version: 66.04
glider: 167
mission: 2
dive: 151
start: 6 12 109 19 15 13
data:
$ID,167
$MISSION,2
$DIVE,151
$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,-7857.938
$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,70
$R_STBD_OVSHOOT,40
$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
$GPS1,190837,2430.059,12249.167,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.5
$GPS2,191450,2430.152,12249.157,14,1.3,14,-3.5
$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,268.6,85881,-18.3,-12.000
$D_GRID,854
$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,-194.7,0.0,0.0,0,56,0.00,0.00,-39.05,0.000,2,0.000,0.000,141,2471,2484
$GC,59,-1.05,-194.7,3.3,-2.8,6,120,8.40,2.00,-44.85,0.000,4,0.245,0.061,2185,3758,3990
$GC,373,-0.26,-194.7,96.7,-27.7,61,380,0.93,1.92,0.00,0.000,6,0.174,0.025,2457,2411,3992
$GC,719,-1.13,-194.7,119.3,-11.4,122,726,0.73,2.08,0.00,0.000,4,0.077,0.046,2184,3758,3992
$GC,851,-0.52,-194.7,147.9,-25.1,145,858,0.65,1.85,0.00,0.000,6,0.165,0.025,2377,2449,3993
$GC,1196,-0.83,-194.7,171.1,-0.9,206,1203,0.25,2.03,0.00,0.000,4,0.056,0.027,2263,1036,3994
$GC,1277,-0.67,-194.7,177.2,-10.0,220,1285,0.22,2.12,0.00,0.000,6,0.147,0.034,2329,2463,3995
$GC,1624,-0.82,-194.7,212.2,-11.6,281,1630,0.15,1.98,0.00,0.000,4,0.072,0.048,2261,3765,3996
$GC,1677,-0.73,-194.7,220.2,-16.2,290,1683,0.17,1.83,0.00,0.000,6,0.146,0.025,2312,2473,3996
$GC,2023,-0.85,-194.7,257.3,-10.2,351,2029,0.12,2.05,0.00,0.000,4,0.075,0.027,2258,1043,3996
$GC,2064,-0.79,-194.7,262.7,-13.1,358,2071,0.12,2.15,0.00,0.000,6,0.155,0.034,2292,2488,3996
$GC,2406,-0.79,-194.7,305.2,-12.1,415,2410,0.00,1.92,0.00,0.000,4,0.000,0.049,2289,3757,3996
$GC,2451,-0.79,-194.7,311.0,-13.2,419,2455,0.00,1.80,0.00,0.000,6,0.000,0.027,2289,2490,3996
$GC,2784,-0.84,-194.7,346.9,-9.1,450,2788,0.00,1.98,0.00,0.000,4,0.000,0.050,2289,3767,3996
$GC,2879,-0.93,-194.7,355.2,-8.5,458,2886,0.12,1.80,0.00,0.000,6,0.079,0.027,2233,2504,3996
$GC,3205,-0.78,-194.7,393.9,-11.7,489,3210,0.17,2.10,0.00,0.000,4,0.152,0.028,2288,1050,3995
$GC,3284,-0.90,-194.7,401.8,-8.8,495,3290,0.00,2.17,0.00,0.000,6,0.000,0.035,2288,2502,3995
$GC,3611,-1.00,-194.7,428.1,-6.6,526,3615,0.17,1.92,0.00,0.000,4,0.073,0.050,2208,3762,3994
$GC,3650,-0.79,-194.7,432.1,-10.7,529,3656,0.28,1.80,0.00,0.000,6,0.155,0.028,2289,2506,3993
$GC,3975,-0.90,-194.7,449.0,-5.7,560,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2506,3993
$GC,4296,-1.02,-194.7,475.7,-10.1,590,4302,0.20,0.00,0.00,0.000,6,0.067,0.000,2209,2506,3991
