version: 66.04
glider: 167
mission: 2
dive: 154
start: 6 13 109 5 40 28
data:
$ID,167
$MISSION,2
$DIVE,154
$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,-7939.1519
$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,61
$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
$GPS1,053346,2437.123,12244.129,10,4.3,29,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-70.1
$GPS2,054006,2437.345,12244.130,13,1.2,29,-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,264.7,71008,-18.3,-12.000
$D_GRID,868
$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,-194.7,0.0,0.0,0,46,0.00,0.00,-29.62,0.000,2,0.000,0.000,142,2442,2305
$GC,49,-1.05,-194.7,3.0,-2.1,5,123,8.45,2.05,-58.25,0.000,4,0.249,0.060,2188,3765,3988
$GC,377,-0.30,-194.7,96.0,-29.3,62,385,0.88,1.95,0.00,0.000,6,0.173,0.025,2443,2395,3991
$GC,723,-1.31,-194.7,127.2,-11.8,123,730,0.90,2.12,0.00,0.000,4,0.096,0.047,2123,3770,3992
$GC,927,-0.51,-194.7,176.9,-22.7,159,935,0.88,1.85,0.00,0.000,6,0.180,0.024,2374,2457,3993
$GC,1274,-0.83,-194.7,193.3,-3.9,220,1280,0.25,2.03,0.00,0.000,4,0.056,0.048,2262,3770,3996
$GC,1326,-0.73,-194.7,198.1,-10.5,229,1333,0.15,1.85,0.00,0.000,6,0.149,0.026,2304,2463,3996
$GC,1673,-0.80,-194.7,231.5,-7.9,290,1679,0.00,2.00,0.00,0.000,4,0.000,0.048,2303,3764,3997
$GC,1759,-0.87,-194.7,238.7,-7.8,305,1766,0.12,1.83,0.00,0.000,6,0.077,0.026,2246,2476,3997
$GC,2103,-0.70,-194.7,278.6,-14.4,366,2109,0.22,1.98,0.00,0.000,4,0.152,0.047,2316,3759,3997
$GC,2162,-0.87,-194.7,285.5,-10.8,376,2168,0.15,1.83,0.00,0.000,6,0.073,0.028,2250,2480,3997
$GC,2494,-0.76,-194.7,330.9,-13.1,416,2498,0.17,1.98,0.00,0.000,4,0.150,0.048,2292,3766,3997
$GC,2521,-0.76,-194.7,334.2,-11.7,418,2527,0.00,1.83,0.00,0.000,6,0.000,0.027,2293,2484,3997
$GC,2848,-0.86,-194.7,360.7,-8.1,449,2852,0.00,1.98,0.00,0.000,4,0.000,0.051,2289,3759,3997
$GC,2932,-0.99,-194.7,368.1,-8.7,456,2939,0.17,1.80,0.00,0.000,6,0.070,0.028,2214,2503,3996
$GC,3257,-0.79,-194.7,401.6,-7.8,487,3262,0.22,2.12,0.00,0.000,4,0.152,0.028,2285,1032,3995
$GC,3320,-0.91,-194.7,404.4,-3.8,492,3324,0.00,2.22,0.00,0.000,6,0.000,0.036,2285,2515,3995
$GC,3645,-1.00,-194.7,429.3,-8.8,522,3650,0.17,2.17,0.00,0.000,4,0.074,0.028,2206,1035,3993
$GC,3679,-0.86,-194.7,433.1,-12.4,525,3684,0.22,2.20,0.00,0.000,6,0.154,0.037,2270,2494,3993
$GC,4004,-0.86,-194.7,465.5,-10.5,555,4008,0.00,1.95,0.00,0.000,4,0.000,0.054,2270,3757,3992
$GC,4106,-0.86,-194.7,478.1,-11.4,564,4110,0.00,1.83,0.00,0.000,6,0.000,0.030,2270,2523,3992
$GC,4436,-0.86,-194.7,509.1,-10.7,591,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2523,3989
$GC,4744,-0.92,-194.7,539.2,-8.8,606,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2523,3987
