version: 66.04
glider: 167
mission: 2
dive: 136
start: 6 11 109 6 4 28
data:
$ID,167
$MISSION,2
$DIVE,136
$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,-7528.4634
$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,81
$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
$GPS1,055820,2410.586,12300.987,9,1.7,9,-3.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-66.4
$GPS2,060407,2410.651,12301.067,37,1.3,37,-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,216.3,26821,-18.3,-12.000
$D_GRID,381
$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,-194.7,0.0,0.0,0,47,0.00,0.00,-29.98,0.000,2,0.000,0.000,142,2502,2551
$GC,50,-1.05,-194.7,3.3,-2.6,5,110,8.23,1.90,-43.50,0.000,4,0.242,0.058,2190,3755,3989
$GC,186,-0.04,-194.7,34.6,-37.5,28,193,1.17,1.90,0.00,0.000,6,0.190,0.024,2522,2416,3989
$GC,531,-0.93,-194.7,74.3,-10.9,89,538,0.75,2.05,0.00,0.000,4,0.086,0.044,2246,3758,3991
$GC,573,-0.67,-194.7,79.9,-14.3,96,580,0.28,1.85,0.00,0.000,6,0.156,0.024,2327,2438,3991
$GC,918,-0.56,-194.7,135.6,-18.2,157,924,0.12,2.03,0.00,0.000,4,0.153,0.044,2358,3767,3992
$GC,982,-0.70,-194.7,145.3,-14.4,168,988,0.12,1.83,0.00,0.000,6,0.074,0.024,2299,2463,3992
$GC,1326,-0.57,-194.7,194.0,-10.9,229,1333,0.17,1.98,0.00,0.000,4,0.151,0.044,2346,3761,3993
$GC,1379,-0.72,-194.7,198.6,-7.9,238,1385,0.00,1.80,0.00,0.000,6,0.000,0.026,2347,2480,3993
$GC,1723,-0.87,-194.7,224.9,-8.8,299,1735,0.20,2.03,0.00,0.000,4,0.064,0.025,2251,1051,3993
$GC,1804,-0.69,-194.7,236.2,-15.9,312,1810,0.25,2.10,0.00,0.000,6,0.148,0.033,2322,2469,3994
$GC,2149,-0.80,-194.7,269.2,-8.5,373,2155,0.12,1.95,0.00,0.000,4,0.078,0.047,2261,3764,3994
$GC,2235,-0.68,-194.7,280.1,-12.7,388,2242,0.22,1.83,0.00,0.000,6,0.148,0.025,2328,2470,3994
$GC,2575,-0.85,-194.7,307.6,-7.6,440,2579,0.17,2.03,0.00,0.000,4,0.066,0.027,2245,1064,3993
$GC,2597,-0.85,-194.7,309.9,-9.9,442,2601,0.00,2.12,0.00,0.000,6,0.000,0.034,2246,2479,3994
$GC,2929,-0.71,-194.7,354.2,-13.7,473,2934,0.20,1.95,0.00,0.000,4,0.160,0.046,2303,3768,3994
$GC,3014,-0.84,-194.7,364.2,-11.4,480,3020,0.00,1.83,0.00,0.000,6,0.000,0.026,2303,2479,3994
$STATE,3187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3187,begin apogee
$GC,3193,-0.22,0.0,381.4,8.3,497,3281,0.52,0.00,84.35,0.884,6,0.130,0.000,2471,2478,3532
$STATE,3282,end apogee,CONTROL_FINISHED_OK
$STATE,3282,begin climb
$GC,3284,1.05,194.7,384.1,0.0,506,3439,1.12,2.10,141.95,0.861,4,0.059,0.028,2900,1129,2737
$GC,3645,0.53,194.7,357.3,14.9,538,3651,0.65,2.10,0.00,0.000,6,0.185,0.035,2718,2517,2734
$GC,3971,0.60,246.2,326.1,9.9,568,4015,0.00,2.00,37.60,0.837,4,0.000,0.050,2718,3755,2527
$GC,4106,0.60,246.2,309.8,12.4,580,4109,0.00,1.80,0.00,0.000,6,0.000,0.027,2718,2518,2524
$GC,4445,0.73,274.2,273.6,10.8,633,4469,0.17,0.00,21.00,0.799,6,0.069,0.000,2795,2517,2413
$GC,4807,0.61,274.2,223.1,12.3,697,4813,0.17,1.92,0.00,0.000,4,0.166,0.048,2743,3757,2409
$GC,4938,0.77,405.5,212.3,6.6,720,5042,0.12,1.77,96.82,0.779,6,0.080,0.026,2797,2509,1877
$GC,5380,0.85,405.5,155.5,15.5,798,5386,0.00,2.03,0.00,0.000,4,0.000,0.030,2802,1127,1869
$GC,5454,1.06,439.2,146.6,10.6,811,5486,0.22,2.10,25.12,0.711,6,0.062,0.034,2896,2526,1741
$GC,5826,0.90,439.2,88.1,16.2,876,5832,0.17,1.88,0.00,0.000,4,0.170,0.046,2843,3761,1733
$GC,5845,0.81,439.2,84.7,16.4,879,5853,0.15,1.80,0.00,0.000,6,0.163,0.025,2805,2513,1733
$GC,6192,1.15,439.2,43.4,12.8,940,6198,0.28,2.03,0.00,0.000,4,0.057,0.029,2926,1110,1732
$GC,6323,1.06,439.2,24.8,12.4,963,6330,0.15,2.08,0.00,0.000,6,0.156,0.034,2885,2507,1732
$STATE,6513,end climb,SURFACE_DEPTH_REACHED
$STATE,6513,begin surface coast
$FINISH,1.5,1.008827
$STATE,6543,end surface coast,CONTROL_FINISHED_OK
$STATE,6543,begin surface
$SM_CCo,6620,0.00,0.000,0,0,1731,441.79
$SM_GC,2.49,7.20,0.00,0.00,0.054,0.000,0.000,145,2430,1731,-7.49,0.08,441.79
$IRIDIUM_FIX,2359.20,12303.41,050998,040420
$TT8_MAMPS,0.028379
$HUMID,1607
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.3,121.6
$24V_AH,24.8,25.134
$10V_AH,10.9,14.711
$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,22.975,54.800,406.850,0.000,0.000,28.495,37.497,149.794,1.750,0.000,0.000,37.552,1652.807,2876.848,468.629,1596.073,375.040,0.000,1279.029,0.000,1543.276,0.000,15.459,0.000
$DEVICE_MAMPS,242.372,84.370,883.584,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.334,767.990,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50555,1002
$CAP_FILE_SIZE,88273,0
$CFSIZE,260165632,215056384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267,352.5,1
$GPS,110609,075532,2410.960,12300.256,10,1.4,10,-3.4