version: 66.04
glider: 167
mission: 2
dive: 135
start: 6 11 109 3 58 42
data:
$ID,167
$MISSION,2
$DIVE,135
$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,-7490.2856
$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,59
$R_STBD_OVSHOOT,39
$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
$GPS1,035254,2410.260,12301.836,24,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-61.3
$GPS2,035820,2410.357,12301.849,11,1.4,17,-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,213.2,27938,-18.3,-12.000
$D_GRID,464
$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,-194.7,0.0,0.0,0,65,0.00,0.00,-47.83,0.000,2,0.000,0.000,142,2485,2454
$GC,68,-1.05,-194.7,3.2,-3.3,8,134,8.25,1.95,-48.97,0.000,4,0.244,0.060,2190,3757,3989
$GC,198,-0.15,-194.7,29.3,-33.5,30,206,1.08,1.95,0.00,0.000,6,0.190,0.024,2492,2384,3990
$GC,546,-1.07,-194.7,64.9,-12.1,91,553,0.77,2.10,0.00,0.000,4,0.082,0.044,2206,3755,3991
$GC,661,-0.37,-194.7,94.6,-29.0,111,668,0.73,1.83,0.00,0.000,6,0.166,0.024,2421,2458,3991
$GC,1006,-0.65,-194.7,123.3,-7.0,172,1012,0.22,2.03,0.00,0.000,4,0.059,0.026,2318,1037,3992
$GC,1035,-0.65,-194.7,126.7,-12.2,177,1042,0.00,2.10,0.00,0.000,6,0.000,0.032,2316,2459,3992
$GC,1381,-0.60,-194.7,176.5,-12.8,238,1387,0.12,1.95,0.00,0.000,4,0.156,0.044,2345,3755,3993
$GC,1484,-0.74,-194.7,186.8,-9.1,256,1491,0.12,1.83,0.00,0.000,6,0.075,0.025,2287,2449,3994
$GC,1829,-0.66,-194.7,231.8,-12.1,317,1837,0.15,2.00,0.00,0.000,4,0.150,0.044,2329,3761,3995
$GC,1871,-0.75,-194.7,236.5,-9.6,324,1877,0.00,1.80,0.00,0.000,6,0.000,0.025,2328,2476,3995
$GC,2216,-0.90,-194.7,264.9,-9.1,385,2224,0.17,1.98,0.00,0.000,4,0.067,0.047,2245,3764,3994
$GC,2252,-0.68,-194.7,269.6,-14.1,391,2259,0.25,1.80,0.00,0.000,6,0.155,0.026,2318,2486,3995
$GC,2598,-0.80,-194.7,308.5,-13.1,447,2602,0.00,1.95,0.00,0.000,4,0.000,0.048,2318,3757,3995
$GC,2626,-0.94,-194.7,312.4,-13.8,449,2634,0.20,1.80,0.00,0.000,6,0.066,0.027,2231,2488,3995
$GC,2951,-0.72,-194.7,363.6,-13.2,480,2955,0.22,1.95,0.00,0.000,4,0.153,0.048,2302,3754,3995
$GC,3012,-0.83,-194.7,370.0,-9.4,485,3020,0.00,1.83,0.00,0.000,6,0.000,0.027,2302,2463,3995
$GC,3339,-0.95,-194.7,400.1,-9.2,516,3341,0.17,0.00,0.00,0.000,6,0.071,0.000,2228,2462,3995
$STATE,3441,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3441,begin apogee
$GC,3447,-0.22,0.0,413.2,13.1,526,3535,0.75,0.00,84.90,0.913,6,0.156,0.000,2462,2462,3532
$STATE,3536,end apogee,CONTROL_FINISHED_OK
$STATE,3536,begin climb
$GC,3538,1.05,194.7,418.0,0.0,535,3689,1.17,2.10,142.85,0.893,4,0.076,0.029,2889,1120,2737
$GC,3944,0.54,194.7,374.5,16.0,571,3952,0.60,2.10,0.00,0.000,6,0.186,0.035,2723,2509,2734
$GC,4269,0.68,306.2,346.0,7.4,602,4357,0.12,2.20,81.57,0.870,4,0.077,0.031,2776,1122,2283
$GC,4503,0.68,306.2,316.0,13.4,623,4507,0.00,2.08,0.00,0.000,6,0.000,0.035,2775,2482,2277
$GC,4840,0.68,310.6,272.8,11.8,673,4846,0.00,2.00,0.00,0.000,4,0.000,0.031,2776,1127,2273
$GC,4892,0.76,337.4,266.9,10.9,682,4921,0.00,2.03,22.88,0.811,6,0.000,0.034,2775,2480,2155
$GC,5258,0.76,337.4,219.6,14.5,747,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2480,2150
$GC,5603,0.85,343.9,176.9,11.7,808,5615,0.12,2.00,5.40,0.609,4,0.082,0.031,2829,1125,2129
$GC,5695,0.85,343.9,164.5,12.8,824,5701,0.00,2.05,0.00,0.000,6,0.000,0.034,2830,2497,2128
$GC,6038,0.90,388.1,134.4,10.2,885,6080,0.00,1.95,33.42,0.726,4,0.000,0.050,2829,3752,1947
$GC,6165,0.90,388.1,117.1,15.8,907,6172,0.00,1.77,0.00,0.000,6,0.000,0.025,2829,2522,1945
$GC,6510,1.00,401.9,74.7,11.4,968,6528,0.12,2.03,11.27,0.626,4,0.078,0.030,2890,1120,1893
$GC,6783,1.02,412.6,39.2,11.6,1016,6800,0.00,2.05,9.62,0.583,6,0.000,0.033,2890,2499,1847
$STATE,7084,end climb,SURFACE_DEPTH_REACHED
$STATE,7084,begin surface coast
$FINISH,1.6,1.021673
$STATE,7108,end surface coast,CONTROL_FINISHED_OK
$STATE,7108,begin surface
$SM_CCo,7125,7.28,0.528,0,0,1799,425.10
$SM_GC,3.59,0.00,0.00,7.28,0.000,0.000,0.528,141,2502,1799,-7.51,2.12,425.10
$IRIDIUM_FIX,2359.20,12302.12,050998,010101
$TT8_MAMPS,0.029146
$HUMID,1603
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.2,85.7
$24V_AH,24.8,25.027
$10V_AH,10.9,14.655
$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,22.700,55.175,391.925,7.275,0.000,28.017,36.578,149.209,2.250,0.000,0.000,17.828,1762.943,3129.179,491.976,1694.274,386.439,0.000,1350.994,0.000,1658.516,0.000,20.454,0.000
$DEVICE_MAMPS,243.906,59.826,913.497,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.343,841.886,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56934,1074
$CAP_FILE_SIZE,92234,0
$CFSIZE,260165632,215101440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,349.1,1
$GPS,110609,055820,2410.586,12300.987,9,1.7,9,-3.4