version: 66.04
glider: 167
mission: 2
dive: 61
start: 5 31 109 23 26 24
data:
$ID,167
$MISSION,2
$DIVE,61
$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,-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,-4966.8789
$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,62
$R_STBD_OVSHOOT,38
$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
$GPS1,232007,2537.290,12318.080,31,1.8,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.8
$GPS2,232601,2537.295,12318.108,10,2.0,10,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,168.9,56624,-18.3,-12.000
$D_GRID,801
$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,-1.05,-194.7,0.0,0.0,0,49,0.00,0.00,-31.83,0.000,2,0.000,0.000,144,2437,2572
$GC,52,-1.05,-194.7,3.1,-2.2,5,111,8.38,2.15,-44.65,0.000,4,0.249,0.044,2198,1023,3989
$GC,187,-0.20,-194.7,33.1,-37.3,27,193,1.02,2.12,0.00,0.000,6,0.197,0.035,2473,2432,3991
$GC,531,-0.61,-194.7,67.5,-6.4,88,538,0.30,2.03,0.00,0.000,4,0.056,0.049,2341,3754,3991
$GC,561,-0.61,-194.7,71.2,-14.2,93,568,0.00,1.92,0.00,0.000,6,0.000,0.026,2341,2403,3991
$GC,906,-0.44,-194.7,137.6,-16.7,154,913,0.17,2.08,0.00,0.000,4,0.157,0.045,2386,3755,3993
$GC,966,-0.56,-194.7,145.3,-10.9,164,972,0.00,1.90,0.00,0.000,6,0.000,0.026,2386,2413,3993
$GC,1310,-0.81,-194.7,175.3,-8.0,225,1317,0.25,0.00,0.00,0.000,6,0.061,0.000,2275,2412,3995
$GC,1655,-0.56,-194.7,233.7,-16.5,286,1661,0.28,1.95,0.00,0.000,4,0.163,0.028,2360,1045,3996
$GC,1753,-0.80,-194.7,242.7,-7.1,303,1759,0.20,2.08,0.00,0.000,6,0.065,0.035,2272,2446,3996
$GC,2097,-0.66,-194.7,287.3,-14.1,364,2103,0.17,0.00,0.00,0.000,6,0.160,0.000,2327,2448,3996
$GC,2435,-0.83,-194.7,318.2,-8.3,406,2437,0.15,0.00,0.00,0.000,6,0.074,0.000,2264,2449,3997
$GC,2753,-0.74,-194.7,355.6,-12.3,436,2757,0.15,1.98,0.00,0.000,4,0.159,0.051,2303,3755,3997
$GC,2809,-0.85,-194.7,361.4,-9.8,441,2813,0.00,1.88,0.00,0.000,6,0.000,0.029,2303,2439,3997
$GC,3140,-0.98,-194.7,392.3,-8.9,472,3144,0.17,2.05,0.00,0.000,4,0.074,0.051,2221,3762,3997
$GC,3190,-0.78,-194.7,398.9,-14.2,476,3197,0.25,1.88,0.00,0.000,6,0.155,0.028,2294,2456,3997
$GC,3515,-0.90,-194.7,427.7,-8.3,507,3519,0.12,2.05,0.00,0.000,4,0.081,0.030,2242,1043,3996
$GC,3572,-0.85,-194.7,433.6,-10.7,512,3577,0.12,2.12,0.00,0.000,6,0.166,0.037,2269,2466,3997
$GC,3902,-0.85,-194.7,464.5,-9.6,543,3906,0.00,1.98,0.00,0.000,4,0.000,0.054,2262,3772,3994
$GC,3952,-0.85,-194.7,469.8,-11.2,547,3958,0.00,1.90,0.00,0.000,6,0.000,0.030,2262,2450,3994
$GC,4288,-0.85,-194.7,503.5,-10.5,578,4291,0.00,2.05,0.00,0.000,4,0.000,0.033,2262,1037,3994
$GC,4428,-0.90,-194.7,518.0,-9.5,584,4431,0.00,2.10,0.00,0.000,6,0.000,0.038,2262,2434,3992
$GC,4754,-0.90,-194.7,549.1,-9.7,600,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2434,3991
$GC,5064,-0.90,-194.7,580.5,-9.9,615,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2434,3988
$GC,5374,-0.95,-194.7,610.2,-9.3,630,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2434,3985
$GC,5683,-1.00,-194.7,638.0,-9.6,645,5684,0.12,0.00,0.00,0.000,6,0.087,0.000,2210,2436,3983
$GC,5992,-0.87,-194.7,679.7,-13.9,660,5994,0.20,0.00,0.00,0.000,6,0.171,0.000,2265,2436,3982
$GC,6301,-0.95,-194.7,710.4,-9.0,675,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2436,3979
$GC,6611,-1.04,-194.7,737.2,-8.6,690,6613,0.17,0.00,0.00,0.000,6,0.081,0.000,2199,2436,3977
$GC,6920,-0.88,-194.7,778.7,-14.5,705,6924,0.20,2.08,0.00,0.000,4,0.178,0.035,2256,1044,3975
$GC,6982,-0.96,-194.7,786.0,-11.2,708,6985,0.00,2.12,0.00,0.000,6,0.000,0.043,2256,2432,3975
$STATE,7127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7127,begin apogee
$GC,7133,-0.22,0.0,801.4,10.6,715,7223,0.68,0.00,87.05,1.303,6,0.147,0.000,2470,2517,3532
