version: 66.04
glider: 167
mission: 2
dive: 138
start: 6 11 109 10 14 8
data:
$ID,167
$MISSION,2
$DIVE,138
$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,-7575.8916
$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,69
$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
$GPS1,100436,2411.578,12259.536,40,1.6,51,-3.4
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.3
$GPS2,101346,2411.693,12259.505,10,2.2,29,-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,205.3,25000,-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,-194.7,0.0,0.0,0,62,0.00,0.00,-44.42,0.000,2,0.000,0.000,143,2429,2537
$GC,65,-1.05,-194.7,3.0,-2.1,7,126,8.32,2.05,-44.17,0.000,4,0.247,0.056,2188,3766,3988
$GC,256,-0.18,-194.7,55.8,-33.6,40,264,1.02,1.92,0.00,0.000,6,0.186,0.023,2479,2400,3989
$GC,602,-1.15,-194.7,82.1,-8.5,101,609,0.82,2.08,0.00,0.000,4,0.084,0.043,2175,3763,3991
$GC,706,-0.46,-194.7,105.6,-27.0,119,712,0.75,1.83,0.00,0.000,6,0.172,0.023,2395,2456,3990
$GC,1050,-0.64,-194.7,142.0,-12.8,180,1058,0.17,1.98,0.00,0.000,4,0.064,0.044,2312,3754,3991
$GC,1075,-0.64,-194.7,146.1,-15.7,184,1082,0.00,1.77,0.00,0.000,6,0.000,0.025,2312,2478,3992
$GC,1421,-0.58,-194.7,190.8,-9.3,245,1427,0.15,2.03,0.00,0.000,4,0.150,0.025,2354,1051,3992
$GC,1485,-0.76,-194.7,195.1,-6.3,256,1492,0.15,2.10,0.00,0.000,6,0.070,0.032,2288,2482,3992
$GC,1830,-0.76,-194.7,242.5,-14.7,317,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2482,3992
$GC,2173,-0.76,-194.7,282.9,-11.5,378,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2482,3993
$GC,2505,-0.76,-194.7,326.9,-14.0,421,2509,0.00,1.92,0.00,0.000,4,0.000,0.048,2282,3756,3993
$GC,2640,-0.76,-194.7,344.0,-12.2,433,2644,0.00,1.80,0.00,0.000,6,0.000,0.027,2282,2491,3992
$STATE,2949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2949,begin apogee
$GC,2954,-0.22,0.0,372.2,7.5,462,3042,0.57,0.00,83.97,0.876,6,0.141,0.000,2466,2490,3531
$STATE,3042,end apogee,CONTROL_FINISHED_OK
$STATE,3043,begin climb
$GC,3045,1.05,194.7,376.5,0.0,471,3195,1.15,2.08,141.57,0.852,4,0.064,0.047,2888,3751,2738
$GC,3454,0.39,194.7,323.0,14.9,507,3459,0.80,1.77,0.00,0.000,6,0.184,0.025,2670,2513,2735
$GC,3779,0.80,370.7,309.3,4.7,537,3914,0.32,2.08,128.38,0.824,4,0.058,0.048,2806,3757,2020
$GC,3965,0.68,370.7,287.2,15.1,561,3973,0.17,1.85,0.00,0.000,6,0.163,0.025,2768,2501,2015
$GC,4312,0.74,370.7,242.3,13.8,622,4318,0.00,2.03,0.00,0.000,4,0.000,0.031,2775,1117,2010
$GC,4375,0.86,370.7,232.7,13.4,633,4383,0.12,2.08,0.00,0.000,6,0.080,0.034,2828,2501,2010
$GC,4722,0.84,396.7,185.0,10.9,694,4746,0.00,2.12,19.05,0.740,4,0.000,0.031,2829,1114,1913
$GC,4803,0.84,396.7,175.2,12.5,708,4809,0.00,2.12,0.00,0.000,6,0.000,0.033,2829,2527,1910
$GC,5147,0.86,416.2,128.8,11.2,769,5166,0.00,0.00,15.00,0.690,6,0.000,0.000,2829,2526,1834
$GC,5504,1.00,416.2,81.9,15.3,832,5510,0.10,2.08,0.00,0.000,4,0.084,0.028,2882,1110,1830
$GC,5670,1.00,416.2,55.8,13.8,861,5677,0.00,2.10,0.00,0.000,6,0.000,0.035,2882,2520,1830
$GC,6015,1.13,517.6,22.7,7.8,922,6096,0.00,2.00,75.22,0.615,4,0.000,0.048,2882,3762,1420
$GC,6114,1.20,517.6,13.4,12.4,939,6121,0.15,1.83,0.00,0.000,6,0.073,0.025,2943,2511,1418
$STATE,6186,end climb,SURFACE_DEPTH_REACHED
$STATE,6186,begin surface coast
$FINISH,1.8,1.021715
$STATE,6205,end surface coast,CONTROL_FINISHED_OK
$STATE,6205,begin surface
$SM_CCo,6282,0.00,0.000,0,0,1412,520.04
$SM_GC,2.32,7.45,0.00,0.00,0.051,0.000,0.000,141,2507,1412,-7.50,2.26,520.04
$IRIDIUM_FIX,2401.56,12300.15,050998,101004
$TT8_MAMPS,0.028379
$HUMID,1591
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.2,96.6
$24V_AH,24.9,25.381
$10V_AH,10.9,14.830
$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,22.250,43.600,463.200,0.000,0.000,53.504,67.784,238.974,1.500,0.000,0.000,30.619,1541.796,2740.122,507.100,1523.229,522.871,0.000,1292.353,0.000,1479.317,0.000,12.383,0.000
$DEVICE_MAMPS,246.974,55.991,875.914,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.316,769.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50641,955
$CAP_FILE_SIZE,82442,0
$CFSIZE,260165632,214953984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.454,  8.3,1
$GPS,110609,115949,2412.565,12259.194,14,1.8,25,-3.4