version: 66.04
glider: 167
mission: 2
dive: 47
start: 5 29 109 15 42 49
data:
$ID,167
$MISSION,2
$DIVE,47
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,-4680.9082
$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,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$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
$GPS1,153625,2518.119,12320.462,38,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-66.2
$GPS2,154214,2518.084,12320.442,13,1.7,13,-3.7
$SPEED_LIMITS,0.208,0.315
$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,223.6,2141,-22.1,-12.000
$D_GRID,1672
$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,-1.15,-134.1,0.0,0.0,0,47,0.00,0.00,-30.40,0.000,2,0.000,0.000,145,2420,2565
$GC,50,-1.22,-194.7,3.0,-2.7,5,109,8.25,2.10,-44.22,0.000,4,0.255,0.058,2134,3769,3987
$GC,297,-0.07,-194.7,98.0,-54.3,48,305,1.40,1.98,0.00,0.000,6,0.206,0.025,2517,2396,3989
$GC,643,-1.15,-194.7,129.1,-8.8,109,650,0.93,1.95,0.00,0.000,4,0.088,0.028,2180,1040,3991
$GC,668,-1.55,-194.7,131.9,-10.8,113,675,0.35,2.08,0.00,0.000,6,0.066,0.035,2043,2434,3991
$GC,1012,-0.68,-194.7,257.8,-34.3,174,1020,1.00,2.03,0.00,0.000,4,0.215,0.027,2316,1037,3992
$GC,1183,-0.97,-194.7,277.4,-7.6,204,1190,0.22,2.00,0.00,0.000,6,0.067,0.035,2221,2387,3993
$GC,1519,-0.87,-194.7,328.5,-15.3,248,1524,0.15,2.10,0.00,0.000,4,0.176,0.049,2256,3765,3993
$GC,1547,-0.83,-194.7,333.3,-16.0,250,1551,0.00,1.98,0.00,0.000,6,0.000,0.026,2255,2362,3993
$GC,1878,-0.89,-194.7,379.3,-13.8,281,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2361,3994
$GC,2199,-1.01,-194.7,414.2,-9.7,311,2203,0.10,2.15,0.00,0.000,4,0.089,0.049,2207,3764,3994
$GC,2243,-0.93,-194.7,419.5,-11.7,314,2251,0.15,1.98,0.00,0.000,6,0.169,0.028,2246,2379,3994
$GC,2568,-1.02,-194.7,452.1,-10.9,345,2572,0.00,1.92,0.00,0.000,4,0.000,0.032,2247,1044,3994
$GC,2664,-1.17,-194.7,463.6,-11.3,353,2670,0.22,2.00,0.00,0.000,6,0.073,0.037,2161,2383,3994
$GC,2987,-0.99,-194.7,518.3,-16.4,379,2992,0.20,1.98,0.00,0.000,4,0.193,0.032,2216,1042,3993
$GC,3034,-1.04,-194.7,525.3,-14.0,381,3038,0.00,2.03,0.00,0.000,6,0.000,0.039,2216,2390,3993
$GC,3366,-1.04,-194.7,561.8,-10.1,397,3370,0.00,2.10,0.00,0.000,4,0.000,0.053,2205,3763,3992
$GC,3416,-1.04,-194.7,567.5,-11.6,399,3420,0.00,2.00,0.00,0.000,6,0.000,0.029,2205,2379,3992
$GC,3744,-1.04,-194.7,603.9,-12.0,415,3748,0.00,1.95,0.00,0.000,4,0.000,0.034,2205,1020,3990
$GC,3800,-1.09,-194.7,610.8,-11.8,417,3804,0.00,2.05,0.00,0.000,6,0.000,0.039,2205,2382,3989
$GC,4122,-1.09,-194.7,651.5,-12.9,433,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2382,3986
$GC,4430,-1.09,-194.7,693.3,-13.7,448,4434,0.00,2.12,0.00,0.000,4,0.000,0.058,2205,3754,3983