$STATE,7224,end apogee,CONTROL_FINISHED_OK
$STATE,7224,begin climb
$GC,7226,1.05,194.7,804.2,0.0,719,7390,1.15,2.12,155.00,1.260,4,0.060,0.059,2886,3754,2738
$GC,7464,0.32,194.7,784.5,21.1,731,7470,0.95,1.90,0.00,0.000,6,0.213,0.031,2650,2511,2733
$GC,7792,0.55,286.3,755.5,8.2,747,7871,0.17,2.10,73.18,1.228,4,0.083,0.058,2720,3755,2364
$GC,7923,0.50,286.3,738.9,15.5,752,7927,0.00,1.95,0.00,0.000,6,0.000,0.031,2720,2513,2360
$GC,8249,0.50,286.3,696.4,13.0,768,8253,0.00,2.00,0.00,0.000,4,0.000,0.057,2720,3764,2356
$GC,8305,0.43,286.3,688.4,14.8,770,8309,0.12,1.90,0.00,0.000,6,0.187,0.033,2691,2500,2355
$GC,8626,0.59,313.6,652.9,10.9,786,8653,0.12,2.10,21.62,1.163,4,0.091,0.057,2737,3758,2252
$GC,8720,0.52,313.6,638.9,15.7,790,8725,0.12,1.88,0.00,0.000,6,0.183,0.034,2717,2521,2249
$GC,9042,0.59,313.6,598.7,12.3,806,9046,0.00,1.98,0.00,0.000,4,0.000,0.056,2716,3763,2247
$GC,9142,0.59,313.6,583.8,14.7,810,9146,0.00,1.85,0.00,0.000,6,0.000,0.034,2720,2546,2246
$GC,9465,0.65,313.6,539.8,13.7,826,9469,0.10,1.92,0.00,0.000,4,0.097,0.056,2760,3759,2245
$GC,9492,0.55,313.6,535.0,17.4,827,9496,0.10,1.83,0.00,0.000,6,0.183,0.034,2722,2554,2245
$GC,9810,0.63,314.4,494.5,12.0,844,9813,0.00,1.92,0.00,0.000,4,0.000,0.058,2722,3769,2244
$GC,9866,0.63,314.4,486.9,13.8,849,9870,0.00,1.80,0.00,0.000,6,0.000,0.034,2722,2552,2244
$GC,10198,0.70,314.4,445.5,12.5,880,10202,0.15,1.92,0.00,0.000,4,0.083,0.056,2779,3771,2243
$GC,10328,0.49,314.4,422.4,19.1,891,10334,0.28,1.75,0.00,0.000,6,0.182,0.034,2710,2579,2243
$GC,10653,0.67,342.2,384.2,10.8,922,10685,0.15,2.28,22.12,1.006,4,0.083,0.038,2775,1112,2134
$GC,10697,0.67,342.2,378.2,13.7,926,10702,0.00,2.30,0.00,0.000,6,0.000,0.041,2775,2588,2133
$GC,11023,0.67,342.2,331.0,14.3,956,11027,0.00,1.85,0.00,0.000,4,0.000,0.058,2775,3754,2130
$GC,11159,0.56,342.2,309.4,15.8,968,11163,0.20,1.73,0.00,0.000,6,0.175,0.032,2728,2579,2129
$GC,11498,0.79,382.1,272.7,10.4,1021,11535,0.17,1.98,30.85,0.906,4,0.075,0.056,2803,3767,1973
$GC,11586,0.66,382.1,258.5,18.6,1036,11593,0.20,1.75,0.00,0.000,6,0.179,0.030,2758,2589,1970
$GC,11931,0.81,382.1,213.7,12.7,1097,11939,0.15,2.22,0.00,0.000,4,0.082,0.035,2815,1099,1968
$GC,12076,0.81,382.1,191.8,15.4,1122,12083,0.00,2.28,0.00,0.000,6,0.000,0.037,2815,2592,1968
$GC,12420,0.84,406.2,142.8,11.0,1183,12443,0.00,0.00,19.58,0.762,6,0.000,0.000,2815,2592,1876
$GC,12781,0.94,409.6,99.4,11.9,1247,12793,0.00,2.28,4.05,0.505,4,0.000,0.034,2815,1106,1861
$GC,12845,1.17,441.8,92.2,10.7,1258,12881,0.28,2.22,25.98,0.706,6,0.063,0.035,2923,2576,1731
$GC,13221,1.02,441.8,26.1,16.4,1324,13227,0.17,1.83,0.00,0.000,4,0.176,0.048,2873,3770,1727
$STATE,13368,end climb,SURFACE_DEPTH_REACHED
$STATE,13368,begin surface coast
$FINISH,1.6,1.018703
$STATE,13384,end surface coast,CONTROL_FINISHED_OK
$STATE,13384,begin surface
$SM_CCo,13464,0.00,0.000,0,0,1725,443.26
$SM_GC,2.60,7.32,0.00,0.00,0.061,0.000,0.000,146,2407,1725,-7.49,-0.57,443.26
$IRIDIUM_FIX,2529.44,12315.56,250898,191913
$TT8_MAMPS,0.029146
$HUMID,1579
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.1,14.472
$10V_AH,10.8,9.158
$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,25.050,96.150,439.425,0.000,0.000,31.393,34.969,171.385,6.250,0.000,0.000,11.031,2371.560,8160.878,529.719,2269.694,483.780,0.000,1681.533,0.000,2226.410,0.000,44.450,0.000
$DEVICE_MAMPS,248.508,91.273,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,914.147,942.943,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72696,1353
$CAP_FILE_SIZE,140848,0
$CFSIZE,260165632,220123136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 64.3,1
$GPS,010609,031201,2536.007,12320.131,38,1.4,39,-3.8