version: 66.04
glider: 167
mission: 2
dive: 146
start: 6 12 109 4 30 48
data:
$ID,167
$MISSION,2
$DIVE,146
$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,-7739.0947
$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,69
$R_STBD_OVSHOOT,42
$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
$GPS1,042355,2419.660,12255.615,41,1.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-66.9
$GPS2,043026,2419.682,12255.647,15,2.0,15,-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,280.7,106986,-18.3,-12.000
$D_GRID,611
$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,-194.7,0.0,0.0,0,53,0.00,0.00,-36.67,0.000,2,0.000,0.000,143,2449,2496
$GC,56,-1.05,-194.7,3.2,-2.6,5,116,8.32,2.03,-43.70,0.000,4,0.243,0.058,2193,3765,3988
$GC,226,-0.20,-194.7,46.5,-32.3,34,234,1.00,1.95,0.00,0.000,6,0.183,0.025,2478,2400,3989
$GC,572,-1.00,-194.7,75.2,-9.9,95,579,0.68,2.10,0.00,0.000,4,0.077,0.046,2226,3764,3991
$GC,670,-0.36,-194.7,95.1,-25.0,112,678,0.68,1.88,0.00,0.000,6,0.172,0.025,2423,2437,3991
$GC,1016,-0.71,-194.7,119.6,-8.4,173,1023,0.28,2.03,0.00,0.000,4,0.054,0.047,2298,3754,3992
$GC,1057,-0.53,-194.7,125.3,-16.1,180,1065,0.25,1.85,0.00,0.000,6,0.146,0.025,2372,2438,3992
$GC,1405,-0.74,-194.7,154.7,-7.9,241,1411,0.17,2.03,0.00,0.000,4,0.066,0.047,2288,3757,3993
$GC,1452,-0.60,-194.7,160.5,-13.5,249,1459,0.20,1.85,0.00,0.000,6,0.140,0.025,2347,2442,3993
$GC,1797,-0.75,-194.7,195.2,-10.2,310,1804,0.15,2.00,0.00,0.000,4,0.071,0.027,2281,1037,3993
$GC,1822,-0.75,-194.7,198.1,-11.9,314,1828,0.00,2.10,0.00,0.000,6,0.000,0.034,2276,2455,3993
$GC,2167,-0.67,-194.7,245.6,-10.9,375,2173,0.17,2.05,0.00,0.000,4,0.149,0.026,2332,1038,3994
$GC,2192,-0.75,-194.7,248.1,-10.1,379,2197,0.00,2.08,0.00,0.000,6,0.000,0.033,2332,2441,3994
$GC,2537,-0.94,-194.7,275.3,-6.5,440,2545,0.20,2.00,0.00,0.000,4,0.065,0.048,2233,3758,3994
$GC,2659,-0.72,-194.7,289.5,-12.2,461,2665,0.28,1.88,0.00,0.000,6,0.150,0.026,2316,2435,3995
$GC,2993,-0.86,-194.7,314.1,-7.1,504,2995,0.15,0.00,0.00,0.000,6,0.070,0.000,2251,2435,3994
$GC,3314,-0.78,-194.7,350.1,-11.4,534,3320,0.15,0.00,0.00,0.000,6,0.156,0.000,2293,2434,3993
$GC,3642,-0.87,-194.7,382.7,-9.6,565,3645,0.00,2.05,0.00,0.000,4,0.000,0.052,2290,3757,3992
$GC,3733,-0.99,-194.7,391.3,-8.9,573,3737,0.17,1.90,0.00,0.000,6,0.070,0.028,2216,2433,3993
$GC,4063,-0.77,-194.7,433.0,-11.5,604,4068,0.22,2.03,0.00,0.000,4,0.153,0.029,2288,1032,3992
$GC,4165,-0.88,-194.7,440.0,-6.0,612,4172,0.00,2.10,0.00,0.000,6,0.000,0.037,2288,2432,3991
$GC,4490,-0.97,-194.7,466.5,-9.7,643,4494,0.15,2.05,0.00,0.000,4,0.076,0.051,2224,3765,3990
$GC,4539,-0.79,-194.7,473.3,-14.4,647,4546,0.22,1.92,0.00,0.000,6,0.154,0.028,2290,2426,3989
$GC,4873,-0.91,-194.7,505.9,-8.8,676,4878,0.12,2.10,0.00,0.000,4,0.077,0.052,2233,3767,3987
$GC,4912,-0.79,-194.7,510.1,-11.2,677,4919,0.20,1.92,0.00,0.000,6,0.154,0.028,2291,2435,3986
$GC,5229,-0.92,-194.7,533.3,-5.8,693,5231,0.12,0.00,0.00,0.000,6,0.078,0.000,2240,2436,3985
$GC,5537,-0.84,-194.7,559.9,-10.4,708,5539,0.12,0.00,0.00,0.000,6,0.163,0.000,2271,2436,3983
$GC,5847,-0.92,-194.7,585.5,-7.6,723,5850,0.00,2.08,0.00,0.000,4,0.000,0.056,2272,3755,3981
$GC,5875,-0.99,-194.7,587.9,-8.0,724,5879,0.15,1.92,0.00,0.000,6,0.075,0.030,2211,2426,3981
