version: 66.04
glider: 167
mission: 2
dive: 426
start: 7 30 109 19 47 35
data:
$ID,167
$MISSION,2
$DIVE,426
$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,475
$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,-14097.114
$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,20.75
$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,67
$R_STBD_OVSHOOT,44
$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
$GPS1,193701,2447.227,12418.218,42,1.3,43,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-68.3
$GPS2,194714,2447.181,12418.174,15,1.2,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,273.7,56986,-24.8,-13.043
$D_GRID,727
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.34,-121.7,0.0,0.0,0,65,0.00,0.00,-43.80,0.000,2,0.000,0.000,144,2489,2385
$GC,68,-1.34,-121.7,3.3,-2.5,7,133,8.23,1.98,-48.78,0.000,4,0.239,0.054,2098,3761,3990
$GC,359,-0.86,-121.7,54.1,-19.1,58,367,0.57,1.85,0.00,0.000,6,0.164,0.020,2261,2433,3991
$GC,707,-1.24,-121.7,93.7,-9.9,119,714,0.30,1.88,0.00,0.000,4,0.054,0.021,2130,1106,3991
$GC,749,-1.03,-121.7,98.9,-13.3,126,757,0.32,2.03,0.00,0.000,6,0.162,0.028,2213,2481,3991
$GC,1098,-1.31,-121.7,139.8,-10.8,187,1105,0.22,1.98,0.00,0.000,4,0.058,0.021,2113,1103,3993
$GC,1118,-1.45,-121.7,142.2,-10.5,190,1125,0.00,2.03,0.00,0.000,6,0.000,0.027,2108,2485,3993
$GC,1466,-1.24,-121.7,186.3,-15.3,251,1472,0.15,1.90,0.00,0.000,4,0.171,0.039,2138,3754,3994
$GC,1623,-1.07,-121.7,209.1,-13.7,278,1631,0.22,1.77,0.00,0.000,6,0.158,0.021,2200,2470,3995
$GC,1971,-1.36,-121.7,241.6,-7.5,339,1976,0.22,0.00,0.00,0.000,6,0.058,0.000,2098,2470,3995
$GC,2316,-1.24,-121.7,279.7,-13.3,400,2322,0.17,1.92,0.00,0.000,4,0.161,0.022,2150,1106,3995
$GC,2335,-1.16,-121.7,282.3,-12.6,403,2342,0.00,2.03,0.00,0.000,6,0.000,0.028,2146,2480,3995
$GC,2671,-1.29,-121.7,320.3,-10.4,447,2675,0.00,1.92,0.00,0.000,4,0.000,0.043,2146,3758,3995
$GC,2700,-1.34,-121.7,323.7,-10.8,449,2706,0.00,1.80,0.00,0.000,6,0.000,0.021,2146,2463,3995
$GC,3026,-1.50,-121.7,354.0,-9.0,480,3030,0.20,1.92,0.00,0.000,4,0.064,0.021,2055,1103,3995
$GC,3095,-1.22,-121.7,362.7,-13.9,486,3099,0.35,2.00,0.00,0.000,6,0.162,0.028,2145,2470,3995
$GC,3426,-1.34,-121.7,397.9,-9.7,517,3430,0.00,1.98,0.00,0.000,4,0.000,0.024,2145,1095,3995
$GC,3473,-1.44,-121.7,402.8,-10.7,521,3477,0.17,2.00,0.00,0.000,6,0.068,0.028,2073,2447,3995
$GC,3805,-1.27,-121.7,443.6,-12.8,552,3809,0.17,2.00,0.00,0.000,4,0.173,0.043,2123,3758,3993