$GC,4485,-1.09,-194.7,701.0,-13.9,450,4489,0.00,2.05,0.00,0.000,6,0.000,0.031,2205,2355,3983
$GC,4807,-1.09,-194.7,740.2,-11.4,466,4810,0.00,1.92,0.00,0.000,4,0.000,0.035,2205,1033,3981
$GC,4853,-1.16,-194.7,745.4,-11.3,468,4857,0.00,2.05,0.00,0.000,6,0.000,0.042,2205,2383,3980
$GC,5185,-1.16,-194.7,781.4,-10.7,484,5189,0.00,2.15,0.00,0.000,4,0.000,0.059,2205,3767,3977
$GC,5269,-1.16,-194.7,790.8,-11.3,487,5275,0.00,2.03,0.00,0.000,6,0.000,0.032,2204,2382,3977
$GC,5585,-1.21,-194.7,823.6,-10.6,503,5590,0.15,1.98,0.00,0.000,4,0.084,0.035,2149,1033,3975
$GC,5747,-1.10,-194.7,846.8,-15.2,510,5752,0.17,2.05,0.00,0.000,6,0.196,0.041,2188,2384,3974
$GC,6068,-1.10,-194.7,886.8,-12.7,526,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2384,3972
$GC,6377,-1.10,-194.7,924.2,-11.6,541,6381,0.00,2.00,0.00,0.000,4,0.000,0.036,2188,1037,3970
$GC,6416,-1.10,-194.7,928.9,-12.1,542,6423,0.00,2.03,0.00,0.000,6,0.000,0.042,2185,2369,3970
$GC,6731,-1.10,-194.7,965.4,-11.8,558,6735,0.00,2.15,0.00,0.000,4,0.000,0.058,2178,3756,3968
$GC,6777,-1.10,-194.7,971.0,-12.7,560,6780,0.00,2.05,0.00,0.000,6,0.000,0.033,2179,2367,3968
$STATE,6941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6941,begin apogee
$GC,6947,-0.22,0.0,992.3,12.9,568,7039,0.95,0.00,88.05,1.441,6,0.173,0.000,2464,2501,3532
$STATE,7039,end apogee,CONTROL_FINISHED_OK
$STATE,7040,begin climb
$GC,7042,1.22,194.7,995.1,0.0,572,7213,1.33,2.30,159.45,1.397,4,0.058,0.037,2948,1120,2737
$GC,7270,0.67,194.7,975.7,23.8,583,7276,0.75,2.25,0.00,0.000,6,0.220,0.041,2762,2516,2733
$GC,7592,0.57,194.7,923.7,15.9,599,7596,0.12,1.98,0.00,0.000,4,0.200,0.058,2733,3758,2730
$GC,7782,0.47,194.7,893.0,16.3,607,7786,0.12,1.88,0.00,0.000,6,0.193,0.032,2701,2531,2729
$GC,8104,0.58,196.9,854.6,11.9,623,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2529,2728
$GC,8412,0.71,206.2,819.1,11.4,638,8424,0.20,0.00,9.27,1.186,6,0.087,0.000,2772,2528,2691
$GC,8721,0.61,206.2,774.0,14.9,653,8725,0.00,2.12,0.00,0.000,4,0.000,0.038,2777,1109,2689
$GC,8759,0.61,206.2,768.2,14.6,654,8768,0.15,2.22,0.00,0.000,6,0.196,0.043,2741,2542,2688
$GC,9075,0.61,206.2,726.6,13.2,670,9078,0.00,1.92,0.00,0.000,4,0.000,0.061,2740,3768,2687
$GC,9288,0.52,206.2,694.7,15.4,679,9292,0.12,1.83,0.00,0.000,6,0.206,0.033,2717,2541,2687
$GC,9609,0.64,225.3,659.0,10.9,695,9632,0.10,1.95,16.27,1.191,4,0.107,0.059,2753,3757,2612
$GC,9748,0.52,225.3,637.5,18.2,701,9752,0.17,1.80,0.00,0.000,6,0.203,0.033,2716,2557,2610
$GC,10081,0.65,225.3,595.0,12.0,717,10085,0.10,2.17,0.00,0.000,4,0.104,0.037,2759,1104,2609
$GC,10121,0.69,225.3,589.9,13.3,719,10125,0.00,2.22,0.00,0.000,6,0.000,0.043,2759,2541,2609
$GC,10448,0.69,225.3,544.5,12.9,735,10451,0.00,1.92,0.00,0.000,4,0.000,0.061,2759,3769,2608