$STATE,6075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6075,begin apogee
$GC,6081,-0.22,0.0,612.4,13.3,734,6170,0.85,0.00,85.03,1.104,6,0.158,0.000,2468,2521,3532
$STATE,6170,end apogee,CONTROL_FINISHED_OK
$STATE,6170,begin climb
$GC,6173,1.05,194.7,615.0,0.0,738,6331,1.12,2.05,148.65,1.068,4,0.058,0.054,2884,3762,2737
$GC,6583,0.33,194.7,570.4,18.1,756,6591,0.88,1.88,0.00,0.000,6,0.196,0.029,2654,2493,2732
$GC,6899,0.62,293.5,545.6,7.9,772,6981,0.25,2.17,75.35,1.041,4,0.068,0.034,2757,1125,2334
$GC,7014,0.62,293.5,530.0,14.0,777,7018,0.00,2.17,0.00,0.000,6,0.000,0.037,2757,2504,2331
$GC,7339,0.57,293.5,484.7,14.1,798,7342,0.00,1.98,0.00,0.000,4,0.000,0.054,2757,3768,2326
$GC,7378,0.43,293.5,478.5,16.1,801,7385,0.28,1.88,0.00,0.000,6,0.168,0.029,2686,2495,2326
$GC,7703,0.66,327.0,445.1,10.6,832,7733,0.20,0.00,24.62,0.986,6,0.071,0.000,2767,2493,2200
$GC,8052,0.61,327.0,394.0,14.3,865,8056,0.00,2.05,0.00,0.000,4,0.000,0.035,2773,1111,2196
$GC,8098,0.61,327.0,387.5,13.5,869,8102,0.12,2.15,0.00,0.000,6,0.169,0.037,2741,2518,2195
$GC,8422,0.68,327.0,345.8,12.3,899,8426,0.00,2.10,0.00,0.000,4,0.000,0.035,2746,1111,2193
$GC,8446,0.75,327.0,342.8,12.2,901,8451,0.12,2.15,0.00,0.000,6,0.085,0.038,2795,2521,2193
$GC,8774,0.65,327.0,295.9,15.6,933,8780,0.15,2.10,0.00,0.000,4,0.173,0.034,2760,1116,2193
$GC,8832,0.73,327.0,288.1,13.0,943,8838,0.00,2.10,0.00,0.000,6,0.000,0.037,2759,2502,2193
$GC,9176,0.83,404.8,252.1,8.8,1004,9241,0.15,2.08,59.25,0.862,4,0.082,0.052,2819,3765,1880
$GC,9259,0.68,404.8,240.6,16.5,1018,9266,0.22,1.90,0.00,0.000,6,0.167,0.028,2768,2498,1877
$GC,9604,0.86,433.0,202.9,10.8,1079,9634,0.15,2.12,21.75,0.792,4,0.080,0.033,2830,1109,1765
$GC,9708,0.86,433.0,186.6,17.0,1097,9714,0.00,2.12,0.00,0.000,6,0.000,0.035,2830,2495,1761
$GC,10052,0.86,433.0,134.8,15.0,1158,10058,0.00,2.08,0.00,0.000,4,0.000,0.032,2832,1104,1759
$GC,10081,0.91,433.0,130.7,15.1,1163,10087,0.00,2.12,0.00,0.000,6,0.000,0.035,2831,2509,1759
$GC,10425,1.10,494.8,87.5,9.4,1224,10480,0.17,2.17,47.08,0.700,4,0.066,0.031,2917,1111,1512
$GC,10498,1.02,494.8,76.7,16.7,1236,10506,0.17,2.12,0.00,0.000,6,0.163,0.035,2872,2493,1509
$GC,10844,1.13,494.8,28.5,13.2,1297,10850,0.12,0.00,0.00,0.000,6,0.077,0.000,2920,2494,1506
$STATE,11013,end climb,SURFACE_DEPTH_REACHED
$STATE,11013,begin surface coast
$FINISH,1.6,1.008311
$STATE,11034,end surface coast,CONTROL_FINISHED_OK
$STATE,11035,begin surface
$SM_CCo,11111,0.00,0.000,0,0,1504,497.47
$SM_GC,2.48,7.45,0.00,0.00,0.061,0.000,0.000,141,2498,1504,-7.49,2.01,497.47
$IRIDIUM_FIX,2408.65,12257.47,060998,010136
$TT8_MAMPS,0.028379
$HUMID,1629
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.5,26.417
$10V_AH,10.8,15.353
$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,26.600,89.500,461.725,0.000,0.000,29.437,45.205,194.771,4.250,0.000,0.000,15.221,2266.189,6017.378,569.990,2143.972,501.289,0.000,1658.912,0.000,2101.123,0.000,29.402,0.000
$DEVICE_MAMPS,243.139,74.399,1104.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.840,969.004,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69520,1331
$CAP_FILE_SIZE,130583,0
$CFSIZE,260165632,214433792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 37.8,1
$GPS,120609,073707,2420.477,12254.261,34,1.0,34,-3.4