$GC,3943,-1.19,-121.7,460.8,-11.5,564,3947,0.08,1.85,0.00,0.000,6,0.160,0.023,2156,2471,3993
$GC,4274,-1.44,-121.7,492.6,-8.8,595,4278,0.20,1.98,0.00,0.000,4,0.067,0.024,2069,1101,3992
$GC,4322,-1.25,-121.7,497.1,-10.0,599,4326,0.28,2.00,0.00,0.000,6,0.162,0.029,2139,2453,3992
$GC,4648,-1.44,-121.7,526.0,-8.8,616,4652,0.17,2.00,0.00,0.000,4,0.071,0.044,2057,3763,3990
$GC,4664,-1.44,-121.7,528.4,-9.4,616,4670,0.00,1.88,0.00,0.000,6,0.000,0.022,2057,2427,3990
$GC,4980,-1.24,-121.7,569.8,-13.1,632,4985,0.25,2.05,0.00,0.000,4,0.165,0.042,2126,3755,3988
$GC,5105,-1.24,-121.7,584.0,-11.2,637,5108,0.00,1.83,0.00,0.000,6,0.000,0.023,2126,2460,3986
$GC,5427,-1.40,-121.7,614.5,-9.1,653,5430,0.00,1.95,0.00,0.000,4,0.000,0.025,2126,1098,3985
$GC,5455,-1.50,-121.7,617.3,-9.2,654,5460,0.17,2.05,0.00,0.000,6,0.071,0.031,2058,2471,3984
$GC,5779,-1.40,-121.7,652.9,-11.6,670,5783,0.15,1.98,0.00,0.000,4,0.185,0.044,2086,3762,3982
$GC,5826,-1.25,-121.7,658.5,-11.9,672,5830,0.12,1.88,0.00,0.000,6,0.154,0.024,2138,2479,3981
$GC,6160,-1.48,-121.7,691.6,-9.9,688,6164,0.20,2.00,0.00,0.000,4,0.067,0.025,2055,1103,3979
$GC,6287,-1.31,-121.7,707.1,-12.8,693,6291,0.28,2.00,0.00,0.000,6,0.169,0.031,2122,2438,3978
$STATE,6481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6481,begin apogee
$GC,6488,-0.24,0.0,727.7,10.1,703,6585,1.12,0.00,90.50,1.171,6,0.150,0.000,2464,2439,3532
$STATE,6585,end apogee,CONTROL_FINISHED_OK
$STATE,6586,begin climb
$GC,6588,1.34,121.7,734.1,0.0,708,6698,1.42,2.25,98.55,1.141,4,0.063,0.027,2988,1019,3035
$GC,6906,0.82,189.4,726.0,8.2,722,6966,0.70,2.10,53.70,1.127,6,0.214,0.032,2811,2404,2760
$GC,7275,0.85,259.3,697.3,8.0,740,7338,0.00,2.17,56.40,1.126,4,0.000,0.048,2811,3741,2474
$GC,7372,0.78,270.8,687.0,12.2,744,7388,0.00,2.00,10.75,0.992,6,0.000,0.025,2815,2420,2428
$GC,7713,0.90,304.2,650.3,10.7,761,7746,0.00,2.17,28.10,1.090,4,0.000,0.031,2816,997,2291
$GC,7764,1.02,330.5,644.4,11.2,763,7792,0.17,2.20,22.62,1.062,6,0.074,0.031,2881,2421,2184
$GC,8105,0.96,338.5,600.7,12.5,779,8119,0.00,2.22,7.12,0.911,4,0.000,0.031,2885,995,2151
$GC,8164,0.97,345.1,592.4,12.6,781,8178,0.00,2.15,7.30,0.912,6,0.000,0.031,2885,2407,2124
$GC,8504,0.94,370.2,552.3,11.2,798,8531,0.15,2.15,21.45,1.042,4,0.183,0.028,2855,998,2023
$GC,8647,1.08,400.4,537.6,10.9,804,8680,0.12,2.10,26.00,1.037,6,0.088,0.031,2902,2376,1899
$GC,8993,1.08,400.4,493.5,13.6,823,8997,0.00,2.15,0.00,0.000,4,0.000,0.047,2902,3764,1892
$GC,9009,1.02,400.4,490.5,14.5,824,9016,0.15,2.08,0.00,0.000,6,0.186,0.024,2874,2361,1892
