version: 66.04
glider: 167
mission: 2
dive: 145
start: 6 12 109 1 16 31
data:
$ID,167
$MISSION,2
$DIVE,145
$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,-7723.2437
$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,73
$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
$GPS1,010958,2417.749,12256.790,14,99.0,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-68.2
$GPS2,011610,2417.820,12256.882,10,2.2,29,-3.4
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,286.2,110881,-18.3,-12.000
$D_GRID,637
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,69,0.00,0.00,-52.42,0.000,2,0.000,0.000,142,2413,2521
$GC,72,-1.05,-194.7,3.6,-4.4,9,131,8.30,2.03,-43.53,0.000,4,0.245,0.042,2197,1020,3988
$GC,177,-0.35,-194.7,22.6,-30.2,27,185,0.82,2.12,0.00,0.000,6,0.177,0.033,2426,2439,3990
$GC,523,-0.51,-194.7,68.8,-12.8,88,530,0.15,2.00,0.00,0.000,4,0.069,0.048,2358,3752,3990
$GC,609,-0.42,-194.7,83.0,-17.5,103,617,0.17,1.90,0.00,0.000,6,0.145,0.025,2408,2406,3990
$GC,955,-0.64,-194.7,113.0,-10.6,164,962,0.17,2.08,0.00,0.000,4,0.065,0.046,2325,3757,3992
$GC,1122,-0.53,-194.7,134.4,-12.7,193,1128,0.17,1.85,0.00,0.000,6,0.147,0.025,2374,2446,3992
$GC,1467,-0.74,-194.7,173.4,-11.1,254,1473,0.17,0.00,0.00,0.000,6,0.064,0.000,2292,2445,3993
$GC,1811,-0.65,-194.7,216.0,-11.9,315,1818,0.15,2.00,0.00,0.000,4,0.146,0.046,2330,3753,3994
$GC,1881,-0.76,-194.7,223.7,-10.7,327,1889,0.00,1.83,0.00,0.000,6,0.000,0.026,2330,2452,3994
$GC,2227,-0.91,-194.7,259.9,-8.7,388,2233,0.17,2.00,0.00,0.000,4,0.065,0.047,2245,3757,3994
$GC,2274,-0.70,-194.7,265.6,-12.9,396,2281,0.25,1.80,0.00,0.000,6,0.145,0.026,2319,2486,3994
$GC,2619,-0.85,-194.7,298.5,-9.4,457,2626,0.15,1.95,0.00,0.000,4,0.071,0.048,2254,3753,3995
$GC,2671,-0.72,-194.7,305.4,-14.0,463,2678,0.20,1.77,0.00,0.000,6,0.145,0.027,2314,2502,3995
$GC,2996,-0.85,-194.7,336.7,-10.1,494,3000,0.12,2.08,0.00,0.000,4,0.076,0.028,2258,1066,3995
$GC,3057,-0.81,-194.7,343.6,-11.2,499,3065,0.00,2.12,0.00,0.000,6,0.000,0.035,2258,2474,3995
$GC,3382,-0.74,-194.7,381.7,-12.0,530,3387,0.17,1.98,0.00,0.000,4,0.152,0.051,2315,3767,3995
$GC,3513,-0.93,-194.7,394.7,-10.0,541,3520,0.20,1.83,0.00,0.000,6,0.065,0.028,2229,2494,3994
$GC,3840,-0.75,-194.7,442.7,-15.3,572,3845,0.22,2.08,0.00,0.000,4,0.153,0.028,2301,1052,3993
$GC,3924,-0.90,-194.7,454.4,-12.5,579,3929,0.15,2.15,0.00,0.000,6,0.074,0.037,2238,2481,3993
$GC,4250,-0.77,-194.7,500.5,-13.2,609,4252,0.20,0.00,0.00,0.000,6,0.157,0.000,2295,2482,3991
$GC,4559,-0.90,-194.7,527.4,-8.7,624,4563,0.12,1.98,0.00,0.000,4,0.082,0.054,2245,3764,3989
$GC,4654,-0.79,-194.7,538.3,-12.5,628,4658,0.15,1.83,0.00,0.000,6,0.155,0.030,2286,2503,3988
$GC,4983,-0.90,-194.7,567.9,-8.7,644,4987,0.00,1.95,0.00,0.000,4,0.000,0.054,2285,3755,3986
$GC,5045,-0.99,-194.7,573.9,-8.7,646,5051,0.17,1.83,0.00,0.000,6,0.074,0.031,2212,2496,3986
$GC,5360,-0.81,-194.7,611.2,-12.6,662,5365,0.20,2.10,0.00,0.000,4,0.161,0.031,2275,1054,3984
$GC,5416,-0.92,-194.7,616.2,-7.6,664,5422,0.00,2.15,0.00,0.000,6,0.000,0.038,2275,2476,3984
$STATE,5667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5667,begin apogee
$GC,5673,-0.22,0.0,637.6,9.1,677,5761,0.60,0.00,85.60,1.124,6,0.133,0.000,2466,2477,3532
