version: 66.04
glider: 167
mission: 2
dive: 28
start: 5 25 109 15 50 33
data:
$ID,167
$MISSION,2
$DIVE,28
$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,-4371.7661
$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,65
$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
$GPS1,154237,2531.084,12308.396,33,1.4,34,-3.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.7
$GPS2,155012,2531.225,12308.530,11,1.8,15,-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,192.7,32602,-15.7,-10.000
$D_GRID,879
$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,17,-0.94,-194.7,0.0,0.0,0,70,0.00,0.00,-51.03,0.000,2,0.000,0.000,143,2430,2807
$GC,73,-0.94,-194.7,3.3,-5.3,9,121,8.82,2.08,-31.58,0.000,4,0.261,0.044,2242,1042,3989
$GC,314,-0.21,-194.7,71.3,-30.0,51,321,0.82,2.12,0.00,0.000,6,0.183,0.036,2470,2449,3990
$GC,658,-0.59,-194.7,96.5,-4.8,112,665,0.30,2.00,0.00,0.000,4,0.061,0.048,2343,3767,3991
$GC,733,-0.41,-194.7,105.1,-12.3,125,740,0.22,1.92,0.00,0.000,6,0.145,0.025,2408,2408,3991
$GC,1078,-0.59,-194.7,131.8,-7.5,186,1086,0.17,2.08,0.00,0.000,4,0.064,0.048,2327,3763,3992
$GC,1115,-0.46,-194.7,135.9,-12.1,192,1121,0.22,1.85,0.00,0.000,6,0.150,0.026,2392,2456,3993
$GC,1460,-0.64,-194.7,163.6,-8.2,253,1466,0.17,2.00,0.00,0.000,4,0.066,0.047,2312,3767,3993
$GC,1496,-0.51,-194.7,167.5,-12.9,259,1503,0.22,1.85,0.00,0.000,6,0.152,0.026,2377,2452,3993
$GC,1841,-0.68,-194.7,193.3,-6.1,320,1847,0.15,0.00,0.00,0.000,6,0.069,0.000,2313,2452,3993
$GC,2184,-0.60,-194.7,228.6,-10.3,381,2191,0.12,2.00,0.00,0.000,4,0.162,0.028,2346,1048,3993
$GC,2306,-0.71,-194.7,240.0,-9.3,402,2313,0.00,2.12,0.00,0.000,6,0.000,0.034,2345,2490,3993
$GC,2652,-0.80,-194.7,271.0,-8.4,463,2658,0.17,1.92,0.00,0.000,4,0.069,0.050,2261,3768,3993
$GC,2710,-0.51,-194.7,278.5,-14.7,473,2716,0.40,1.80,0.00,0.000,6,0.155,0.027,2383,2488,3993
$GC,3054,-0.81,-194.7,298.3,-5.2,534,3061,0.25,0.00,0.00,0.000,6,0.064,0.000,2272,2488,3993
$GC,3388,-0.64,-194.7,335.8,-12.6,567,3390,0.22,0.00,0.00,0.000,6,0.157,0.000,2336,2486,3993
$GC,3707,-0.81,-194.7,363.2,-8.1,597,3712,0.15,1.95,0.00,0.000,4,0.077,0.051,2274,3770,3993
$GC,3779,-0.73,-194.7,371.3,-11.5,603,3786,0.12,1.83,0.00,0.000,6,0.158,0.030,2307,2492,3993
$GC,4105,-0.79,-194.7,403.5,-9.2,634,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2491,3993
$GC,4425,-0.86,-194.7,431.0,-8.7,664,4429,0.12,1.98,0.00,0.000,4,0.083,0.054,2257,3769,3991
$GC,4453,-0.77,-194.7,434.0,-11.4,666,4461,0.15,1.83,0.00,0.000,6,0.163,0.029,2298,2496,3991