$GC,9335,1.21,404.0,447.9,12.8,855,9340,0.17,2.20,0.00,0.000,4,0.077,0.046,2949,3762,1890
$GC,9386,0.96,404.0,439.9,16.3,859,9391,0.38,2.00,0.00,0.000,6,0.186,0.025,2858,2392,1890
$GC,9712,1.29,433.7,402.6,10.9,889,9746,0.25,2.22,27.35,0.964,4,0.069,0.047,2964,3751,1761
$GC,9828,1.05,433.7,385.2,17.0,899,9833,0.35,1.92,0.00,0.000,6,0.186,0.024,2881,2434,1758
$GC,10154,1.38,454.9,346.5,11.5,929,10180,0.28,2.15,18.33,0.900,4,0.064,0.048,2993,3760,1677
$GC,10295,1.10,454.9,323.0,17.4,941,10302,0.38,1.98,0.00,0.000,6,0.192,0.025,2906,2411,1673
$GC,10630,1.37,461.1,279.9,12.6,986,10644,0.20,2.08,5.93,0.713,4,0.071,0.026,3001,1001,1651
$GC,10731,1.21,461.1,263.8,16.9,1003,10739,0.25,2.08,0.00,0.000,6,0.189,0.030,2938,2382,1650
$GC,11078,1.28,461.1,214.2,13.6,1064,11084,0.00,2.05,0.00,0.000,4,0.000,0.028,2944,998,1648
$GC,11205,1.40,482.2,198.4,11.5,1086,11230,0.15,2.00,18.20,0.782,6,0.077,0.029,3000,2338,1565
$GC,11572,1.32,482.2,146.2,14.1,1150,11578,0.12,2.17,0.00,0.000,4,0.193,0.044,2972,3750,1561
$GC,11603,1.24,482.2,141.7,14.4,1155,11611,0.15,2.05,0.00,0.000,6,0.185,0.022,2943,2335,1561
$GC,11952,1.59,507.9,102.8,11.2,1216,11982,0.28,2.00,21.90,0.700,4,0.061,0.029,3072,1009,1460
$GC,12101,1.42,507.9,80.9,15.3,1242,12107,0.25,1.98,0.00,0.000,6,0.186,0.028,3007,2337,1457
$GC,12447,1.64,552.4,41.9,9.9,1303,12490,0.17,2.28,36.20,0.644,4,0.069,0.044,3080,3759,1279
$GC,12590,1.46,552.4,22.7,15.0,1327,12597,0.28,2.20,0.00,0.000,6,0.186,0.022,3018,2241,1276
$STATE,12756,end climb,SURFACE_DEPTH_REACHED
$STATE,12756,begin surface coast
$FINISH,1.7,1.006201
$STATE,12785,end surface coast,CONTROL_FINISHED_OK
$STATE,12785,begin surface
$SM_CCo,12865,0.00,0.000,0,0,1273,554.13
$SM_GC,2.68,7.75,0.00,0.00,0.056,0.000,0.000,140,2508,1273,-7.50,0.68,554.13
$IRIDIUM_FIX,2439.44,12416.95,241098,191921
$TT8_MAMPS,0.028379
$HUMID,1694
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,23.6,72.649
$10V_AH,10.7,39.427
$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,28.475,117.875,550.400,0.000,0.000,54.555,72.235,259.759,5.750,0.000,0.000,15.973,2398.022,7275.721,633.935,2370.821,785.198,0.000,1869.243,0.000,2310.817,0.000,37.750,0.000
$DEVICE_MAMPS,239.304,54.457,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,913.538,972.343,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72578,1361
$CAP_FILE_SIZE,152705,0
$CFSIZE,260165632,192151552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,121.8,1
$GPS,300709,232306,2446.927,12417.909,30,1.7,31,-3.7