version: 66.04
glider: 167
mission: 2
dive: 156
start: 6 13 109 13 31 26
data:
$ID,167
$MISSION,2
$DIVE,156
$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,770.97791
$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,-8006.7915
$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,66
$R_STBD_OVSHOOT,37
$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
$GPS1,131507,2441.252,12241.578,32,1.6,32,-3.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-63.1
$GPS2,133106,2441.464,12241.562,15,1.0,32,-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,261.4,63127,-18.3,-12.000
$D_GRID,672
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.05,-194.7,0.0,0.0,0,70,0.00,0.00,-50.85,0.000,2,0.000,0.000,144,2439,2414
$GC,73,-1.05,-194.7,3.0,-2.2,9,136,8.35,2.10,-50.03,0.000,4,0.246,0.057,2189,3761,3989
$GC,340,-0.17,-194.7,72.4,-29.6,55,347,1.02,1.95,0.00,0.000,6,0.186,0.024,2480,2392,3991
$GC,684,-1.13,-194.7,107.5,-9.6,116,691,0.80,2.12,0.00,0.000,4,0.077,0.046,2180,3770,3992
$GC,743,-0.60,-194.7,116.4,-18.7,126,749,0.57,1.90,0.00,0.000,6,0.160,0.024,2352,2425,3992
$GC,1087,-0.74,-194.7,143.9,-7.3,187,1093,0.15,0.00,0.00,0.000,6,0.069,0.000,2285,2425,3992
$GC,1432,-0.66,-194.7,178.6,-10.6,248,1438,0.15,2.05,0.00,0.000,4,0.151,0.047,2327,3757,3993
$GC,1479,-0.81,-194.7,183.0,-8.4,256,1486,0.12,1.88,0.00,0.000,6,0.077,0.025,2272,2430,3993
$GC,1825,-0.72,-194.7,222.1,-11.4,317,1832,0.15,2.05,0.00,0.000,4,0.145,0.048,2315,3761,3993
$GC,1873,-0.86,-194.7,226.2,-7.9,325,1881,0.15,1.90,0.00,0.000,6,0.071,0.026,2248,2419,3993
$GC,2219,-0.71,-194.7,271.2,-13.6,386,2225,0.20,0.00,0.00,0.000,6,0.147,0.000,2312,2419,3992
$GC,2563,-0.85,-194.7,300.9,-7.9,446,2567,0.12,2.08,0.00,0.000,4,0.077,0.050,2258,3757,3993
$GC,2590,-0.85,-194.7,303.7,-10.4,448,2596,0.00,1.92,0.00,0.000,6,0.000,0.026,2258,2404,3993
$GC,2917,-0.79,-194.7,339.2,-10.8,479,2919,0.12,0.00,0.00,0.000,6,0.154,0.000,2293,2403,3992
$GC,3235,-0.88,-194.7,371.5,-11.9,509,3239,0.00,2.10,0.00,0.000,4,0.000,0.051,2292,3754,3992
$GC,3360,-1.01,-194.7,385.7,-10.5,520,3365,0.20,1.95,0.00,0.000,6,0.068,0.028,2208,2399,3991
$GC,3691,-0.77,-194.7,432.1,-13.5,551,3695,0.25,1.95,0.00,0.000,4,0.155,0.029,2285,1044,3990
$GC,3763,-0.89,-194.7,438.6,-7.9,557,3771,0.00,2.05,0.00,0.000,6,0.000,0.036,2281,2416,3989
$GC,4089,-0.98,-194.7,461.9,-7.0,588,4093,0.15,2.08,0.00,0.000,4,0.078,0.051,2217,3764,3987
$GC,4195,-0.80,-194.7,472.7,-11.3,597,4203,0.22,1.95,0.00,0.000,6,0.152,0.028,2282,2413,3986
$GC,4520,-0.91,-194.7,493.9,-6.6,628,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2413,3984
$GC,4843,-1.02,-194.7,521.1,-10.0,648,4847,0.17,2.10,0.00,0.000,4,0.074,0.053,2205,3751,3982
$GC,4883,-0.84,-194.7,526.2,-14.2,650,4887,0.25,1.95,0.00,0.000,6,0.156,0.030,2278,2411,3981
$GC,5217,-0.94,-194.7,558.3,-8.7,666,5219,0.12,0.00,0.00,0.000,6,0.084,0.000,2228,2410,3979
$GC,5524,-0.86,-194.7,594.3,-11.3,681,5526,0.15,0.00,0.00,0.000,6,0.162,0.000,2268,2411,3977
$GC,5834,-0.93,-194.7,622.0,-9.7,696,5837,0.00,2.12,0.00,0.000,4,0.000,0.055,2262,3761,3975
$GC,5852,-1.01,-194.7,623.9,-9.9,696,5859,0.12,1.95,0.00,0.000,6,0.086,0.030,2210,2424,3974
$GC,6170,-0.85,-194.7,657.7,-10.9,712,6174,0.20,2.05,0.00,0.000,4,0.160,0.032,2271,1026,3972
