version: 66.04
glider: 167
mission: 2
dive: 170
start: 6 16 109 9 19 37
data:
$ID,167
$MISSION,2
$DIVE,170
$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,330
$T_MISSION,396
$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,175
$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,-8364.7148
$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,67
$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
$GPS1,091237,2459.979,12212.938,40,1.0,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-69.2
$GPS2,091916,2459.927,12213.023,13,2.2,32,-3.5
$SPEED_LIMITS,0.173,0.279
$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,277.3,5077,-16.8,-10.000
$D_GRID,512
$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,-0.96,-170.3,0.0,0.0,0,51,0.00,0.00,-34.25,0.000,2,0.000,0.000,144,2410,2449
$GC,54,-0.96,-170.3,3.2,-2.0,5,119,8.62,2.10,-50.00,0.000,4,0.249,0.043,2233,1026,3990
$GC,212,-0.45,-170.3,30.0,-20.0,31,218,0.57,2.12,0.00,0.000,6,0.164,0.035,2393,2429,3991
$GC,556,-0.55,-170.3,68.2,-9.8,92,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2430,3992
$GC,900,-1.04,-170.3,94.5,-7.1,153,906,0.45,2.05,0.00,0.000,4,0.058,0.048,2207,3767,3993
$GC,1160,-0.61,-170.3,139.9,-18.2,199,1167,0.45,1.98,0.00,0.000,6,0.150,0.025,2344,2375,3995
$GC,1505,-0.76,-170.3,172.4,-8.0,260,1511,0.12,2.15,0.00,0.000,4,0.077,0.048,2288,3764,3996
$GC,1553,-0.70,-170.3,176.6,-9.8,268,1559,0.12,1.95,0.00,0.000,6,0.145,0.026,2323,2397,3997
$GC,1898,-0.78,-170.3,204.2,-7.4,329,1904,0.00,2.10,0.00,0.000,4,0.000,0.048,2318,3755,3997
$GC,1978,-0.87,-170.3,209.9,-6.7,343,1985,0.15,1.90,0.00,0.000,6,0.074,0.026,2254,2420,3997
$GC,2323,-0.70,-170.3,246.5,-12.0,404,2330,0.17,2.08,0.00,0.000,4,0.150,0.048,2303,3758,3997
$GC,2467,-0.70,-170.3,260.3,-9.5,429,2473,0.00,1.90,0.00,0.000,6,0.000,0.027,2304,2428,3997
$GC,2811,-0.70,-170.3,296.2,-10.6,490,2818,0.00,2.08,0.00,0.000,4,0.000,0.051,2303,3761,3996
$GC,2914,-0.75,-170.3,307.3,-10.5,502,2918,0.00,1.88,0.00,0.000,6,0.000,0.028,2303,2455,3997
$GC,3245,-0.75,-170.3,336.4,-9.8,533,3248,0.00,2.03,0.00,0.000,4,0.000,0.052,2303,3756,3996
$GC,3306,-0.85,-170.3,341.5,-7.1,538,3314,0.00,1.83,0.00,0.000,6,0.000,0.027,2303,2473,3995
$GC,3634,-0.92,-170.3,361.9,-8.1,569,3638,0.15,2.00,0.00,0.000,4,0.077,0.051,2238,3755,3995
$GC,3740,-0.73,-170.3,376.4,-14.3,578,3747,0.25,1.83,0.00,0.000,6,0.146,0.029,2312,2489,3994
$GC,4065,-0.85,-170.3,411.2,-9.4,609,4067,0.12,0.00,0.00,0.000,6,0.081,0.000,2260,2489,3993
$GC,4385,-0.78,-170.3,440.8,-9.5,639,4389,0.12,2.00,0.00,0.000,4,0.161,0.053,2289,3764,3993
$GC,4457,-0.84,-170.3,447.0,-8.2,645,4463,0.00,1.83,0.00,0.000,6,0.000,0.029,2289,2500,3993
$GC,4784,-0.91,-170.3,467.8,-5.5,676,4788,0.12,1.98,0.00,0.000,4,0.083,0.053,2233,3760,3991
$GC,4915,-0.75,-170.3,479.2,-8.5,687,4922,0.22,1.80,0.00,0.000,6,0.152,0.029,2298,2517,3991
$GC,5249,-0.87,-170.3,505.8,-8.5,716,5253,0.00,1.95,0.00,0.000,4,0.000,0.054,2293,3761,3990
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5327,-0.22,0.0,512.3,8.5,719,5416,0.52,0.00,86.25,1.033,6,0.127,0.000,2466,2506,3532
