version: 66.04
glider: 167
mission: 2
dive: 155
start: 6 13 109 9 48 39
data:
$ID,167
$MISSION,2
$DIVE,155
$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,-7973.9976
$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,56
$R_STBD_OVSHOOT,34
$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
$GPS1,093507,2439.088,12242.589,26,1.5,26,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-64.9
$GPS2,094819,2439.238,12242.640,16,1.7,34,-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,266.4,66933,-18.3,-12.000
$D_GRID,762
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-40.67,0.000,2,0.000,0.000,144,2455,2461
$GC,61,-1.05,-194.7,3.2,-2.5,7,122,8.57,2.10,-45.62,0.000,4,0.252,0.061,2189,3767,3989
$GC,263,-0.10,-194.7,55.0,-33.7,42,270,1.15,1.98,0.00,0.000,6,0.196,0.025,2505,2392,3990
$GC,608,-0.99,-194.7,91.1,-14.0,103,615,0.75,2.12,0.00,0.000,4,0.080,0.046,2227,3763,3992
$GC,706,-0.57,-194.7,108.2,-18.8,120,712,0.43,1.90,0.00,0.000,6,0.155,0.025,2354,2420,3992
$GC,1051,-0.69,-194.7,144.2,-9.9,181,1058,0.00,1.98,0.00,0.000,4,0.000,0.028,2354,1039,3993
$GC,1093,-0.83,-194.7,148.2,-9.2,188,1100,0.20,2.08,0.00,0.000,6,0.061,0.032,2263,2442,3993
$GC,1438,-0.65,-194.7,197.1,-14.4,249,1446,0.20,2.00,0.00,0.000,4,0.158,0.045,2319,3762,3994
$GC,1567,-0.74,-194.7,209.4,-8.7,271,1573,0.00,1.85,0.00,0.000,6,0.000,0.026,2319,2446,3994
$GC,1911,-0.86,-194.7,238.7,-7.0,332,1918,0.15,2.03,0.00,0.000,4,0.073,0.047,2247,3763,3994
$GC,1993,-0.70,-194.7,246.0,-9.0,346,1999,0.25,1.83,0.00,0.000,6,0.146,0.025,2322,2471,3994
$GC,2338,-0.85,-194.7,269.3,-9.2,407,2344,0.15,0.00,0.00,0.000,6,0.071,0.000,2259,2471,3994
$GC,2681,-0.77,-194.7,318.0,-12.8,457,2685,0.12,2.05,0.00,0.000,4,0.160,0.027,2291,1056,3994
$GC,2720,-0.86,-194.7,322.6,-10.7,460,2726,0.00,2.15,0.00,0.000,6,0.000,0.034,2289,2484,3994
$GC,3045,-0.92,-194.7,354.4,-9.7,491,3050,0.12,2.10,0.00,0.000,4,0.081,0.027,2233,1044,3993
$GC,3080,-0.81,-194.7,358.1,-11.6,493,3088,0.17,2.12,0.00,0.000,6,0.156,0.034,2282,2466,3993
$GC,3405,-0.86,-194.7,385.1,-6.8,524,3409,0.00,1.98,0.00,0.000,4,0.000,0.050,2275,3763,3992
$GC,3462,-0.86,-194.7,389.8,-9.0,529,3466,0.00,1.85,0.00,0.000,6,0.000,0.028,2275,2465,3992
$GC,3792,-0.92,-194.7,430.1,-14.0,560,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2464,3990
$GC,4113,-0.99,-194.7,473.4,-12.7,590,4117,0.15,2.03,0.00,0.000,4,0.074,0.051,2205,3765,3989
$GC,4215,-0.75,-194.7,489.6,-15.9,599,4219,0.32,1.88,0.00,0.000,6,0.153,0.028,2302,2466,3988
$GC,4551,-0.94,-194.7,519.0,-8.7,620,4555,0.17,2.03,0.00,0.000,4,0.072,0.052,2231,3763,3986
$GC,4634,-0.83,-194.7,530.2,-13.3,623,4640,0.15,1.85,0.00,0.000,6,0.156,0.029,2273,2485,3985
$GC,4950,-0.92,-194.7,557.3,-6.5,639,4954,0.00,2.10,0.00,0.000,4,0.000,0.031,2273,1039,3982
$GC,5045,-1.02,-194.7,562.8,-5.5,643,5050,0.17,2.17,0.00,0.000,6,0.074,0.038,2205,2475,3982
$GC,5368,-0.84,-194.7,591.9,-10.1,659,5373,0.20,2.12,0.00,0.000,4,0.169,0.030,2265,1039,3979
$GC,5446,-0.91,-194.7,598.9,-7.9,662,5452,0.00,2.17,0.00,0.000,6,0.000,0.038,2263,2470,3978
$GC,5762,-0.97,-194.7,632.1,-12.2,678,5766,0.00,2.12,0.00,0.000,4,0.000,0.031,2263,1037,3976
$GC,5841,-1.06,-194.7,642.3,-12.4,681,5846,0.17,2.17,0.00,0.000,6,0.080,0.039,2196,2465,3975
$GC,6157,-0.87,-194.7,685.6,-13.9,696,6161,0.20,2.12,0.00,0.000,4,0.171,0.031,2256,1036,3973
$GC,6197,-0.92,-194.7,690.2,-11.7,698,6201,0.00,2.17,0.00,0.000,6,0.000,0.040,2256,2457,3973
$GC,6529,-0.92,-194.7,727.5,-12.5,714,6533,0.00,2.03,0.00,0.000,4,0.000,0.058,2256,3763,3971
