version: 66.04
glider: 167
mission: 2
dive: 66
start: 6 1 109 16 40 12
data:
$ID,167
$MISSION,2
$DIVE,66
$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,-2
$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,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,-5085.1445
$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,74
$R_STBD_OVSHOOT,34
$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
$GPS1,163406,2531.885,12326.531,36,1.5,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-64.5
$GPS2,163949,2531.914,12326.527,11,1.8,16,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,194.6,40126,-18.3,-12.000
$D_GRID,805
$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,-1.05,-194.7,0.0,0.0,0,58,0.00,0.00,-41.22,0.000,2,0.000,0.000,143,2422,2682
$GC,61,-1.05,-194.7,3.2,-3.1,7,114,8.48,0.00,-38.75,0.000,6,0.253,0.000,2200,2422,3987
$GC,453,-0.33,-194.7,130.0,-28.1,76,461,0.77,2.00,0.00,0.000,4,0.185,0.027,2432,1034,3989
$GC,513,-0.61,-194.7,139.7,-9.4,86,520,0.22,2.10,0.00,0.000,6,0.060,0.035,2329,2445,3990
$GC,858,-0.53,-194.7,191.5,-13.4,147,864,0.15,2.05,0.00,0.000,4,0.156,0.028,2369,1029,3991
$GC,899,-0.70,-194.7,196.1,-9.8,154,906,0.15,2.05,0.00,0.000,6,0.071,0.035,2305,2416,3991
$GC,1243,-0.61,-194.7,242.5,-13.7,215,1250,0.15,2.00,0.00,0.000,4,0.161,0.028,2346,1033,3992
$GC,1365,-0.77,-194.7,255.6,-9.8,236,1372,0.15,2.05,0.00,0.000,6,0.072,0.035,2281,2422,3992
$GC,1715,-0.67,-194.7,301.7,-12.8,297,1720,0.17,2.03,0.00,0.000,4,0.157,0.048,2330,3755,3992
$GC,1762,-0.80,-194.7,306.5,-9.3,301,1766,0.12,1.92,0.00,0.000,6,0.081,0.026,2275,2396,3992
$GC,2092,-0.80,-194.7,344.4,-10.3,332,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2396,3993
$GC,2413,-0.75,-194.7,378.4,-11.8,362,2416,0.00,2.10,0.00,0.000,4,0.000,0.051,2275,3757,3993
$GC,2469,-0.75,-194.7,385.8,-13.4,367,2473,0.00,1.95,0.00,0.000,6,0.000,0.027,2275,2378,3993
$GC,2801,-0.75,-194.7,424.9,-10.1,398,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2378,3992
$GC,3119,-0.75,-194.7,452.8,-8.4,428,3122,0.00,1.92,0.00,0.000,4,0.000,0.031,2275,1039,3991
$GC,3191,-0.80,-194.7,459.1,-8.4,434,3198,0.00,2.05,0.00,0.000,6,0.000,0.036,2275,2416,3991
$GC,3517,-0.80,-194.7,488.8,-9.4,465,3520,0.00,2.05,0.00,0.000,4,0.000,0.054,2275,3755,3990
$GC,3556,-0.85,-194.7,492.8,-9.7,468,3563,0.00,1.92,0.00,0.000,6,0.000,0.028,2275,2406,3990
$GC,3884,-0.92,-194.7,523.0,-9.7,488,3888,0.00,2.10,0.00,0.000,4,0.000,0.053,2275,3758,3987
$GC,3923,-1.00,-194.7,527.0,-9.6,489,3930,0.15,1.95,0.00,0.000,6,0.080,0.030,2213,2406,3987
$GC,4240,-0.85,-194.7,566.3,-12.3,505,4242,0.20,0.00,0.00,0.000,6,0.156,0.000,2269,2405,3985
$GC,4548,-0.93,-194.7,594.1,-9.1,520,4552,0.00,2.10,0.00,0.000,4,0.000,0.055,2262,3753,3982
$GC,4598,-0.98,-194.7,599.4,-10.7,522,4602,0.00,1.95,0.00,0.000,6,0.000,0.030,2261,2408,3982
$GC,4926,-1.03,-194.7,632.9,-10.1,538,4930,0.15,2.00,0.00,0.000,4,0.084,0.033,2202,1033,3980