$GC,5053,-0.98,-194.7,567.7,-10.4,621,5057,0.12,1.95,0.00,0.000,4,0.083,0.054,2218,3761,3986
$GC,5114,-0.83,-194.7,576.2,-13.2,623,5122,0.20,1.80,0.00,0.000,6,0.163,0.031,2273,2529,3985
$GC,5430,-0.93,-194.7,603.7,-8.3,639,5433,0.00,1.95,0.00,0.000,4,0.000,0.057,2274,3766,3983
$GC,5486,-1.04,-194.7,607.8,-7.5,641,5490,0.17,1.80,0.00,0.000,6,0.075,0.031,2204,2533,3982
$GC,5807,-0.84,-194.7,642.9,-10.6,657,5812,0.20,2.17,0.00,0.000,4,0.163,0.031,2265,1050,3981
$GC,5834,-0.84,-194.7,645.4,-8.7,658,5838,0.00,2.22,0.00,0.000,6,0.000,0.039,2264,2506,3981
$GC,6156,-0.90,-194.7,665.3,-6.4,674,6160,0.00,1.95,0.00,0.000,4,0.000,0.057,2261,3762,3978
$GC,6240,-0.98,-194.7,670.9,-6.4,677,6246,0.00,1.83,0.00,0.000,6,0.000,0.031,2261,2510,3978
$GC,6556,-1.03,-194.7,689.1,-5.3,693,6558,0.15,0.00,0.00,0.000,6,0.083,0.000,2202,2510,3977
$GC,6866,-0.87,-194.7,720.1,-10.8,708,6870,0.20,2.15,0.00,0.000,4,0.173,0.032,2260,1052,3975
$GC,6899,-0.93,-194.7,723.6,-9.2,709,6903,0.00,2.25,0.00,0.000,6,0.000,0.041,2260,2518,3975
$GC,7215,-1.01,-194.7,752.0,-9.4,724,7217,0.12,0.00,0.00,0.000,6,0.088,0.000,2212,2519,3973
$GC,7524,-0.91,-194.7,785.6,-11.3,739,7529,0.15,2.20,0.00,0.000,4,0.172,0.033,2251,1050,3971
$GC,7568,-1.02,-194.7,789.9,-8.3,741,7572,0.00,2.22,0.00,0.000,6,0.000,0.041,2250,2499,3971
$GC,7890,-1.02,-194.7,823.3,-11.6,757,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2499,3969
$STATE,7970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7970,begin apogee
$GC,7975,-0.22,0.0,833.6,12.6,761,8065,0.73,0.00,86.35,1.318,6,0.150,0.000,2472,2499,3532
$STATE,8065,end apogee,CONTROL_FINISHED_OK
$STATE,8065,begin climb
$GC,8068,1.05,194.7,839.5,0.0,765,8232,1.15,2.28,155.93,1.275,4,0.070,0.037,2888,1130,2737
$GC,8486,0.50,194.7,809.9,12.7,785,8491,0.68,2.17,0.00,0.000,6,0.197,0.042,2707,2510,2731
$GC,8813,0.60,352.2,793.2,5.5,801,8946,0.00,2.28,125.45,1.250,4,0.000,0.034,2707,1133,2095
$GC,9077,0.83,402.6,762.7,9.9,813,9124,0.30,2.17,41.33,1.203,6,0.069,0.041,2815,2502,1890
$GC,9440,0.64,402.6,690.6,20.1,831,9444,0.20,2.00,0.00,0.000,4,0.170,0.054,2758,3763,1881
$GC,9467,0.56,402.6,685.6,16.7,832,9471,0.12,1.88,0.00,0.000,6,0.180,0.031,2729,2517,1881
$GC,9794,0.68,402.6,641.1,13.1,848,9798,0.10,2.10,0.00,0.000,4,0.094,0.035,2773,1112,1880
$GC,9849,0.68,402.6,633.7,13.9,850,9855,0.00,2.12,0.00,0.000,6,0.000,0.040,2773,2487,1879
$GC,10164,0.68,402.6,581.8,15.3,866,10168,0.00,2.10,0.00,0.000,4,0.000,0.035,2775,1103,1878
$GC,10186,0.68,402.6,578.4,15.1,867,10190,0.00,2.15,0.00,0.000,6,0.000,0.038,2775,2502,1878
$GC,10519,0.68,402.6,529.1,13.8,883,10523,0.00,2.12,0.00,0.000,4,0.000,0.036,2775,1101,1877