$GC,6568,-0.99,-194.7,732.6,-12.7,715,6574,0.00,1.92,0.00,0.000,6,0.000,0.031,2257,2447,3970
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6826,-0.22,0.0,764.1,12.4,728,6914,0.68,0.00,85.22,1.250,6,0.143,0.000,2468,2525,3532
$STATE,6915,end apogee,CONTROL_FINISHED_OK
$STATE,6915,begin climb
$GC,6917,1.05,194.7,769.4,0.0,732,7079,1.12,2.08,153.05,1.210,4,0.054,0.055,2884,3755,2739
$GC,7305,0.32,194.7,731.4,18.6,749,7313,0.90,1.88,0.00,0.000,6,0.203,0.029,2653,2501,2732
$GC,7622,0.62,328.8,709.6,6.5,765,7733,0.28,2.12,105.60,1.179,4,0.070,0.055,2758,3757,2189
$GC,7757,0.50,328.8,691.8,16.0,771,7764,0.20,1.92,0.00,0.000,6,0.173,0.031,2710,2517,2185
$GC,8073,0.67,387.3,657.9,9.6,787,8125,0.15,2.20,46.30,1.145,4,0.079,0.035,2773,1104,1952
$GC,8176,0.67,387.3,645.1,12.9,792,8180,0.00,2.22,0.00,0.000,6,0.000,0.039,2773,2505,1947
$GC,8509,0.71,414.9,599.4,10.9,808,8538,0.00,2.25,22.50,1.102,4,0.000,0.034,2773,1096,1839
$GC,8618,0.76,414.9,585.6,14.0,813,8622,0.00,2.20,0.00,0.000,6,0.000,0.039,2773,2495,1836
$GC,8945,0.76,414.9,514.3,25.0,829,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2495,1832
$GC,9261,0.76,414.9,452.0,14.7,856,9265,0.00,2.00,0.00,0.000,4,0.000,0.059,2773,3759,1831
$GC,9351,0.76,414.9,438.9,14.3,864,9355,0.00,1.90,0.00,0.000,6,0.000,0.031,2776,2485,1829
$GC,9683,0.81,453.0,406.5,10.4,895,9720,0.00,2.15,30.15,1.009,4,0.000,0.058,2776,3767,1685
$GC,9739,0.81,453.0,399.8,14.3,900,9743,0.00,1.92,0.00,0.000,6,0.000,0.030,2776,2488,1682
$GC,10071,0.88,453.0,353.0,14.6,931,10075,0.15,2.05,0.00,0.000,4,0.083,0.034,2837,1118,1678
$GC,10109,0.79,453.0,346.0,18.0,934,10116,0.15,2.15,0.00,0.000,6,0.171,0.040,2800,2503,1678
$GC,10435,0.79,453.0,293.4,15.6,968,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2503,1677
$GC,10778,0.79,453.0,238.0,18.0,1029,10785,0.00,2.10,0.00,0.000,4,0.000,0.034,2802,1101,1677
$GC,10832,0.88,453.0,229.4,15.4,1038,10838,0.00,2.12,0.00,0.000,6,0.000,0.037,2802,2507,1677
$GC,11175,0.96,453.0,180.8,15.7,1099,11182,0.15,2.08,0.00,0.000,4,0.077,0.032,2868,1114,1677
$GC,11222,0.87,453.0,172.2,20.1,1107,11229,0.15,2.08,0.00,0.000,6,0.172,0.036,2830,2488,1677
$GC,11568,0.96,467.8,118.9,11.4,1168,11587,0.00,2.10,11.60,0.719,4,0.000,0.033,2830,1115,1623
$GC,11656,1.27,585.4,111.1,7.1,1183,11755,0.32,2.03,92.50,0.730,6,0.061,0.035,2954,2456,1144
$GC,12092,1.16,585.4,25.7,19.1,1260,12099,0.12,2.03,0.00,0.000,4,0.163,0.049,2924,3756,1136
$GC,12178,1.16,585.4,10.4,17.4,1275,12184,0.00,1.90,0.00,0.000,6,0.000,0.026,2925,2441,1136
$STATE,12227,end climb,SURFACE_DEPTH_REACHED
$STATE,12227,begin surface coast
$FINISH,1.7,1.012195
$STATE,12245,end surface coast,CONTROL_FINISHED_OK
$STATE,12245,begin surface
$SM_CCo,12322,0.00,0.000,0,0,1134,588.23
$SM_GC,2.56,7.45,0.00,0.00,0.055,0.000,0.000,144,2439,1134,-7.49,0.34,588.23
$IRIDIUM_FIX,2429.95,12243.54,070998,090929
$TT8_MAMPS,0.028379
$HUMID,1648
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.6,118.1
$24V_AH,24.1,27.857
$10V_AH,10.8,16.041
$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,25.650,106.575,546.925,0.000,0.000,87.104,130.005,293.789,5.500,0.000,0.000,34.218,2241.802,7228.902,623.885,2242.683,768.225,0.000,1777.473,0.000,2168.606,0.000,39.141,0.000
$DEVICE_MAMPS,251.576,84.370,1250.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,866.851,894.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69321,1287
$CAP_FILE_SIZE,140646,0
$CFSIZE,260165632,213794816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.365, 22.8,1
$GPS,130609,131507,2441.252,12241.578,32,1.6,32,-3.5