302,3754,3993
$GC,4247,-0.83,-194.7,440.0,-7.7,624,4253,0.00,1.85,0.00,0.000,6,0.000,0.029,2302,2461,3992
$GC,4573,-0.91,-194.7,460.8,-5.5,655,4577,0.15,2.05,0.00,0.000,4,0.081,0.031,2239,1045,3991
$GC,4686,-0.76,-194.7,470.8,-9.4,665,4691,0.22,2.15,0.00,0.000,6,0.162,0.038,2299,2468,3990
$GC,5011,-0.84,-194.7,488.1,-5.8,695,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2468,3987
$GC,5326,-0.90,-194.7,509.2,-6.9,719,5331,0.15,2.10,0.00,0.000,4,0.082,0.032,2239,1040,3985
$GC,5434,-0.78,-194.7,519.9,-10.3,724,5438,0.20,2.12,0.00,0.000,6,0.165,0.039,2290,2450,3984
$GC,5761,-0.78,-194.7,543.3,-7.0,740,5764,0.00,2.03,0.00,0.000,4,0.000,0.058,2289,3767,3981
$GC,5811,-0.84,-194.7,546.9,-7.2,742,5815,0.00,1.90,0.00,0.000,6,0.000,0.032,2289,2458,3981
$GC,6138,-0.89,-194.7,569.9,-7.5,758,6142,0.00,2.05,0.00,0.000,4,0.000,0.058,2288,3768,3978
$GC,6200,-0.96,-194.7,573.8,-6.5,760,6206,0.15,1.92,0.00,0.000,6,0.084,0.033,2228,2447,3978
$GC,6516,-0.77,-194.7,605.0,-10.6,776,6521,0.20,2.05,0.00,0.000,4,0.170,0.034,2289,1044,3975
$GC,6550,-0.82,-194.7,607.8,-7.5,777,6556,0.00,2.12,0.00,0.000,6,0.000,0.040,2289,2452,3976
$GC,6866,-0.88,-194.7,623.8,-4.7,793,6870,0.00,2.03,0.00,0.000,4,0.000,0.060,2288,3767,3974
$GC,6912,-0.95,-194.7,625.9,-4.6,795,6917,0.15,1.92,0.00,0.000,6,0.084,0.032,2229,2447,3974
$GC,7249,-0.79,-194.7,651.7,-8.8,811,7251,0.22,0.00,0.00,0.000,6,0.170,0.000,2293,2446,3971
$GC,7554,-0.86,-194.7,671.1,-6.5,826,7558,0.00,2.05,0.00,0.000,4,0.000,0.058,2289,3757,3969
$GC,7588,-0.94,-194.7,673.8,-7.5,827,7592,0.15,1.90,0.00,0.000,6,0.084,0.035,2229,2460,3970
$STATE,7720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7720,begin apogee
$GC,7726,-0.22,0.0,687.9,11.0,834,7814,0.77,0.00,84.68,1.242,6,0.165,0.000,2466,2458,3532
$STATE,7815,end apogee,CONTROL_FINISHED_OK
$STATE,7815,begin climb
$GC,7817,0.94,194.7,691.4,0.0,838,7977,1.05,2.20,153.45,1.202,4,0.058,0.056,2849,3755,2739
$GC,8231,0.19,194.7,644.4,19.2,858,8237,0.93,1.95,0.00,0.000,6,0.207,0.032,2610,2464,2733
$GC,8558,0.58,367.8,628.8,4.0,874,8702,0.30,2.25,136.65,1.174,4,0.073,0.056,2729,3758,2031
$GC,8737,0.45,367.8,608.2,16.1,881,8741,0.17,2.00,0.00,0.000,6,0.168,0.032,2688,2487,2026
$GC,9058,0.53,367.8,570.2,12.6,897,9062,0.00,2.05,0.00,0.000,4,0.000,0.058,2688,3758,2021
$GC,9142,0.53,367.8,558.6,14.7,900,9148,0.00,1.90,0.00,0.000,6,0.000,0.033,2692,2493,2019
$GC,9458,0.60,367.8,521.3,11.6,916,9463,0.12,2.03,0.00,0.000,4,0.090,0.058,2739,3762,2018
$GC,9564,0.45,367.8,502.8,18.3,920,9571,0.20,1.85,0.00,0.000,6,0.172,0.035,2692,2529,2018