$GC,4617,-0.84,-194.7,520.6,-13.9,614,4621,0.17,2.10,0.00,0.000,4,0.164,0.031,2263,1053,3989
$GC,4685,-0.91,-194.7,528.5,-10.9,617,4689,0.00,2.20,0.00,0.000,6,0.000,0.038,2262,2502,3988
$GC,5018,-0.91,-194.7,564.3,-10.4,633,5022,0.00,1.95,0.00,0.000,4,0.000,0.055,2261,3763,3986
$GC,5051,-0.91,-194.7,567.9,-10.6,634,5055,0.00,1.83,0.00,0.000,6,0.000,0.029,2261,2504,3986
$GC,5373,-0.97,-194.7,595.5,-7.9,650,5377,0.00,1.98,0.00,0.000,4,0.000,0.055,2261,3764,3984
$GC,5407,-1.02,-194.7,598.3,-8.0,651,5411,0.12,1.80,0.00,0.000,6,0.086,0.029,2210,2522,3983
$GC,5728,-0.87,-194.7,635.1,-12.3,667,5732,0.17,2.15,0.00,0.000,4,0.160,0.030,2264,1049,3982
$GC,5823,-0.97,-194.7,644.2,-8.8,671,5827,0.00,2.20,0.00,0.000,6,0.000,0.038,2263,2499,3981
$GC,6139,-1.02,-194.7,672.1,-9.0,686,6143,0.12,1.95,0.00,0.000,4,0.085,0.055,2207,3756,3979
$GC,6188,-0.85,-194.7,678.2,-12.9,688,6193,0.15,1.85,0.00,0.000,6,0.158,0.031,2265,2517,3979
$GC,6515,-0.93,-194.7,706.0,-8.7,704,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2517,3976
$GC,6825,-1.03,-194.7,735.0,-9.0,719,6829,0.15,1.98,0.00,0.000,4,0.083,0.057,2207,3764,3974
$GC,6852,-0.93,-194.7,738.0,-11.6,720,6857,0.15,1.83,0.00,0.000,6,0.168,0.031,2246,2521,3974
$GC,7181,-0.93,-194.7,770.6,-9.9,736,7184,0.00,2.15,0.00,0.000,4,0.000,0.031,2247,1054,3973
$GC,7271,-0.93,-194.7,780.1,-11.2,740,7275,0.00,2.20,0.00,0.000,6,0.000,0.040,2247,2490,3972
$STATE,7389,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7390,begin apogee
$GC,7395,-0.22,0.0,793.0,10.6,746,7485,0.73,0.00,86.25,1.266,6,0.150,0.000,2470,2491,3531
$STATE,7485,end apogee,CONTROL_FINISHED_OK
$STATE,7485,begin climb
$GC,7488,1.05,194.7,794.8,0.0,750,7651,1.15,2.17,153.93,1.220,4,0.060,0.055,2888,3758,2737
$GC,7800,0.32,194.7,752.1,24.4,765,7806,0.93,1.88,0.00,0.000,6,0.204,0.029,2652,2511,2732
$GC,8128,0.45,194.7,710.1,13.3,781,8132,0.12,2.00,0.00,0.000,4,0.090,0.054,2701,3761,2730
$GC,8189,0.32,194.7,700.5,15.7,783,8195,0.20,1.85,0.00,0.000,6,0.180,0.031,2655,2513,2730
$GC,8505,0.49,218.8,663.7,11.0,799,8530,0.15,2.05,19.05,1.129,4,0.082,0.056,2710,3758,2640
$GC,8603,0.37,218.8,649.9,15.0,803,8607,0.20,1.85,0.00,0.000,6,0.179,0.031,2665,2517,2637
$GC,8924,0.61,306.8,619.4,8.4,819,8996,0.22,0.00,69.75,1.141,6,0.075,0.000,2752,2515,2281
$GC,9293,0.61,306.8,561.3,16.8,837,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2515,2272
$GC,9602,0.61,306.8,517.3,12.3,852,9605,0.00,2.10,0.00,0.000,4,0.000,0.037,2759,1117,2270
$GC,9629,0.64,324.1,514.1,11.3,853,9648,0.00,2.17,13.35,1.021,6,0.000,0.039,2759,2524,2210
