version: 66.04
glider: 167
mission: 2
dive: 131
start: 6 10 109 18 8 59
data:
$ID,167
$MISSION,2
$DIVE,131
$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,-4
$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,-7407.1099
$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,90
$R_STBD_OVSHOOT,41
$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
$GPS1,180257,2408.015,12308.171,30,2.2,49,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-65.4
$GPS2,180840,2408.066,12308.229,13,2.2,32,-3.4
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2406.400,12245.900
$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,268.7,37873,-18.3,-12.000
$D_GRID,543
$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,-194.7,0.0,0.0,0,54,0.00,0.00,-36.38,0.000,2,0.000,0.000,141,2510,2657
$GC,57,-1.05,-194.7,3.4,-3.4,6,111,8.38,2.12,-38.30,0.000,4,0.248,0.038,2200,1036,3987
$GC,186,-0.26,-194.7,32.6,-33.3,28,193,0.93,2.08,0.00,0.000,6,0.182,0.032,2455,2430,3988
$GC,532,-0.52,-194.7,71.5,-7.7,89,539,0.20,2.00,0.00,0.000,4,0.061,0.045,2361,3753,3988
$GC,602,-0.42,-194.7,80.6,-14.5,101,609,0.17,1.88,0.00,0.000,6,0.148,0.024,2410,2421,3989
$GC,949,-0.55,-194.7,115.9,-9.7,162,955,0.12,2.05,0.00,0.000,4,0.074,0.044,2348,3764,3990
$GC,1008,-0.44,-194.7,124.4,-15.0,172,1015,0.20,1.85,0.00,0.000,6,0.149,0.023,2405,2439,3990
$GC,1353,-0.66,-194.7,157.9,-8.7,233,1361,0.17,1.98,0.00,0.000,4,0.064,0.025,2322,1041,3991
$GC,1457,-0.59,-194.7,172.2,-14.3,251,1464,0.12,2.05,0.00,0.000,6,0.156,0.031,2352,2437,3991
$GC,1803,-0.67,-194.7,210.4,-10.5,312,1809,0.00,1.98,0.00,0.000,4,0.000,0.044,2345,3755,3992
$GC,1827,-0.75,-194.7,212.9,-10.2,316,1833,0.12,1.88,0.00,0.000,6,0.076,0.024,2286,2410,3992
$GC,2173,-0.67,-194.7,255.0,-11.9,377,2181,0.15,2.05,0.00,0.000,4,0.150,0.044,2329,3754,3992
$GC,2244,-0.81,-194.7,262.2,-9.1,389,2251,0.12,1.88,0.00,0.000,6,0.077,0.025,2272,2417,3992
$GC,2588,-0.72,-194.7,301.7,-12.5,449,2590,0.15,0.00,0.00,0.000,6,0.150,0.000,2315,2414,3992
$GC,2909,-0.84,-194.7,331.6,-11.0,479,2913,0.12,2.05,0.00,0.000,4,0.077,0.048,2261,3753,3992
$GC,2954,-0.74,-194.7,338.0,-14.2,483,2958,0.15,1.88,0.00,0.000,6,0.150,0.025,2303,2427,3993
$GC,3284,-0.83,-194.7,371.7,-7.7,514,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2427,3992
$GC,3604,-0.92,-194.7,396.4,-7.9,544,3608,0.17,2.05,0.00,0.000,4,0.071,0.048,2230,3757,3992
$GC,3661,-0.70,-194.7,403.5,-14.4,549,3666,0.30,1.90,0.00,0.000,6,0.153,0.027,2320,2423,3992
$GC,3986,-0.87,-194.7,430.4,-9.2,579,3990,0.17,2.08,0.00,0.000,4,0.071,0.050,2247,3762,3990
$GC,4032,-0.76,-194.7,436.7,-15.8,583,4036,0.17,1.90,0.00,0.000,6,0.152,0.027,2298,2436,3990
$STATE,4253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4253,begin apogee
$GC,4259,-0.22,0.0,466.5,10.6,604,4347,0.50,0.00,84.43,0.966,6,0.133,0.000,2464,2504,3531
$STATE,4348,end apogee,CONTROL_FINISHED_OK
$STATE,4348,begin climb
$GC,4350,1.05,194.7,470.3,0.0,613,4503,1.15,2.17,144.10,0.940,4,0.068,0.030,2889,1122,2737
$GC,4762,0.54,194.7,435.5,17.2,649,4767,0.60,2.10,0.00,0.000,6,0.191,0.034,2724,2512,2733
$GC,5087,0.58,225.3,401.7,10.7,679,5120,0.00,2.00,23.38,0.891,4,0.000,0.051,2725,3758,2612
$GC,5200,0.52,257.5,389.6,10.7,689,5232,0.00,1.80,24.38,0.882,6,0.000,0.027,2724,2516,2481
$GC,5551,0.53,265.5,353.4,11.7,722,5561,0.00,0.00,7.07,0.749,6,0.000,0.000,2724,2515,2448
$GC,5881,0.71,335.2,317.6,9.1,753,5940,0.15,2.12,52.88,0.871,4,0.074,0.031,2791,1110,2165
$GC,5957,0.64,335.2,307.2,15.5,759,5963,0.15,2.17,0.00,0.000,6,0.163,0.035,2753,2514,2162
$GC,6297,0.72,335.2,263.5,13.4,815,6302,0.00,1.92,0.00,0.000,4,0.000,0.051,2753,3758,2157
$GC,6348,0.72,335.2,256.2,14.8,824,6354,0.00,1.75,0.00,0.000,6,0.000,0.028,2758,2542,2156
$GC,6692,0.95,415.7,218.0,8.7,885,6758,0.22,1.98,59.75,0.802,4,0.067,0.051,2859,3764,1835
$GC,6939,0.78,415.7,173.3,17.0,928,6945,0.25,1.73,0.00,0.000,6,0.164,0.028,2799,2575,1827
$GC,7283,1.05,468.4,137.7,9.8,989,7331,0.20,2.20,39.30,0.723,4,0.064,0.030,2897,1124,1620
$GC,7423,1.05,468.4,115.2,16.2,1013,7430,0.00,2.22,0.00,0.000,6,0.000,0.035,2898,2583,1616
$GC,7768,1.05,468.4,60.7,14.9,1074,7773,0.00,1.80,0.00,0.000,4,0.000,0.049,2898,3764,1613
$GC,7892,0.97,468.4,41.1,16.2,1096,7899,0.17,1.67,0.00,0.000,6,0.168,0.025,2858,2576,1613
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FINISH,1.5,1.011027
$STATE,8229,end surface coast,CONTROL_FINISHED_OK
$STATE,8229,begin surface
$SM_CCo,8306,0.00,0.000,0,0,1612,470.98
$SM_GC,2.42,7.12,0.00,0.00,0.054,0.000,0.000,142,2420,1612,-7.50,-0.20,470.98
$IRIDIUM_FIX,2359.20,12308.66,040998,151511
$TT8_MAMPS,0.028379
$HUMID,1587
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.0,116.3
$24V_AH,24.7,24.524
$10V_AH,10.9,14.396
$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,22.475,63.475,435.275,0.000,0.000,28.561,32.722,148.662,2.500,0.000,0.000,33.656,1914.678,3992.897,501.222,1835.902,401.752,0.000,1424.712,0.000,1783.945,0.000,20.446,0.000
$DEVICE_MAMPS,247.741,87.438,965.653,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,772.217,870.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60095,1156
$CAP_FILE_SIZE,102792,0
$CFSIZE,260165632,215314432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,275.5,1
$GPS,100609,202836,2408.010,12306.336,34,1.5,37,-3.4