version: 66.04
glider: 167
mission: 2
dive: 405
start: 7 26 109 18 51 5
data:
$ID,167
$MISSION,2
$DIVE,405
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-13684.036
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,45
$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
$GPS1,184407,2442.289,12423.911,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-65.5
$GPS2,185044,2442.286,12423.849,13,1.3,13,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2446.900,12428.200
$TGT_RADIUS,2000.000
$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,54.8,11249,-24.8,-13.043
$D_GRID,604
$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,-1.25,-121.7,0.0,0.0,0,63,0.00,0.00,-44.08,0.000,2,0.000,0.000,140,2464,2358
$GC,66,-1.25,-121.7,3.0,-1.8,7,133,7.97,2.08,-51.12,0.000,4,0.227,0.037,2137,1068,3989
$GC,298,-0.98,-121.7,38.3,-16.6,47,304,0.35,2.10,0.00,0.000,6,0.163,0.028,2226,2490,3990
$GC,644,-1.17,-121.7,82.7,-12.1,108,649,0.17,0.00,0.00,0.000,6,0.066,0.000,2145,2493,3991
$GC,988,-1.04,-121.7,129.9,-13.9,169,995,0.20,0.00,0.00,0.000,6,0.162,0.000,2203,2493,3992
$GC,1335,-1.31,-121.7,169.7,-9.8,230,1341,0.20,1.90,0.00,0.000,4,0.058,0.043,2110,3755,3993
$GC,1427,-1.03,-121.7,182.0,-14.6,246,1434,0.35,1.83,0.00,0.000,6,0.157,0.021,2209,2441,3994
$GC,1774,-1.29,-121.7,219.0,-10.4,307,1780,0.20,0.00,0.00,0.000,6,0.064,0.000,2120,2441,3994
$GC,2118,-1.29,-121.7,255.3,-9.6,368,2124,0.00,2.00,0.00,0.000,4,0.000,0.042,2110,3753,3995
$GC,2164,-1.08,-121.7,260.4,-11.8,376,2171,0.30,1.80,0.00,0.000,6,0.157,0.022,2195,2459,3995
$GC,2510,-1.41,-121.7,288.1,-9.3,437,2517,0.25,0.00,0.00,0.000,6,0.060,0.000,2086,2459,3995
$GC,2848,-1.25,-121.7,330.9,-12.4,477,2852,0.20,1.98,0.00,0.000,4,0.165,0.042,2137,3750,3995
$GC,2905,-1.16,-121.7,337.6,-11.2,482,2909,0.12,1.80,0.00,0.000,6,0.165,0.023,2168,2463,3995
$GC,3236,-1.36,-121.7,369.2,-9.0,513,3240,0.17,1.98,0.00,0.000,4,0.067,0.043,2094,3750,3995
$GC,3286,-1.13,-121.7,374.9,-12.6,517,3295,0.30,1.80,0.00,0.000,6,0.163,0.022,2177,2466,3995
$GC,3611,-1.43,-121.7,406.0,-9.6,548,3615,0.22,1.95,0.00,0.000,4,0.063,0.025,2080,1109,3994
$GC,3636,-1.48,-121.7,408.6,-10.8,550,3640,0.00,2.03,0.00,0.000,6,0.000,0.030,2072,2460,3994
$GC,3967,-1.28,-121.7,449.0,-12.0,581,3971,0.20,1.98,0.00,0.000,4,0.170,0.043,2124,3758,3993
$GC,4013,-1.20,-121.7,454.1,-11.6,585,4017,0.12,1.85,0.00,0.000,6,0.164,0.024,2155,2450,3993
$GC,4344,-1.44,-121.7,484.4,-9.7,616,4348,0.20,1.95,0.00,0.000,4,0.068,0.025,2071,1093,3992
$GC,4379,-1.29,-121.7,488.4,-12.4,619,4383,0.20,2.05,0.00,0.000,6,0.170,0.032,2123,2461,3991
$GC,4712,-1.35,-121.7,526.4,-10.6,639,4715,0.00,1.98,0.00,0.000,4,0.000,0.047,2123,3757,3990
$GC,4740,-1.35,-121.7,529.9,-10.9,640,4743,0.00,1.85,0.00,0.000,6,0.000,0.024,2123,2451,3990
$GC,5068,-1.50,-121.7,562.0,-9.1,656,5070,0.17,0.00,0.00,0.000,6,0.069,0.000,2055,2450,3987
$GC,5376,-1.30,-121.7,592.7,-10.3,671,5381,0.22,2.05,0.00,0.000,4,0.186,0.044,2110,3766,3985
$GC,5428,-1.20,-121.7,598.1,-10.8,673,5432,0.17,1.88,0.00,0.000,6,0.167,0.025,2155,2457,3985
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5504,-0.22,0.0,605.0,9.2,677,5601,1.00,0.00,88.40,1.067,6,0.135,0.000,2471,2457,3532
$STATE,5601,end apogee,CONTROL_FINISHED_OK