$GC,9973,0.64,324.1,471.2,12.3,880,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2524,2206
$GC,10291,0.64,324.1,433.3,12.1,910,10295,0.00,2.12,0.00,0.000,4,0.000,0.036,2759,1116,2205
$GC,10330,0.67,353.9,428.9,10.8,913,10360,0.00,2.15,24.10,1.008,6,0.000,0.037,2759,2520,2088
$GC,10685,0.67,353.9,387.2,12.4,947,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2519,2083
$GC,11007,0.67,353.9,344.7,13.4,977,11011,0.00,2.10,0.00,0.000,4,0.000,0.035,2759,1113,2082
$GC,11079,0.78,353.9,335.0,12.9,983,11086,0.10,2.12,0.00,0.000,6,0.099,0.037,2798,2508,2082
$GC,11408,0.70,353.9,286.5,14.8,1021,11414,0.00,1.95,0.00,0.000,4,0.000,0.053,2798,3765,2081
$GC,11488,0.56,353.9,273.4,16.4,1035,11495,0.28,1.85,0.00,0.000,6,0.169,0.029,2728,2497,2081
$GC,11835,0.81,396.6,241.3,10.2,1096,11873,0.17,2.12,32.83,0.855,4,0.071,0.033,2815,1115,1915
$GC,11952,0.81,396.6,225.5,12.6,1116,11959,0.00,2.15,0.00,0.000,6,0.000,0.036,2815,2515,1911
$GC,12298,0.81,396.6,181.5,12.2,1177,12304,0.00,1.92,0.00,0.000,4,0.000,0.054,2815,3757,1909
$GC,12377,0.81,396.6,170.5,14.0,1191,12383,0.00,1.80,0.00,0.000,6,0.000,0.028,2821,2512,1908
$GC,12720,0.81,396.6,123.2,13.9,1252,12727,0.00,2.05,0.00,0.000,4,0.000,0.031,2829,1107,1908
$GC,12758,0.90,396.6,118.4,13.2,1258,12764,0.00,2.17,0.00,0.000,6,0.000,0.035,2829,2548,1908
$GC,13102,1.23,592.6,88.5,3.9,1319,13259,0.28,2.22,149.32,0.687,4,0.062,0.030,2953,1118,1114
$GC,13325,1.16,592.6,52.2,19.9,1357,13331,0.15,2.20,0.00,0.000,6,0.173,0.035,2917,2533,1110
$STATE,13627,end climb,SURFACE_DEPTH_REACHED
$STATE,13627,begin surface coast
$FINISH,1.6,1.008446
$STATE,13645,end surface coast,CONTROL_FINISHED_OK
$STATE,13645,begin surface
$SM_CCo,13722,0.00,0.000,0,0,1105,595.34
$SM_GC,2.50,7.43,0.00,0.00,0.055,0.000,0.000,143,2421,1105,-7.49,-0.17,595.34
$IRIDIUM_FIX,2418.11,12251.51,060998,151527
$TT8_MAMPS,0.028379
$HUMID,1609
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.5,67.3
$24V_AH,24.1,27.173
$10V_AH,10.8,15.724
$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,25.850,108.800,548.575,0.000,0.000,30.977,32.969,186.284,6.000,0.000,0.000,14.810,2440.472,8136.776,633.981,2362.833,517.361,0.000,1846.041,0.000,2313.851,0.000,42.345,0.000
$DEVICE_MAMPS,245.440,60.593,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,952.734,992.450,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75780,1414
$CAP_FILE_SIZE,146897,0
$CFSIZE,260165632,214085632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,  4.3,1
$GPS,120609,230507,2432.025,12247.211,37,1.3,38,-3.5