$GC,4778,-0.77,-194.7,464.4,-8.1,697,4782,0.00,2.08,0.00,0.000,4,0.000,0.032,2298,1056,3989
$GC,4953,-0.84,-194.7,478.2,-6.9,712,4959,0.00,2.12,0.00,0.000,6,0.000,0.038,2298,2479,3987
$GC,5279,-0.89,-194.7,502.4,-8.4,742,5283,0.12,1.95,0.00,0.000,4,0.083,0.054,2246,3755,3986
$GC,5374,-0.76,-194.7,513.0,-10.9,746,5379,0.17,1.83,0.00,0.000,6,0.161,0.031,2295,2487,3985
$GC,5703,-0.82,-194.7,538.5,-7.2,762,5707,0.00,2.05,0.00,0.000,4,0.000,0.032,2295,1057,3983
$GC,5832,-0.89,-194.7,548.2,-7.0,767,5838,0.10,2.10,0.00,0.000,6,0.094,0.038,2253,2464,3982
$GC,6148,-0.81,-194.7,574.0,-8.9,783,6150,0.12,0.00,0.00,0.000,6,0.173,0.000,2285,2464,3980
$GC,6457,-0.81,-194.7,601.5,-9.9,798,6461,0.00,2.00,0.00,0.000,4,0.000,0.058,2277,3764,3977
$GC,6513,-0.81,-194.7,607.3,-8.9,800,6517,0.00,1.88,0.00,0.000,6,0.000,0.033,2277,2493,3977
$GC,6834,-0.81,-194.7,636.2,-8.4,816,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2493,3975
$GC,7144,-0.81,-194.7,666.5,-9.8,831,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2493,3973
$GC,7452,-0.81,-194.7,695.9,-9.3,846,7456,0.00,2.10,0.00,0.000,4,0.000,0.035,2277,1055,3971
$GC,7485,-0.81,-194.7,698.9,-9.1,847,7489,0.00,2.15,0.00,0.000,6,0.000,0.042,2277,2470,3971
$GC,7807,-0.81,-194.7,734.4,-12.8,863,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2470,3969
$STATE,7907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7907,begin apogee
$GC,7912,-0.22,0.0,747.2,12.6,868,8001,0.62,0.00,85.32,1.275,6,0.149,0.000,2472,2470,3533
$STATE,8002,end apogee,CONTROL_FINISHED_OK
$STATE,8002,begin climb
$GC,8004,0.94,194.7,753.4,0.0,872,8167,1.02,2.25,154.50,1.248,4,0.059,0.036,2855,1102,2737
$GC,8273,0.36,194.7,736.7,22.3,885,8279,0.73,2.15,0.00,0.000,6,0.202,0.041,2664,2471,2734
$GC,8594,0.36,194.7,699.4,10.9,901,8598,0.00,2.03,0.00,0.000,4,0.000,0.059,2664,3760,2732
$GC,8678,0.28,226.1,691.2,8.9,904,8708,0.12,1.85,25.45,1.189,6,0.186,0.033,2637,2518,2610
$GC,9037,0.50,314.4,668.8,7.0,922,9115,0.17,2.33,70.30,1.210,4,0.081,0.038,2709,1078,2249
$GC,9131,0.50,314.4,657.5,12.6,926,9135,0.00,2.22,0.00,0.000,6,0.000,0.038,2709,2471,2246
$GC,9453,0.50,314.4,620.4,12.2,942,9456,0.00,2.05,0.00,0.000,4,0.000,0.058,2709,3765,2241
$GC,9538,0.38,314.4,608.1,14.2,945,9544,0.15,1.95,0.00,0.000,6,0.180,0.033,2672,2467,2240
$GC,9854,0.52,335.9,576.8,9.3,961,9876,0.12,2.15,17.02,1.131,4,0.090,0.058,2718,3762,2161
$GC,10012,0.42,335.9,553.7,15.3,968,10017,0.15,1.92,0.00,0.000,6,0.176,0.033,2682,2492,2157
$GC,10345,0.55,335.9,514.1,12.4,984,10349,0.12,2.12,0.00,0.000,4,0.089,0.038,2732,1070,2156