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5764,1.05,194.7,640.7,0.0,681,5918,1.12,0.00,149.25,1.088,6,0.051,0.000,2887,2479,2738
$GC,6226,0.47,194.7,591.5,16.0,704,6231,0.65,2.03,0.00,0.000,4,0.190,0.033,2711,1136,2731
$GC,6483,0.58,277.7,571.0,8.6,715,6553,0.00,2.10,63.08,1.064,6,0.000,0.038,2711,2512,2398
$GC,6865,0.70,310.2,531.8,10.7,734,6895,0.17,2.00,25.50,1.017,4,0.072,0.055,2779,3762,2265
$GC,6963,0.52,310.2,516.7,15.9,738,6969,0.28,1.83,0.00,0.000,6,0.166,0.029,2712,2534,2262
$GC,7285,0.65,310.2,479.1,12.4,762,7289,0.12,2.10,0.00,0.000,4,0.083,0.033,2762,1116,2259
$GC,7373,0.65,310.2,466.9,12.7,769,7380,0.00,2.12,0.00,0.000,6,0.000,0.038,2762,2507,2259
$GC,7702,0.61,310.2,423.5,12.3,800,7706,0.00,2.10,0.00,0.000,4,0.000,0.034,2762,1103,2258
$GC,7804,0.61,310.2,410.5,12.5,809,7807,0.00,2.10,0.00,0.000,6,0.000,0.037,2762,2493,2257
$GC,8136,0.61,310.2,368.0,13.7,840,8139,0.00,2.05,0.00,0.000,4,0.000,0.034,2762,1117,2256
$GC,8186,0.67,319.8,361.6,11.6,844,8198,0.00,2.10,7.12,0.819,6,0.000,0.037,2762,2507,2227
$GC,8516,0.67,319.8,317.8,14.0,875,8520,0.00,2.08,0.00,0.000,4,0.000,0.033,2762,1107,2226
$GC,8578,0.76,351.2,310.2,10.7,880,8608,0.00,2.10,25.20,0.895,6,0.000,0.038,2762,2494,2099
$GC,8943,0.84,351.2,261.4,13.1,937,8949,0.15,0.00,0.00,0.000,6,0.077,0.000,2821,2495,2095
$GC,9286,0.75,351.2,211.6,15.6,998,9293,0.12,2.05,0.00,0.000,4,0.161,0.032,2796,1114,2093
$GC,9384,0.81,351.2,198.3,12.1,1015,9391,0.00,2.08,0.00,0.000,6,0.000,0.036,2796,2490,2094
$GC,9729,0.87,354.5,159.5,11.9,1076,9735,0.00,2.05,0.00,0.000,4,0.000,0.032,2800,1102,2093
$GC,9765,0.98,362.6,155.4,11.7,1082,9779,0.17,2.08,9.30,0.706,6,0.071,0.038,2873,2480,2052
$GC,10120,0.84,362.6,108.6,12.1,1144,10127,0.17,2.00,0.00,0.000,4,0.170,0.030,2829,1107,2050
$GC,10190,0.99,405.0,101.1,10.2,1156,10231,0.10,2.05,32.95,0.707,6,0.087,0.035,2872,2477,1879
$GC,10570,1.03,437.4,61.9,10.7,1223,10601,0.00,2.00,24.55,0.651,4,0.000,0.051,2872,3765,1750
$GC,10686,1.03,437.4,46.9,14.4,1243,10693,0.00,1.92,0.00,0.000,6,0.000,0.027,2881,2446,1747
$GC,11032,1.16,478.7,7.1,10.3,1304,11068,0.10,0.90,32.08,0.598,3,0.089,0.028,2925,1814,1579
$STATE,11069,end climb,SURFACE_DEPTH_REACHED
$STATE,11069,begin surface coast
$FINISH,1.6,1.008269
$STATE,11091,end surface coast,CONTROL_FINISHED_OK
$STATE,11091,begin surface
$SM_CCo,11169,0.00,0.000,0,0,1574,480.30
$SM_GC,2.60,7.50,0.00,0.00,0.058,0.000,0.000,143,2448,1574,-7.50,0.59,480.30
$IRIDIUM_FIX,2403.92,12259.45,050998,222200
$TT8_MAMPS,0.028379
$HUMID,1600
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.5,26.273
$10V_AH,10.8,15.276
$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,23.900,90.175,454.625,0.000,0.000,25.343,41.699,176.113,4.500,0.000,0.000,30.878,2254.568,6035.382,571.693,2205.597,473.264,0.000,1674.839,0.000,2144.259,0.000,31.072,0.000
$DEVICE_MAMPS,245.440,55.224,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,881.631,973.668,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69353,1314
$CAP_FILE_SIZE,130188,0
$CFSIZE,260165632,214507520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219, 13.9,1
$GPS,120609,042355,2419.660,12255.615,41,1.9,41,-3.4