$GC,6197,-0.85,-194.7,661.0,-10.4,713,6200,0.00,2.12,0.00,0.000,6,0.000,0.038,2271,2426,3972
$STATE,6329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6330,begin apogee
$GC,6336,-0.22,0.0,672.5,8.7,720,6423,0.62,0.00,84.38,1.173,6,0.144,0.000,2465,2515,3532
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6427,1.05,194.7,676.3,0.0,724,6585,1.15,2.28,151.07,1.133,4,0.063,0.035,2891,1120,2738
$GC,6843,0.48,194.7,634.4,21.9,743,6848,0.68,2.15,0.00,0.000,6,0.189,0.038,2706,2510,2731
$GC,7169,0.60,289.6,601.7,8.1,759,7248,0.00,2.22,72.95,1.101,4,0.000,0.034,2706,1109,2352
$GC,7295,0.78,334.3,590.4,10.2,764,7340,0.25,2.25,36.00,1.059,6,0.070,0.040,2798,2520,2168
$GC,7648,0.60,334.3,531.7,17.2,781,7650,0.22,0.00,0.00,0.000,6,0.177,0.000,2738,2520,2160
$GC,7957,0.62,347.9,493.9,11.4,798,7973,0.00,2.15,10.52,0.964,4,0.000,0.036,2745,1109,2113
$GC,8030,0.72,363.5,485.3,11.4,804,8053,0.00,2.22,13.77,0.980,6,0.000,0.041,2746,2538,2049
$GC,8370,0.77,363.5,437.4,14.8,836,8372,0.12,0.00,0.00,0.000,6,0.084,0.000,2794,2538,2045
$GC,8691,0.67,363.5,379.4,16.9,866,8695,0.12,2.15,0.00,0.000,4,0.186,0.034,2772,1104,2043
$GC,8737,0.67,363.5,372.2,15.0,870,8741,0.00,2.17,0.00,0.000,6,0.000,0.040,2772,2521,2043
$GC,9063,0.67,363.5,324.2,14.3,900,9067,0.00,2.12,0.00,0.000,4,0.000,0.035,2772,1110,2041
$GC,9098,0.72,363.5,319.1,13.8,903,9101,0.00,2.15,0.00,0.000,6,0.000,0.039,2772,2514,2041
$GC,9433,0.72,363.5,274.6,12.9,950,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2514,2041
$GC,9776,0.78,374.4,233.0,11.5,1011,9794,0.00,2.17,8.62,0.783,4,0.000,0.035,2773,1107,2004
$GC,9910,0.94,401.8,218.1,10.9,1034,9940,0.20,2.12,22.33,0.831,6,0.074,0.039,2850,2509,1893
$GC,10281,0.79,401.8,162.9,14.8,1099,10288,0.17,2.10,0.00,0.000,4,0.169,0.034,2803,1112,1888
$GC,10323,0.89,420.2,157.6,11.2,1106,10348,0.00,2.08,14.77,0.756,6,0.000,0.037,2803,2475,1819
$GC,10687,1.00,420.2,108.9,15.3,1170,10694,0.17,2.05,0.00,0.000,4,0.070,0.033,2881,1107,1816
$GC,10762,0.90,420.2,95.0,19.3,1183,10769,0.17,2.08,0.00,0.000,6,0.169,0.038,2835,2471,1816
$GC,11107,1.09,479.3,54.5,9.6,1244,11160,0.17,2.08,45.55,0.678,4,0.065,0.033,2915,1113,1576
$GC,11218,1.11,495.6,41.2,11.3,1263,11237,0.00,2.08,13.88,0.621,6,0.000,0.035,2915,2466,1510
$STATE,11493,end climb,SURFACE_DEPTH_REACHED
$STATE,11493,begin surface coast
$FINISH,1.7,1.000180
$STATE,11517,end surface coast,CONTROL_FINISHED_OK
$STATE,11517,begin surface
$SM_CCo,11534,205.70,0.604,0,0,389,770.98
$SM_GC,2.47,0.00,0.00,205.70,0.000,0.000,0.604,142,2472,389,-7.51,1.30,770.98
$IRIDIUM_FIX,2432.32,12239.55,070998,131331
$TT8_MAMPS,0.029146
$HUMID,1552
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.3,28.054
$10V_AH,10.8,16.124
$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,25.325,83.050,473.850,205.700,0.000,128.202,381.312,59.442,4.750,0.000,0.000,32.165,2255.963,6658.252,771.793,2189.944,819.506,0.000,1878.863,0.000,2122.709,0.000,32.730,0.000
$DEVICE_MAMPS,246.207,85.137,1172.743,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,886.749,949.908,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69633,1316
$CAP_FILE_SIZE,130822,0
$CFSIZE,260165632,213704704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.484, 16.4,1
$GPS,130609,164824,2444.464,12240.496,24,1.0,42,-3.5