version: 66.04
glider: 167
mission: 2
dive: 99
start: 6 7 109 23 27 1
data:
$ID,167
$MISSION,2
$DIVE,99
$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,-6641.3794
$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,72
$R_STBD_OVSHOOT,35
$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
$GPS1,232037,2422.795,12320.386,28,1.2,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-67.7
$GPS2,232638,2422.720,12320.425,14,1.3,14,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,217.8,31856,-18.3,-12.000
$D_GRID,576
$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,-194.7,0.0,0.0,0,46,0.00,0.00,-29.35,0.000,2,0.000,0.000,145,2414,2485
$GC,49,-1.05,-194.7,3.1,-1.8,5,115,8.40,2.08,-47.62,0.000,4,0.249,0.044,2201,1028,3989
$GC,222,-0.43,-194.7,43.3,-28.9,35,230,0.73,2.12,0.00,0.000,6,0.179,0.035,2401,2438,3991
$GC,569,-0.58,-194.7,84.7,-8.9,96,575,0.15,2.03,0.00,0.000,4,0.071,0.048,2331,3761,3993
$GC,671,-0.45,-194.7,98.2,-13.2,114,678,0.22,1.92,0.00,0.000,6,0.153,0.026,2394,2417,3993
$GC,1016,-0.70,-194.7,126.5,-5.7,175,1024,0.17,1.98,0.00,0.000,4,0.064,0.028,2314,1041,3993
$GC,1089,-0.64,-194.7,134.2,-11.5,187,1096,0.00,2.05,0.00,0.000,6,0.000,0.035,2311,2419,3993
$GC,1434,-0.50,-194.7,178.9,-15.3,248,1440,0.20,0.00,0.00,0.000,6,0.157,0.000,2374,2419,3994
$GC,1779,-0.76,-194.7,207.4,-7.1,309,1784,0.17,0.00,0.00,0.000,6,0.067,0.000,2292,2421,3995
$GC,2123,-0.71,-194.7,245.7,-9.3,370,2129,0.00,2.05,0.00,0.000,4,0.000,0.050,2289,3766,3995
$GC,2165,-0.63,-194.7,250.1,-11.6,377,2172,0.17,1.95,0.00,0.000,6,0.143,0.026,2339,2394,3995
$GC,2510,-0.79,-194.7,286.4,-8.6,438,2517,0.15,1.92,0.00,0.000,4,0.071,0.029,2275,1048,3995
$GC,2551,-0.71,-194.7,291.4,-12.8,445,2558,0.15,2.03,0.00,0.000,6,0.156,0.035,2316,2414,3995
$GC,2887,-0.77,-194.7,328.9,-10.9,483,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2414,3995
$GC,3207,-0.88,-194.7,359.2,-9.6,513,3211,0.17,2.00,0.00,0.000,4,0.072,0.029,2235,1048,3995
$GC,3298,-0.69,-194.7,373.1,-16.3,521,3303,0.30,2.03,0.00,0.000,6,0.159,0.037,2321,2401,3995
$GC,3624,-0.82,-194.7,403.2,-8.8,551,3628,0.12,2.08,0.00,0.000,4,0.081,0.052,2261,3755,3995
$GC,3679,-0.74,-194.7,409.6,-12.0,555,3687,0.15,1.90,0.00,0.000,6,0.155,0.028,2303,2427,3995
$GC,4004,-0.79,-194.7,437.4,-8.3,586,4008,0.00,2.00,0.00,0.000,4,0.000,0.031,2303,1043,3994
$GC,4055,-0.92,-194.7,441.7,-8.1,590,4061,0.15,2.05,0.00,0.000,6,0.075,0.036,2241,2421,3994
$GC,4380,-0.74,-194.7,486.3,-14.4,621,4384,0.20,2.03,0.00,0.000,4,0.172,0.031,2301,1039,3993
$GC,4431,-0.84,-194.7,492.5,-11.1,625,4435,0.00,2.03,0.00,0.000,6,0.000,0.038,2301,2390,3993
$GC,4768,-0.98,-194.7,526.6,-10.0,645,4772,0.17,2.10,0.00,0.000,4,0.074,0.053,2221,3754,3992
$GC,4845,-0.79,-194.7,536.7,-13.0,648,4852,0.22,1.95,0.00,0.000,6,0.159,0.030,2285,2405,3992
$GC,5162,-0.86,-194.7,561.6,-8.2,664,5165,0.00,1.98,0.00,0.000,4,0.000,0.032,2284,1042,3991
$GC,5230,-0.97,-194.7,568.2,-9.7,667,5235,0.12,2.05,0.00,0.000,6,0.084,0.037,2229,2410,3991
$STATE,5293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5293,begin apogee