$GC,10587,0.59,225.3,525.7,12.3,741,10591,0.00,1.83,0.00,0.000,6,0.000,0.032,2759,2553,2608
$GC,10907,0.62,247.9,493.4,10.6,759,10930,0.00,2.25,17.73,1.085,4,0.000,0.038,2767,1101,2520
$GC,11056,0.74,262.4,477.3,11.1,772,11078,0.00,2.22,12.55,1.031,6,0.000,0.041,2767,2537,2461
$GC,11396,0.81,262.4,431.7,14.4,804,11401,0.12,1.95,0.00,0.000,4,0.097,0.060,2812,3767,2458
$GC,11476,0.63,262.4,417.7,17.9,811,11481,0.28,1.85,0.00,0.000,6,0.194,0.032,2749,2524,2458
$GC,11808,0.78,279.4,377.2,11.0,842,11832,0.15,2.05,14.57,0.968,4,0.089,0.056,2804,3766,2392
$GC,12006,0.67,279.4,347.0,15.4,859,12013,0.20,1.83,0.00,0.000,6,0.197,0.032,2763,2541,2390
$GC,12331,0.80,290.0,310.3,11.4,890,12348,0.12,2.20,9.85,0.870,4,0.094,0.036,2814,1112,2348
$GC,12370,0.80,290.0,304.6,14.1,893,12377,0.00,2.22,0.00,0.000,6,0.000,0.041,2815,2548,2348
$GC,12712,0.80,290.0,244.5,17.7,951,12718,0.00,1.90,0.00,0.000,4,0.000,0.056,2815,3771,2347
$GC,12764,0.71,290.0,234.5,17.9,960,12770,0.20,1.83,0.00,0.000,6,0.188,0.031,2772,2525,2346
$GC,13110,0.95,335.9,198.5,9.3,1021,13152,0.20,2.00,35.75,0.830,4,0.079,0.053,2854,3767,2162
$GC,13254,0.84,335.9,173.1,20.6,1046,13262,0.17,1.83,0.00,0.000,6,0.194,0.029,2818,2537,2159
$GC,13602,1.00,356.0,124.1,10.8,1107,13627,0.15,1.95,16.50,0.733,4,0.084,0.054,2875,3758,2079
$GC,13656,0.88,356.0,116.0,18.4,1116,13662,0.20,1.77,0.00,0.000,6,0.190,0.028,2831,2561,2078
$GC,14000,1.10,374.2,73.8,10.9,1177,14020,0.17,2.20,14.90,0.676,4,0.075,0.032,2914,1118,2005
$GC,14083,1.10,374.2,62.0,14.9,1191,14089,0.00,2.20,0.00,0.000,6,0.000,0.037,2914,2554,2004
$GC,14427,1.10,374.2,10.9,15.0,1252,14433,0.00,1.85,0.00,0.000,4,0.000,0.054,2914,3756,2003
$STATE,14471,end climb,SURFACE_DEPTH_REACHED
$STATE,14471,begin surface coast
$FINISH,1.5,1.008759
$STATE,14489,end surface coast,CONTROL_FINISHED_OK
$STATE,14490,begin surface
$SM_CCo,14509,36.88,0.636,0,0,1798,425.10
$SM_GC,2.96,0.00,0.00,36.88,0.000,0.000,0.636,144,2413,1798,-7.50,-0.40,425.10
$IRIDIUM_FIX,2510.35,12324.22,230898,111143
$TT8_MAMPS,0.028379
$HUMID,1540
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.9,12.234
$10V_AH,10.8,8.016
$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,26.925,125.625,394.900,36.875,0.000,24.829,32.271,169.521,8.000,0.000,0.000,13.888,2316.865,9226.368,548.830,2325.990,485.841,0.000,1739.398,0.000,2271.292,0.000,56.114,0.000
$DEVICE_MAMPS,254.644,69.797,1441.193,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.550,845.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69442,1263
$CAP_FILE_SIZE,150910,0
$CFSIZE,260165632,221196288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 25.7,1
$GPS,290509,194630,2517.058,12319.566,38,1.0,39,-3.7