$GC,10568,0.68,402.6,520.9,16.9,885,10572,0.00,2.12,0.00,0.000,6,0.000,0.039,2776,2486,1877
$GC,10890,0.68,402.6,471.6,12.4,909,10894,0.00,2.00,0.00,0.000,4,0.000,0.056,2775,3764,1877
$GC,10935,0.58,402.6,464.8,18.0,913,10940,0.15,1.90,0.00,0.000,6,0.176,0.030,2737,2486,1876
$GC,11266,0.71,402.6,415.9,13.6,944,11270,0.10,2.05,0.00,0.000,4,0.091,0.035,2776,1094,1876
$GC,11346,0.77,402.6,403.8,15.4,951,11349,0.00,2.12,0.00,0.000,6,0.000,0.038,2776,2490,1876
$GC,11677,0.77,402.6,349.1,16.8,982,11681,0.00,2.10,0.00,0.000,4,0.000,0.035,2776,1093,1875
$GC,11739,0.86,402.6,338.8,15.4,987,11747,0.12,2.12,0.00,0.000,6,0.087,0.039,2826,2486,1875
$GC,12071,0.74,402.6,274.3,17.1,1030,12078,0.15,2.08,0.00,0.000,4,0.163,0.033,2790,1100,1875
$GC,12113,0.79,402.6,267.6,14.6,1037,12119,0.00,2.08,0.00,0.000,6,0.000,0.036,2790,2471,1875
$GC,12457,0.83,430.9,219.5,10.8,1098,12486,0.00,2.12,20.77,0.855,4,0.000,0.035,2790,1100,1774
$GC,12538,1.02,480.8,210.9,9.9,1112,12586,0.22,2.08,40.10,0.841,6,0.070,0.036,2878,2458,1570
$GC,12924,0.91,480.8,131.9,17.2,1180,12931,0.15,2.05,0.00,0.000,4,0.175,0.031,2847,1096,1563
$GC,12988,1.01,480.8,122.1,13.1,1191,12995,0.00,2.05,0.00,0.000,6,0.000,0.036,2847,2440,1562
$GC,13334,1.14,480.8,81.4,12.4,1252,13340,0.17,2.05,0.00,0.000,4,0.069,0.051,2923,3759,1561
$GC,13369,0.95,480.8,75.5,17.3,1258,13376,0.28,1.95,0.00,0.000,6,0.170,0.027,2854,2427,1561
$GC,13714,1.18,513.1,35.1,10.7,1319,13746,0.17,2.03,25.08,0.652,4,0.073,0.032,2937,1100,1438
$GC,13780,1.18,513.1,25.0,17.3,1330,13786,0.00,2.05,0.00,0.000,6,0.000,0.034,2937,2448,1436
$STATE,13919,end climb,SURFACE_DEPTH_REACHED
$STATE,13919,begin surface coast
$FINISH,1.7,1.003939
$STATE,13943,end surface coast,CONTROL_FINISHED_OK
$STATE,13943,begin surface
$SM_CCo,14019,0.00,0.000,0,0,1432,515.13
$SM_GC,2.58,7.55,0.00,0.00,0.061,0.000,0.000,144,2454,1432,-7.49,0.79,515.13
$IRIDIUM_FIX,2425.21,12247.53,070998,020212
$TT8_MAMPS,0.028379
$HUMID,1637
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.9,130.3
$24V_AH,24.0,27.661
$10V_AH,10.7,15.959
$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,26.650,122.375,495.000,0.000,0.000,24.081,37.738,180.317,5.750,0.000,0.000,29.718,2398.224,8528.613,596.732,2359.845,511.290,0.000,1810.215,0.000,2293.813,0.000,40.841,0.000
$DEVICE_MAMPS,248.508,59.826,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,918.712,934.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72630,1359
$CAP_FILE_SIZE,150588,0
$CFSIZE,260165632,213860352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216, 22.3,1
$GPS,130609,093507,2439.088,12242.589,26,1.5,26,-3.5