$GC,5299,-0.22,0.0,576.6,13.6,670,5388,0.80,0.00,86.57,1.067,6,0.163,0.000,2471,2521,3532
$STATE,5389,end apogee,CONTROL_FINISHED_OK
$STATE,5389,begin climb
$GC,5392,1.05,194.7,580.7,0.0,674,5549,1.12,2.28,147.70,1.037,4,0.054,0.033,2901,1114,2737
$GC,5803,0.50,194.7,536.8,19.5,693,5809,0.70,2.15,0.00,0.000,6,0.199,0.038,2711,2512,2733
$GC,6119,0.58,262.8,502.8,9.2,708,6175,0.00,2.00,51.35,0.999,4,0.000,0.054,2712,3757,2459
$GC,6248,0.58,262.8,487.9,13.0,717,6254,0.00,1.85,0.00,0.000,6,0.000,0.029,2711,2524,2455
$GC,6575,0.73,300.1,452.0,10.5,748,6607,0.20,0.00,29.23,0.963,6,0.070,0.000,2787,2521,2307
$GC,6922,0.61,300.1,399.0,14.6,781,6926,0.17,1.95,0.00,0.000,4,0.175,0.051,2742,3758,2301
$GC,6966,0.61,300.1,393.0,13.3,785,6970,0.00,1.83,0.00,0.000,6,0.000,0.031,2746,2526,2301
$GC,7298,0.61,300.1,348.4,13.0,816,7302,0.00,2.10,0.00,0.000,4,0.000,0.035,2747,1105,2300
$GC,7326,0.71,314.1,344.9,11.4,818,7345,0.00,2.15,10.95,0.846,6,0.000,0.036,2746,2525,2251
$GC,7662,0.78,314.1,306.6,12.7,850,7666,0.15,1.90,0.00,0.000,4,0.074,0.051,2809,3759,2248
$GC,7724,0.56,314.1,297.1,16.5,857,7730,0.25,1.83,0.00,0.000,6,0.167,0.030,2726,2528,2248
$GC,8069,0.78,357.5,257.6,10.2,918,8112,0.17,2.00,33.38,0.842,4,0.071,0.052,2804,3752,2073
$GC,8210,0.63,357.5,234.2,18.6,942,8216,0.22,1.80,0.00,0.000,6,0.166,0.029,2751,2533,2070
$GC,8554,0.80,364.0,190.9,11.7,1003,8568,0.15,2.12,5.97,0.651,4,0.076,0.034,2815,1123,2048
$GC,8642,0.80,364.0,178.9,13.4,1018,8648,0.00,2.12,0.00,0.000,6,0.000,0.036,2815,2524,2046
$GC,8985,0.80,364.0,133.4,14.5,1079,8992,0.00,1.90,0.00,0.000,4,0.000,0.051,2815,3764,2045
$GC,9033,0.69,364.0,126.6,14.6,1087,9041,0.20,1.80,0.00,0.000,6,0.169,0.028,2767,2513,2045
$GC,9380,1.01,426.7,91.5,9.4,1148,9434,0.25,2.05,47.62,0.704,4,0.063,0.051,2876,3758,1791
$GC,9547,0.84,426.7,63.7,18.4,1177,9554,0.25,1.77,0.00,0.000,6,0.166,0.028,2815,2542,1786
$GC,9892,1.13,476.3,28.9,10.0,1238,9935,0.22,2.00,37.38,0.636,4,0.061,0.050,2913,3764,1589
$GC,9959,1.00,476.3,18.5,18.8,1249,9965,0.20,1.80,0.00,0.000,6,0.171,0.027,2869,2535,1587
$STATE,10070,end climb,SURFACE_DEPTH_REACHED
$STATE,10070,begin surface coast
$FINISH,1.7,1.021101
$STATE,10096,end surface coast,CONTROL_FINISHED_OK
$STATE,10096,begin surface
$SM_CCo,10173,0.00,0.000,0,0,1581,478.58
$SM_GC,2.64,7.18,0.00,0.00,0.047,0.000,0.000,144,2433,1581,-7.49,0.17,478.58
$IRIDIUM_FIX,2418.11,12319.09,010998,191941
$TT8_MAMPS,0.028379
$HUMID,1537
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.5,20.908
$10V_AH,10.9,12.501
$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,24.400,83.900,450.150,0.000,0.000,27.946,38.303,171.223,4.000,0.000,0.000,14.794,2172.242,5269.418,547.757,2078.912,460.824,0.000,1599.277,0.000,2035.694,0.000,29.282,0.000
$DEVICE_MAMPS,249.275,73.632,1066.897,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.026,942.031,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66251,1273
$CAP_FILE_SIZE,124264,0
$CFSIZE,260165632,217010176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135, 71.8,1
$GPS,080609,021737,2421.701,12320.288,29,1.5,29,-3.5