$STATE,5417,end apogee,CONTROL_FINISHED_OK
$STATE,5417,begin climb
$GC,5419,0.96,170.3,516.1,0.0,723,5556,1.05,2.22,129.90,1.002,4,0.062,0.031,2859,1087,2836
$GC,5683,0.40,170.3,502.8,13.5,735,5689,0.68,2.22,0.00,0.000,6,0.192,0.038,2678,2511,2833
$GC,6008,0.41,173.4,475.0,9.9,764,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2511,2832
$GC,6326,0.46,216.3,446.3,8.3,794,6367,0.00,2.00,34.40,0.981,4,0.000,0.054,2678,3757,2649
$GC,6395,0.41,216.3,440.0,10.4,800,6402,0.00,1.92,0.00,0.000,6,0.000,0.028,2678,2470,2647
$GC,6723,0.57,273.0,413.1,7.8,831,6771,0.15,2.12,42.88,0.965,4,0.077,0.055,2735,3761,2418
$GC,6851,0.41,273.0,398.0,13.6,842,6859,0.22,1.85,0.00,0.000,6,0.166,0.029,2676,2522,2414
$GC,7177,0.63,313.7,368.8,8.4,873,7214,0.20,2.17,31.50,0.933,4,0.071,0.035,2762,1122,2252
$GC,7289,0.63,313.7,355.6,11.7,883,7292,0.00,2.17,0.00,0.000,6,0.000,0.036,2762,2518,2249
$GC,7621,0.60,342.7,322.0,8.9,914,7650,0.00,2.15,22.88,0.894,4,0.000,0.033,2762,1118,2133
$GC,7678,0.62,356.9,316.4,9.4,919,7695,0.00,2.15,12.55,0.837,6,0.000,0.036,2762,2505,2076
$GC,8021,0.62,356.9,282.7,10.3,965,8027,0.00,2.10,0.00,0.000,4,0.000,0.032,2762,1106,2070
$GC,8095,0.62,356.9,274.6,10.7,978,8102,0.00,2.12,0.00,0.000,6,0.000,0.035,2762,2499,2070
$GC,8440,0.62,356.9,231.2,13.8,1039,8446,0.00,2.08,0.00,0.000,4,0.000,0.032,2762,1106,2069
$GC,8464,0.62,356.9,228.1,13.2,1043,8470,0.00,2.12,0.00,0.000,6,0.000,0.036,2762,2502,2069
$GC,8807,0.62,356.9,182.5,12.1,1104,8813,0.00,2.08,0.00,0.000,4,0.000,0.032,2762,1109,2068
$GC,8842,0.67,356.9,178.3,11.7,1110,8849,0.00,2.08,0.00,0.000,6,0.000,0.036,2762,2483,2068
$GC,9187,0.69,372.5,143.9,9.4,1171,9205,0.00,2.10,12.20,0.739,4,0.000,0.032,2762,1116,2012
$GC,9331,0.81,372.5,128.8,10.4,1196,9338,0.12,2.05,0.00,0.000,6,0.083,0.034,2814,2474,2010
$GC,9676,0.79,395.8,84.5,9.1,1257,9699,0.00,0.00,18.90,0.713,6,0.000,0.000,2813,2474,1916
$GC,10037,0.95,439.8,48.1,8.3,1321,10075,0.12,0.00,34.05,0.681,6,0.079,0.000,2869,2475,1737
$GC,10412,0.95,439.8,7.8,10.1,1387,10418,0.00,2.03,0.00,0.000,4,0.000,0.032,2871,1119,1731
$STATE,10461,end climb,SURFACE_DEPTH_REACHED
$STATE,10461,begin surface coast
$FINISH,1.7,1.020929
$STATE,10496,end surface coast,CONTROL_FINISHED_OK
$STATE,10496,begin surface
$SM_CCo,10575,0.00,0.000,0,0,1729,442.28
$SM_GC,2.84,7.25,0.00,0.00,0.053,0.000,0.000,144,2446,1729,-7.49,0.54,442.28
$IRIDIUM_FIX,2448.93,12212.42,100998,050502
$TT8_MAMPS,0.029146
$HUMID,1585
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,30.495
$10V_AH,10.8,17.462
$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,22.000,85.150,425.500,0.000,0.000,29.737,41.006,177.113,3.250,0.000,0.000,33.602,2364.633,5310.958,525.458,2275.288,488.643,0.000,1650.167,0.000,2215.390,0.000,24.586,0.000
$DEVICE_MAMPS,248.508,55.224,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.159,1043.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72462,1402
$CAP_FILE_SIZE,125520,0
$CFSIZE,260165632,212504576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,143.5,1
$GPS,160609,121707,2459.692,12212.121,41,1.2,41,-3.5