$STATE,4934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4934,begin apogee
$GC,4942,-0.22,0.0,633.9,9.7,538,5033,0.85,0.00,85.60,1.153,6,0.163,0.000,2465,2503,3531
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5036,1.05,194.7,637.5,0.0,543,5195,1.15,2.10,149.38,1.115,4,0.059,0.052,2886,3755,2737
$GC,5372,0.32,194.7,596.0,22.8,558,5377,0.90,1.88,0.00,0.000,6,0.209,0.029,2656,2500,2733
$GC,5693,0.58,301.9,566.7,7.6,574,5782,0.17,2.10,82.55,1.081,4,0.079,0.052,2730,3762,2300
$GC,6034,0.51,301.9,522.9,15.3,589,6041,0.00,1.85,0.00,0.000,6,0.000,0.032,2733,2532,2292
$GC,6354,0.51,301.9,477.5,12.8,612,6358,0.00,1.95,0.00,0.000,4,0.000,0.055,2733,3762,2289
$GC,6505,0.51,301.9,455.1,15.4,625,6511,0.00,1.83,0.00,0.000,6,0.000,0.032,2733,2546,2289
$GC,6832,0.57,301.9,411.7,13.4,656,6836,0.00,2.12,0.00,0.000,4,0.000,0.036,2733,1110,2286
$GC,6904,0.70,301.9,402.2,12.3,662,6911,0.10,2.20,0.00,0.000,6,0.089,0.039,2773,2555,2286
$GC,7230,0.63,301.9,355.8,14.1,693,7233,0.00,1.88,0.00,0.000,4,0.000,0.058,2772,3764,2284
$GC,7488,0.49,301.9,315.6,15.9,716,7492,0.17,1.77,0.00,0.000,6,0.170,0.031,2710,2564,2284
$GC,7824,0.70,301.9,276.9,12.3,764,7831,0.17,0.00,0.00,0.000,6,0.074,0.000,2786,2560,2283
$GC,8169,0.70,301.9,225.7,13.4,825,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2561,2283
$GC,8511,0.72,320.7,183.4,11.2,886,8530,0.00,2.20,12.43,0.772,4,0.000,0.034,2789,1109,2223
$GC,8621,0.87,377.2,172.3,9.7,905,8670,0.10,2.22,43.33,0.793,6,0.092,0.038,2829,2579,1994
$GC,9009,0.87,377.2,117.5,13.9,973,9015,0.00,1.83,0.00,0.000,4,0.000,0.054,2829,3759,1987
$GC,9072,0.77,377.2,107.7,15.7,984,9080,0.15,1.73,0.00,0.000,6,0.170,0.027,2791,2569,1987
$GC,9419,1.08,462.1,70.2,8.5,1045,9490,0.25,2.28,63.83,0.687,4,0.064,0.031,2898,1099,1646
$GC,9574,1.08,462.1,46.5,16.1,1072,9581,0.00,2.25,0.00,0.000,6,0.000,0.035,2898,2566,1642
$STATE,9843,end climb,SURFACE_DEPTH_REACHED
$STATE,9843,begin surface coast
$FINISH,1.4,1.021276
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9939,0.00,0.000,0,0,1637,464.84
$SM_GC,2.36,7.28,0.00,0.00,0.051,0.000,0.000,146,2403,1637,-7.49,-0.68,464.84
$IRIDIUM_FIX,2522.28,12326.17,260898,131324
$TT8_MAMPS,0.029146
$HUMID,1563
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.0,107.4
$24V_AH,24.4,15.185
$10V_AH,10.8,9.534
$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,22.175,72.925,437.100,0.000,0.000,23.931,36.776,161.044,4.000,0.000,0.000,16.801,1933.522,5489.557,500.615,1938.485,418.385,0.000,1486.618,0.000,1893.017,0.000,29.108,0.000
$DEVICE_MAMPS,253.110,57.525,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,754.931,789.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60081,1123
$CAP_FILE_SIZE,110354,0
$CFSIZE,260165632,219795456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243, 68.3,1
$GPS,010609,192654,2531.114,12327.873,13,2.0,29,-3.8