version: 66.04
glider: 167
mission: 2
dive: 142
start: 6 11 109 18 8 36
data:
$ID,167
$MISSION,2
$DIVE,142
$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,-7658.1768
$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,84
$R_STBD_OVSHOOT,38
$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
$GPS1,180237,2414.335,12259.216,42,1.0,42,-3.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.1
$GPS2,180814,2414.331,12259.289,13,1.4,13,-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,204.6,26982,-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,-194.7,0.0,0.0,0,67,0.00,0.00,-49.58,0.000,2,0.000,0.000,143,2487,2628
$GC,70,-1.05,-194.7,3.3,-3.8,8,123,8.32,0.00,-40.97,0.000,6,0.246,0.000,2198,2486,3989
$GC,462,-0.31,-194.7,107.6,-26.9,77,470,0.77,1.95,0.00,0.000,4,0.176,0.044,2424,3764,3991
$GC,567,-0.67,-194.7,116.9,-5.0,95,573,0.25,1.90,0.00,0.000,6,0.057,0.025,2316,2420,3992
$GC,912,-0.55,-194.7,165.5,-9.5,156,918,0.17,1.95,0.00,0.000,4,0.145,0.025,2371,1045,3992
$GC,959,-0.77,-194.7,168.5,-6.2,164,965,0.22,2.08,0.00,0.000,6,0.061,0.032,2276,2452,3992
$GC,1304,-0.63,-194.7,211.6,-11.3,225,1312,0.20,1.95,0.00,0.000,4,0.148,0.043,2333,3753,3993
$GC,1433,-0.75,-194.7,219.0,-8.7,247,1439,0.00,1.83,0.00,0.000,6,0.000,0.025,2332,2450,3994
$GC,1777,-0.88,-194.7,246.4,-4.8,308,1784,0.17,2.00,0.00,0.000,4,0.067,0.046,2246,3760,3995
$GC,1814,-0.68,-194.7,249.5,-10.2,314,1825,0.25,1.83,0.00,0.000,6,0.148,0.026,2320,2466,3995
$GC,2163,-0.80,-194.7,277.6,-12.8,375,2169,0.00,1.98,0.00,0.000,4,0.000,0.047,2318,3758,3995
$GC,2265,-0.92,-194.7,291.4,-13.8,393,2273,0.20,1.80,0.00,0.000,6,0.065,0.027,2230,2496,3994
$GC,2595,-0.69,-194.7,345.7,-15.9,428,2599,0.25,2.08,0.00,0.000,4,0.153,0.027,2312,1044,3995
$GC,2684,-0.87,-194.7,357.3,-12.4,435,2690,0.15,2.12,0.00,0.000,6,0.070,0.034,2246,2479,3995
$STATE,3006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3006,begin apogee
$GC,3012,-0.22,0.0,400.2,12.4,466,3100,0.68,0.00,84.62,0.897,6,0.142,0.000,2463,2479,3532
$STATE,3101,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3103,1.05,194.7,404.3,0.0,475,3254,1.15,2.12,142.52,0.875,4,0.063,0.031,2897,1125,2737
$GC,3513,0.55,207.9,367.8,11.5,511,3530,0.62,2.10,10.95,0.772,6,0.184,0.036,2723,2514,2684
$GC,3855,0.61,253.5,341.4,10.1,543,3893,0.00,2.00,33.67,0.850,4,0.000,0.051,2722,3751,2497
$GC,4145,0.61,253.5,303.4,12.2,568,4151,0.00,1.85,0.00,0.000,6,0.000,0.027,2728,2493,2493
$GC,4487,0.79,343.2,272.6,8.3,626,4559,0.17,2.12,66.00,0.829,4,0.067,0.031,2814,1123,2131
$GC,4671,0.79,343.2,250.5,12.1,658,4678,0.00,2.08,0.00,0.000,6,0.000,0.036,2815,2478,2126
$GC,5015,0.70,343.2,201.9,14.0,719,5023,0.17,2.00,0.00,0.000,4,0.159,0.030,2762,1124,2122
$GC,5034,0.70,343.2,199.6,12.4,722,5041,0.00,2.03,0.00,0.000,6,0.000,0.035,2762,2470,2122
$GC,5379,0.99,429.0,165.2,8.5,783,5449,0.25,2.05,62.53,0.752,4,0.064,0.052,2872,3759,1782
$GC,5607,0.88,429.0,131.7,15.8,823,5614,0.20,1.85,0.00,0.000,6,0.160,0.026,2827,2487,1774
$GC,5954,1.04,447.8,90.8,11.2,884,5979,0.15,2.03,14.60,0.650,4,0.070,0.030,2899,1127,1705
$GC,6041,1.04,447.8,77.5,15.9,899,6048,0.00,2.05,0.00,0.000,6,0.000,0.035,2899,2490,1703
$GC,6386,1.04,447.8,37.3,13.2,960,6392,0.00,1.92,0.00,0.000,4,0.000,0.049,2899,3762,1701
$GC,6471,1.04,447.8,25.1,14.3,975,6478,0.00,1.85,0.00,0.000,6,0.000,0.025,2908,2450,1701
$STATE,6645,end climb,SURFACE_DEPTH_REACHED
$STATE,6646,begin surface coast
$FINISH,1.6,1.021460
$STATE,6668,end surface coast,CONTROL_FINISHED_OK
$STATE,6668,begin surface
$SM_CCo,6745,0.00,0.000,0,0,1700,449.39
$SM_GC,2.47,7.32,0.00,0.00,0.059,0.000,0.000,145,2447,1700,-7.49,0.57,449.39
$IRIDIUM_FIX,2406.29,12258.16,050998,161643
$TT8_MAMPS,0.028379
$HUMID,1597
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.6,92.4
$24V_AH,24.8,25.851
$10V_AH,10.9,15.063
$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,21.700,51.500,414.900,0.000,0.000,31.028,35.244,163.948,2.250,0.000,0.000,13.948,1655.529,2939.684,487.450,1607.474,395.004,0.000,1311.914,0.000,1580.166,0.000,17.387,0.000
$DEVICE_MAMPS,246.207,52.156,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.471,769.414,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53712,1010
$CAP_FILE_SIZE,87087,0
$CFSIZE,260165632,214740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,  1.8,1
$GPS,110609,200204,2414.345,12259.018,9,2.1,28,-3.4