$GC,10394,0.55,335.9,506.9,14.6,986,10398,0.00,2.20,0.00,0.000,6,0.000,0.040,2732,2501,2155
$GC,10727,0.50,335.9,462.2,12.1,1015,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2501,2154
$GC,11051,0.50,335.9,419.0,13.1,1046,11055,0.00,1.95,0.00,0.000,4,0.000,0.058,2732,3761,2154
$GC,11191,0.39,335.9,399.0,14.9,1058,11199,0.22,1.92,0.00,0.000,6,0.170,0.034,2670,2474,2153
$GC,11517,0.75,438.6,374.1,6.5,1089,11605,0.30,2.15,79.97,1.018,4,0.067,0.057,2792,3758,1742
$GC,11729,0.55,438.6,336.6,20.8,1108,11734,0.28,1.98,0.00,0.000,6,0.177,0.031,2728,2470,1736
$GC,12056,0.70,438.6,294.1,12.2,1142,12064,0.12,2.05,0.00,0.000,4,0.084,0.055,2775,3759,1732
$GC,12202,0.62,438.6,268.6,17.4,1167,12209,0.15,1.88,0.00,0.000,6,0.170,0.031,2743,2486,1732
$GC,12547,0.77,438.6,224.9,11.4,1228,12553,0.15,2.10,0.00,0.000,4,0.081,0.036,2806,1067,1731
$GC,12588,0.77,438.6,219.3,13.8,1235,12594,0.00,2.20,0.00,0.000,6,0.000,0.038,2806,2520,1731
$GC,12933,0.71,438.6,167.6,13.6,1296,12939,0.12,1.90,0.00,0.000,4,0.170,0.053,2775,3759,1731
$GC,13097,0.77,438.6,144.9,12.8,1325,13103,0.00,1.80,0.00,0.000,6,0.000,0.030,2776,2517,1731
$GC,13440,0.91,438.6,104.7,10.1,1386,13448,0.17,1.92,0.00,0.000,4,0.075,0.052,2856,3762,1731
$GC,13517,0.76,438.6,92.4,18.1,1399,13524,0.25,1.75,0.00,0.000,6,0.166,0.029,2791,2541,1732
$GC,13862,1.01,488.6,60.7,8.3,1460,13905,0.17,2.22,37.22,0.694,4,0.073,0.033,2881,1081,1539
$GC,14006,1.01,488.6,40.7,14.1,1485,14012,0.00,2.22,0.00,0.000,6,0.000,0.035,2880,2545,1534
$STATE,14257,end climb,SURFACE_DEPTH_REACHED
$STATE,14257,begin surface coast
$FINISH,1.2,1.011535
$STATE,14275,end surface coast,CONTROL_FINISHED_OK
$STATE,14276,begin surface
$SM_CCo,14353,0.00,0.000,0,0,1532,490.60
$SM_GC,1.96,7.38,0.00,0.00,0.064,0.000,0.000,144,2417,1532,-7.49,-0.48,490.60
$IRIDIUM_FIX,2519.89,12307.64,190898,111138
$TT8_MAMPS,0.028379
$HUMID,1527
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.6,43.7
$24V_AH,24.1,8.773
$10V_AH,10.8,6.201
$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,25.925,105.000,469.800,0.000,0.000,31.133,42.711,255.512,6.250,0.000,0.000,15.442,2668.834,8366.532,579.549,2594.926,590.574,0.000,1881.720,0.000,2535.480,0.000,46.462,0.000
$DEVICE_MAMPS,260.780,59.059,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.915,1094.260,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82085,1533
$CAP_FILE_SIZE,155900,0
$CFSIZE,260165632,222867456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.343, 79.2,1
$GPS,250509,195101,2529.612,12311.488,40,1.9,41,-3.8