version: 66.04
glider: 167
mission: 2
dive: 140
start: 6 11 109 14 9 59
data:
$ID,167
$MISSION,2
$DIVE,140
$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,-7607.4106
$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,66
$R_STBD_OVSHOOT,34
$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
$GPS1,140425,2413.629,12259.126,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.4
$GPS2,140937,2413.732,12259.106,10,1.7,15,-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,197.1,26130,-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,-44.90,0.000,2,0.000,0.000,142,2440,2627
$GC,65,-1.05,-194.7,3.4,-3.3,7,119,8.32,2.03,-39.10,0.000,4,0.247,0.055,2192,3774,3989
$GC,132,-0.23,-194.7,12.0,-22.4,18,139,0.95,1.98,0.00,0.000,6,0.187,0.024,2461,2385,3989
$GC,477,-0.55,-194.7,43.9,-7.6,79,483,0.22,2.12,0.00,0.000,4,0.056,0.045,2356,3767,3991
$GC,523,-0.46,-194.7,49.6,-14.6,87,530,0.15,1.90,0.00,0.000,6,0.150,0.024,2397,2423,3991
$GC,868,-0.61,-194.7,86.9,-9.2,148,874,0.15,0.00,0.00,0.000,6,0.071,0.000,2332,2422,3991
$GC,1212,-0.52,-194.7,147.0,-19.1,209,1220,0.15,1.95,0.00,0.000,4,0.152,0.026,2373,1047,3992
$GC,1283,-0.74,-194.7,158.0,-13.5,221,1290,0.17,2.10,0.00,0.000,6,0.064,0.031,2296,2480,3993
$GC,1629,-0.68,-194.7,196.3,-7.9,282,1635,0.12,1.92,0.00,0.000,4,0.154,0.044,2330,3762,3993
$GC,1693,-0.81,-194.7,199.9,-5.1,293,1705,0.15,1.80,0.00,0.000,6,0.071,0.025,2262,2476,3994
$GC,2042,-0.68,-194.7,240.1,-15.2,354,2049,0.20,2.05,0.00,0.000,4,0.150,0.026,2326,1033,3994
$GC,2091,-0.84,-194.7,245.6,-10.5,362,2097,0.15,2.12,0.00,0.000,6,0.070,0.032,2259,2473,3995
$GC,2441,-0.70,-194.7,305.0,-19.5,422,2446,0.17,1.95,0.00,0.000,4,0.157,0.047,2314,3764,3995
$GC,2583,-0.85,-194.7,329.4,-16.5,434,2589,0.12,1.83,0.00,0.000,6,0.075,0.026,2259,2473,3995
$GC,2908,-0.76,-194.7,394.0,-19.3,465,2912,0.15,2.05,0.00,0.000,4,0.152,0.027,2301,1053,3995
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2952,-0.22,0.0,400.5,15.2,468,3040,0.47,0.00,84.80,0.887,6,0.128,0.000,2461,2515,3531
$STATE,3040,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3043,1.05,194.7,408.2,0.0,477,3194,1.15,2.05,142.10,0.871,4,0.067,0.048,2883,3762,2738
$GC,3450,0.41,194.7,373.0,15.9,512,3457,0.75,1.80,0.00,0.000,6,0.185,0.025,2682,2506,2735
$GC,3775,0.72,329.9,350.2,6.4,543,3884,0.22,2.12,98.90,0.847,4,0.064,0.030,2787,1127,2186
$GC,3920,0.72,329.9,331.9,14.3,556,3923,0.00,2.12,0.00,0.000,6,0.000,0.035,2787,2501,2183
$GC,4251,0.67,329.9,285.1,12.1,596,4257,0.00,1.92,0.00,0.000,4,0.000,0.049,2787,3758,2179
$GC,4297,0.54,329.9,278.7,14.2,604,4304,0.25,1.80,0.00,0.000,6,0.161,0.026,2723,2498,2178
$GC,4642,0.97,480.9,252.6,5.8,665,4758,0.32,0.00,111.68,0.793,6,0.055,0.000,2862,2497,1570
$GC,5095,0.90,480.9,173.0,17.6,745,5102,0.00,1.98,0.00,0.000,4,0.000,0.050,2862,3758,1561
$GC,5187,0.83,480.9,155.1,20.4,761,5194,0.20,1.80,0.00,0.000,6,0.163,0.026,2814,2515,1559
$GC,5533,1.06,486.0,108.0,11.8,822,5539,0.17,2.05,0.00,0.000,4,0.067,0.030,2898,1101,1558
$GC,5602,1.06,486.0,97.4,16.2,834,5608,0.00,2.12,0.00,0.000,6,0.000,0.034,2898,2520,1557
$GC,5947,1.06,486.0,41.8,18.2,895,5952,0.00,1.88,0.00,0.000,4,0.000,0.048,2898,3764,1556
$GC,6015,1.00,486.0,28.0,19.3,907,6022,0.15,1.83,0.00,0.000,6,0.168,0.026,2866,2474,1556
$STATE,6212,end climb,SURFACE_DEPTH_REACHED
$STATE,6212,begin surface coast
$FINISH,1.5,1.021790
$STATE,6236,end surface coast,CONTROL_FINISHED_OK
$STATE,6236,begin surface
$SM_CCo,6313,0.00,0.000,0,0,1554,485.20
$SM_GC,2.30,7.10,0.00,0.00,0.051,0.000,0.000,143,2472,1554,-7.50,1.27,485.20
$IRIDIUM_FIX,2403.92,12301.43,050998,121245
$TT8_MAMPS,0.028379
$HUMID,1603
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.8,141.9
$24V_AH,24.8,25.620
$10V_AH,10.9,14.945
$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,22.000,51.500,437.475,0.000,0.000,30.924,32.699,133.574,1.500,0.000,0.000,15.694,1554.464,2707.236,495.663,1507.722,363.427,0.000,1280.548,0.000,1478.383,0.000,12.512,0.000
$DEVICE_MAMPS,246.974,55.224,886.652,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.128,751.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47423,946
$CAP_FILE_SIZE,83094,0
$CFSIZE,260165632,214855680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.407,  6.9,1
$GPS,110609,155616,2414.256,12259.149,10,4.0,29,-3.4