$GC,9890,0.57,367.8,459.5,13.0,950,9895,0.10,2.17,0.00,0.000,4,0.100,0.039,2732,1069,2017
$GC,9967,0.57,367.8,448.0,14.5,956,9973,0.00,2.25,0.00,0.000,6,0.000,0.041,2732,2539,2016
$GC,10294,0.57,367.8,398.4,13.7,987,10297,0.00,1.90,0.00,0.000,4,0.000,0.060,2732,3758,2015
$GC,10378,0.48,367.8,386.2,14.1,994,10384,0.12,1.83,0.00,0.000,6,0.179,0.033,2702,2519,2015
$GC,10702,0.61,367.8,350.9,11.0,1025,10707,0.12,1.95,0.00,0.000,4,0.091,0.057,2750,3762,2014
$GC,10737,0.49,367.8,346.3,14.9,1028,10741,0.20,1.83,0.00,0.000,6,0.176,0.032,2705,2517,2014
$GC,11067,0.62,367.8,313.1,10.2,1059,11071,0.12,1.95,0.00,0.000,4,0.090,0.056,2755,3762,2013
$GC,11203,0.50,367.8,293.3,14.7,1074,11210,0.20,1.80,0.00,0.000,6,0.175,0.032,2706,2528,2012
$GC,11547,0.67,367.8,258.0,10.3,1135,11555,0.15,1.92,0.00,0.000,4,0.081,0.057,2766,3756,2012
$GC,11595,0.52,367.8,251.1,16.3,1143,11603,0.22,1.80,0.00,0.000,6,0.175,0.032,2711,2519,2012
$GC,11942,0.80,449.0,218.8,7.2,1204,12006,0.22,0.00,60.45,0.877,6,0.068,0.000,2807,2517,1701
$GC,12343,0.75,449.0,159.6,14.7,1275,12350,0.00,1.98,0.00,0.000,4,0.000,0.055,2807,3759,1693
$GC,12486,0.65,449.0,135.5,17.7,1300,12493,0.22,1.80,0.00,0.000,6,0.164,0.031,2752,2536,1693
$GC,12831,0.94,464.6,100.1,9.5,1361,12850,0.22,2.00,12.20,0.707,4,0.067,0.054,2851,3767,1636
$GC,12892,0.79,464.6,90.1,19.1,1371,12900,0.22,1.80,0.00,0.000,6,0.167,0.028,2796,2530,1636
$GC,13238,1.04,499.0,54.1,8.8,1432,13274,0.20,2.20,27.33,0.683,4,0.067,0.034,2891,1080,1496
$GC,13303,0.99,499.0,45.4,14.8,1443,13310,0.00,2.25,0.00,0.000,6,0.000,0.035,2891,2557,1493
$STATE,13589,end climb,SURFACE_DEPTH_REACHED
$STATE,13589,begin surface coast
$FINISH,1.2,1.009594
$STATE,13607,end surface coast,CONTROL_FINISHED_OK
$STATE,13607,begin surface
$SM_CCo,13684,0.00,0.000,0,0,1489,501.15
$SM_GC,1.87,7.35,0.00,0.00,0.059,0.000,0.000,143,2430,1489,-7.50,-0.14,501.15
$IRIDIUM_FIX,2519.89,12307.64,190898,080821
$TT8_MAMPS,0.028379
$HUMID,1549
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,651.7,60.4
$24V_AH,24.1,8.600
$10V_AH,10.8,6.110
$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,27.050,112.025,474.750,0.000,0.000,28.616,29.392,180.544,6.000,0.000,0.000,16.977,2616.428,7800.171,589.350,2548.419,491.195,0.000,1868.919,0.000,2490.056,0.000,35.649,0.000
$DEVICE_MAMPS,260.780,59.826,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.083,1065.049,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78948,1497
$CAP_FILE_SIZE,155292,0
$CFSIZE,260165632,222957568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.264, 44.9,1
$GPS,250509,154237,2531.084,12308.396,33,1.4,34,-3.8