$STATE,5602,begin climb
$GC,5604,1.25,121.7,611.9,0.0,682,5711,1.30,2.25,95.53,1.039,4,0.061,0.027,2956,1014,3034
$GC,5736,0.91,263.4,617.8,2.9,688,5851,0.45,2.15,108.90,1.029,6,0.202,0.031,2842,2416,2458
$GC,6168,0.93,282.4,575.9,11.7,709,6189,0.00,2.17,15.85,0.960,4,0.000,0.029,2848,1010,2380
$GC,6214,0.94,290.2,570.3,12.5,711,6228,0.00,2.08,7.88,0.851,6,0.000,0.030,2847,2377,2348
$GC,6545,0.94,290.2,525.8,13.5,727,6548,0.00,2.03,0.00,0.000,4,0.000,0.028,2855,1011,2344
$GC,6618,0.95,294.0,516.3,12.8,730,6627,0.00,2.03,4.18,0.664,6,0.000,0.030,2855,2365,2332
$GC,6953,1.01,341.9,478.8,9.6,755,6997,0.00,2.08,38.33,0.991,4,0.000,0.030,2859,1012,2137
$GC,7037,1.13,387.7,469.9,9.8,762,7081,0.15,2.03,37.20,0.966,6,0.080,0.029,2915,2340,1950
$GC,7407,1.06,387.7,421.9,14.3,797,7410,0.00,1.98,0.00,0.000,4,0.000,0.029,2924,1015,1942
$GC,7492,0.99,387.7,409.5,14.2,804,7498,0.22,1.98,0.00,0.000,6,0.176,0.031,2864,2330,1941
$GC,7819,1.22,408.4,371.8,11.6,835,7842,0.17,2.22,16.38,0.890,4,0.075,0.046,2940,3761,1867
$GC,7959,1.05,408.4,349.3,16.4,847,7964,0.25,2.03,0.00,0.000,6,0.189,0.024,2884,2377,1863
$GC,8284,1.21,443.7,308.1,10.5,877,8319,0.15,2.25,29.12,0.874,4,0.077,0.047,2943,3757,1722
$GC,8413,1.08,443.7,291.1,13.9,893,8421,0.22,2.17,0.00,0.000,6,0.179,0.023,2894,2280,1718
$GC,8761,1.23,443.7,247.7,13.9,954,8767,0.12,1.88,0.00,0.000,4,0.084,0.028,2951,992,1716
$GC,8854,1.23,443.7,234.4,14.1,970,8860,0.00,1.90,0.00,0.000,6,0.000,0.028,2951,2266,1715
$GC,9199,1.25,455.9,190.3,12.2,1031,9217,0.00,1.90,10.45,0.732,4,0.000,0.030,2956,992,1672
$GC,9246,1.25,455.9,184.2,13.5,1039,9252,0.00,1.88,0.00,0.000,6,0.000,0.028,2957,2256,1671
$GC,9591,1.31,455.9,140.4,13.3,1100,9597,0.00,1.85,0.00,0.000,4,0.000,0.027,2964,996,1670
$GC,9628,1.36,460.7,136.0,12.7,1106,9640,0.00,1.83,5.25,0.581,6,0.000,0.028,2964,2235,1652
$GC,9979,1.47,477.4,95.6,11.8,1168,9999,0.15,2.40,14.62,0.670,4,0.081,0.043,3022,3764,1584
$GC,10140,1.32,477.4,72.9,14.5,1196,10147,0.22,2.20,0.00,0.000,6,0.180,0.022,2975,2241,1581
$GC,10486,1.55,530.3,39.3,9.2,1257,10534,0.17,1.88,42.62,0.632,4,0.077,0.028,3058,996,1369
$GC,10571,1.55,535.3,29.7,12.7,1271,10583,0.00,1.92,5.32,0.478,6,0.000,0.028,3058,2286,1348
$STATE,10755,end climb,SURFACE_DEPTH_REACHED
$STATE,10755,begin surface coast
$FINISH,1.6,1.021563
$STATE,10773,end surface coast,CONTROL_FINISHED_OK
$STATE,10774,begin surface
$SM_CCo,10852,0.00,0.000,0,0,1343,536.96
$SM_GC,2.46,7.85,0.00,0.00,0.056,0.000,0.000,140,2508,1343,-7.50,0.71,536.96
$IRIDIUM_FIX,2434.69,12422.20,201098,161603
$TT8_MAMPS,0.029146
$HUMID,1711
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.50
$XPDR_PINGS,1
$24V_AH,24.0,68.405
$10V_AH,10.8,37.414
$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,24.775,88.125,520.025,0.000,0.000,28.087,41.883,184.323,4.500,0.000,0.000,13.836,2220.948,5714.513,613.646,2112.389,583.863,0.000,1702.521,0.000,2073.867,0.000,32.430,0.000
$DEVICE_MAMPS,227.032,46.787,1066.897,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.635,958.628,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69477,1307
$CAP_FILE_SIZE,127335,0
$CFSIZE,260165632,194027520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,141.7,1
$GPS,260709,215304,2442.633,12425.101,11,99.0,30,-3.7