version: 66.04
glider: 167
mission: 2
dive: 137
start: 6 11 109 8 4 1
data:
$ID,167
$MISSION,2
$DIVE,137
$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,-7544.645
$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,64
$R_STBD_OVSHOOT,42
$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
$GPS1,075532,2410.960,12300.256,10,1.4,10,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.7
$GPS2,080338,2410.972,12300.270,15,1.4,15,-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,209.2,25724,-18.3,-12.000
$D_GRID,400
$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,-194.7,0.0,0.0,0,50,0.00,0.00,-33.35,0.000,2,0.000,0.000,145,2430,2570
$GC,54,-1.05,-194.7,3.3,-2.8,5,114,8.25,2.05,-43.10,0.000,4,0.243,0.057,2193,3761,3990
$GC,238,-0.14,-194.7,54.3,-35.3,37,244,1.05,1.95,0.00,0.000,6,0.183,0.023,2494,2379,3991
$GC,584,-1.07,-194.7,84.3,-6.7,98,590,0.80,2.10,0.00,0.000,4,0.092,0.043,2204,3757,3992
$GC,659,-0.41,-194.7,95.2,-20.0,111,665,0.70,1.85,0.00,0.000,6,0.170,0.023,2411,2439,3992
$GC,1003,-0.66,-194.7,125.2,-8.1,172,1009,0.20,0.00,0.00,0.000,6,0.059,0.000,2318,2439,3992
$GC,1347,-0.66,-194.7,162.3,-9.6,233,1354,0.00,2.00,0.00,0.000,4,0.000,0.045,2317,3754,3993
$GC,1394,-0.66,-194.7,166.8,-9.7,241,1401,0.00,1.80,0.00,0.000,6,0.000,0.024,2316,2463,3993
$GC,1741,-0.66,-194.7,205.3,-10.9,302,1747,0.00,2.00,0.00,0.000,4,0.000,0.026,2317,1049,3994
$GC,1776,-0.71,-194.7,209.1,-10.4,308,1782,0.00,2.12,0.00,0.000,6,0.000,0.032,2316,2486,3994
$GC,2120,-0.79,-194.7,239.2,-8.2,369,2127,0.00,2.08,0.00,0.000,4,0.000,0.027,2316,1047,3994
$GC,2168,-0.90,-194.7,243.0,-8.1,377,2175,0.17,2.10,0.00,0.000,6,0.067,0.032,2238,2474,3995
$GC,2514,-0.67,-194.7,282.7,-13.2,438,2519,0.28,0.00,0.00,0.000,6,0.160,0.000,2324,2473,3994
$GC,2853,-0.83,-194.7,306.5,-7.4,491,2855,0.15,0.00,0.00,0.000,6,0.071,0.000,2261,2474,3995
$GC,3173,-0.75,-194.7,340.2,-9.6,521,3177,0.15,1.95,0.00,0.000,4,0.160,0.048,2301,3757,3994
$GC,3286,-0.88,-194.7,348.4,-6.8,531,3290,0.12,1.83,0.00,0.000,6,0.078,0.028,2246,2482,3993
$GC,3617,-0.76,-194.7,381.1,-11.5,562,3621,0.17,2.05,0.00,0.000,4,0.156,0.028,2295,1065,3993
$GC,3678,-0.90,-194.7,387.6,-8.7,567,3685,0.12,2.10,0.00,0.000,6,0.078,0.035,2237,2461,3993
$STATE,3692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3692,begin apogee
$GC,3698,-0.22,0.0,389.1,8.9,569,3786,0.75,0.00,84.28,0.899,6,0.154,0.000,2467,2462,3532
$STATE,3787,end apogee,CONTROL_FINISHED_OK
$STATE,3787,begin climb
$GC,3790,1.05,194.7,392.5,0.0,578,3940,1.12,2.05,142.43,0.874,4,0.061,0.029,2893,1129,2737
$GC,4199,0.54,194.7,356.4,16.3,614,4204,0.62,2.10,0.00,0.000,6,0.186,0.035,2720,2518,2734
$GC,4523,0.60,245.0,322.3,9.9,644,4567,0.00,2.10,36.90,0.841,4,0.000,0.031,2720,1135,2532
$GC,4665,0.76,281.1,307.5,10.5,656,4698,0.20,2.10,27.70,0.818,6,0.067,0.035,2799,2514,2385
$GC,5036,0.62,281.1,250.5,13.8,717,5043,0.17,2.05,0.00,0.000,4,0.170,0.029,2754,1125,2379
$GC,5078,0.68,281.1,244.8,12.9,724,5084,0.00,2.05,0.00,0.000,6,0.000,0.035,2754,2489,2379
$GC,5422,0.83,358.6,204.1,8.8,785,5487,0.15,2.03,56.55,0.784,4,0.074,0.051,2815,3749,2068
$GC,5594,0.73,358.6,182.9,13.4,815,5601,0.15,1.77,0.00,0.000,6,0.170,0.026,2779,2525,2063
$GC,5939,0.99,441.0,146.7,8.6,876,6006,0.20,2.17,60.88,0.730,4,0.067,0.031,2879,1118,1732
$GC,6048,0.99,441.0,134.9,12.5,894,6054,0.00,2.17,0.00,0.000,6,0.000,0.035,2878,2536,1729
$GC,6391,0.93,441.0,85.7,15.3,955,6398,0.12,1.88,0.00,0.000,4,0.169,0.048,2847,3765,1724
$GC,6415,0.93,441.0,82.3,14.3,959,6421,0.00,1.80,0.00,0.000,6,0.000,0.026,2847,2515,1723
$GC,6759,1.18,513.8,44.9,9.0,1020,6820,0.17,2.12,53.72,0.634,4,0.069,0.030,2931,1120,1436
$GC,6926,1.18,513.8,22.1,14.0,1049,6933,0.00,2.10,0.00,0.000,6,0.000,0.032,2931,2515,1431
$STATE,7049,end climb,SURFACE_DEPTH_REACHED
$STATE,7050,begin surface coast
$FINISH,1.7,1.021764
$STATE,7072,end surface coast,CONTROL_FINISHED_OK
$STATE,7072,begin surface
$SM_CCo,7150,0.00,0.000,0,0,1427,516.11
$SM_GC,2.42,7.28,0.00,0.00,0.045,0.000,0.000,143,2429,1427,-7.49,0.03,516.11
$IRIDIUM_FIX,2403.92,12301.43,050998,080856
$TT8_MAMPS,0.029913
$HUMID,1596
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.3,113.0
$24V_AH,24.8,25.257
$10V_AH,10.9,14.773
$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,23.125,56.550,462.450,0.000,0.000,52.882,71.008,187.988,1.500,0.000,0.000,15.553,1762.478,3172.671,513.374,1698.199,494.376,0.000,1387.558,0.000,1666.397,0.000,12.423,0.000
$DEVICE_MAMPS,243.139,66.729,898.924,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.645,842.932,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56832,1074
$CAP_FILE_SIZE,94755,0
$CFSIZE,260165632,214990848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.322,354.2,1
$GPS,110609,100436,2411.578,12259.536,40,1.6,51,-3.4