version: 66.04
glider: 167
mission: 2
dive: 16
start: 5 23 109 14 5 46
data:
$ID,167
$MISSION,2
$DIVE,16
$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,-2
$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,-4177.269
$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,25
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,140007,2540.029,12250.047,30,1.1,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-66.3
$GPS2,140525,2540.062,12250.046,10,1.1,15,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,147.8,65881,-16.8,-10.000
$D_GRID,441
$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,14,-0.88,-170.3,0.0,0.0,0,59,0.00,0.00,-42.75,0.000,2,0.000,0.000,147,2308,2898
$GC,62,-0.88,-170.3,3.2,-3.6,5,106,9.00,2.12,-29.30,0.000,4,0.267,0.045,2251,900,3988
$GC,361,-0.27,-170.3,78.8,-29.0,54,369,0.65,2.15,0.00,0.000,6,0.186,0.036,2451,2311,3990
$GC,717,-1.00,-170.3,103.1,-7.3,115,725,0.60,2.15,0.00,0.000,4,0.076,0.048,2222,3713,3991
$GC,828,-0.43,-170.3,121.2,-20.2,133,837,0.57,2.05,0.00,0.000,6,0.171,0.026,2399,2282,3995
$GC,1183,-1.08,-170.3,152.3,-7.7,194,1192,0.52,1.98,0.00,0.000,4,0.072,0.031,2195,926,3993
$GC,1219,-0.82,-170.3,156.2,-12.9,199,1228,0.28,2.08,0.00,0.000,6,0.169,0.034,2277,2312,3993
$GC,1573,-0.66,-170.3,202.5,-13.2,260,1583,0.17,2.12,0.00,0.000,4,0.169,0.048,2329,3701,3993
$GC,1714,-0.81,-170.3,217.8,-10.6,283,1720,0.12,1.98,0.00,0.000,6,0.085,0.026,2275,2306,3997
$GC,2063,-0.68,-170.3,261.9,-11.9,344,2073,0.17,2.17,0.00,0.000,4,0.159,0.050,2323,3705,3994
$GC,2181,-0.80,-170.3,271.7,-7.7,363,2188,0.12,2.00,0.00,0.000,6,0.082,0.028,2271,2297,3993
$GC,2522,-0.69,-170.3,312.5,-11.5,414,2526,0.17,2.17,0.00,0.000,4,0.162,0.050,2325,3713,3994
$GC,2625,-0.86,-170.3,320.9,-7.5,422,2632,0.12,2.03,0.00,0.000,6,0.063,0.029,2260,2314,3992
$GC,2953,-0.72,-170.3,360.5,-14.3,453,2957,0.17,2.00,0.00,0.000,4,0.163,0.032,2315,933,3993
$GC,3002,-0.83,-170.3,366.4,-11.2,457,3007,0.12,2.05,0.00,0.000,6,0.084,0.034,2260,2322,3993
$STATE,3224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3224,begin apogee
$GC,3230,-0.20,0.0,390.8,10.7,478,3320,0.65,0.00,85.05,0.949,6,0.156,0.000,2468,2408,3531
$STATE,3321,end apogee,CONTROL_FINISHED_OK
$STATE,3321,begin climb
$GC,3323,0.88,170.3,393.4,0.0,487,3458,0.98,2.25,127.88,0.930,4,0.067,0.052,2826,3750,2837
$GC,3526,0.28,170.3,387.1,12.8,504,3531,0.75,2.03,0.00,0.000,6,0.197,0.028,2634,2389,2835
$GC,3851,0.57,259.6,372.4,6.5,534,3925,0.22,2.22,66.32,0.979,4,0.072,0.051,2729,3742,2474
$GC,3977,0.47,259.6,358.1,13.9,544,3988,0.10,2.05,0.00,0.000,6,0.168,0.029,2703,2409,2471
$GC,4305,0.59,298.7,331.7,8.5,575,4342,0.00,2.15,30.00,0.955,4,0.000,0.035,2706,981,2317
$GC,4402,0.78,334.2,323.4,8.6,583,4439,0.25,2.15,28.45,0.876,6,0.069,0.035,2800,2386,2169
$GC,4773,0.61,334.2,264.2,15.6,634,4780,0.20,2.12,0.00,0.000,4,0.177,0.049,2742,3748,2163
$GC,4933,0.55,334.2,243.0,13.6,661,4939,0.00,2.00,0.00,0.000,6,0.000,0.029,2746,2386,2162
$GC,5284,0.55,334.2,205.3,10.3,722,5293,0.00,2.15,0.00,0.000,4,0.000,0.051,2746,3749,2160
$GC,5382,0.55,334.2,194.2,11.2,738,5391,0.08,2.00,0.00,0.000,6,0.178,0.029,2730,2381,2156
$GC,5740,0.69,336.9,162.4,9.9,799,5748,0.12,2.15,0.00,0.000,4,0.083,0.050,2779,3756,2156
$GC,5797,0.57,336.9,154.7,14.4,808,5807,0.17,2.00,0.00,0.000,6,0.169,0.028,2734,2399,2158
$GC,6154,0.77,352.0,119.1,9.4,869,6172,0.17,2.17,12.98,0.723,4,0.074,0.051,2812,3764,2096
$GC,6395,0.62,352.0,81.2,15.5,909,6403,0.20,2.03,0.00,0.000,6,0.163,0.030,2753,2383,2093
$GC,6751,0.98,427.6,52.9,7.0,970,6820,0.25,2.10,56.47,0.695,4,0.066,0.035,2869,1010,1786
$GC,7081,1.05,427.6,11.9,10.7,1023,7090,0.00,2.10,0.00,0.000,6,0.000,0.034,2869,2396,1780
$STATE,7165,end climb,SURFACE_DEPTH_REACHED
$STATE,7165,begin surface coast
$FINISH,1.1,1.010175
$STATE,7197,end surface coast,CONTROL_FINISHED_OK
$STATE,7197,begin surface
$SM_CCo,7274,0.00,0.000,0,0,1777,430.50
$SM_GC,2.05,7.35,0.00,0.00,0.064,0.000,0.000,146,2298,1777,-7.50,-0.25,430.50
$IRIDIUM_FIX,2529.44,12251.01,170898,121236
$TT8_MAMPS,0.031447
$HUMID,1493
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,27.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.1,114.9
$24V_AH,24.5,6.701
$10V_AH,10.8,4.503
$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,24.325,62.900,407.150,0.000,0.000,31.439,43.988,135.956,2.000,0.000,0.000,16.050,1742.833,1359.472,397.112,3664.843,428.694,0.000,1348.406,0.000,3696.400,0.000,12.428,0.000
$DEVICE_MAMPS,266.916,92.040,979.459,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,701.464,823.126,3041.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53827,1042
$CAP_FILE_SIZE,121999,0
$CFSIZE,260165632,223961088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,249.2,1
$GPS,230509,160804,2539.297,12250.334,10,99.0,29,-3.8