version: 66.04
glider: 167
mission: 2
dive: 121
start: 6 9 109 17 30 42
data:
$ID,167
$MISSION,2
$DIVE,121
$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,-7194.9277
$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,40
$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
$GPS1,172503,2411.308,12318.682,12,3.9,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.0
$GPS2,173022,2411.222,12318.794,11,3.0,30,-3.4
$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,284.2,13266,-18.3,-12.000
$D_GRID,464
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.05,-194.7,0.0,0.0,0,54,0.00,0.00,-36.03,0.000,2,0.000,0.000,143,2425,2653
$GC,57,-1.05,-194.7,3.3,-3.4,6,110,8.23,2.05,-37.95,0.000,4,0.244,0.041,2201,1008,3990
$GC,198,-0.28,-194.7,37.5,-31.3,30,205,0.88,2.12,0.00,0.000,6,0.179,0.032,2445,2441,3991
$GC,543,-0.57,-194.7,72.6,-7.7,91,549,0.20,2.00,0.00,0.000,4,0.059,0.046,2346,3765,3992
$GC,646,-0.45,-194.7,86.9,-14.5,109,653,0.17,1.90,0.00,0.000,6,0.150,0.024,2395,2408,3992
$GC,993,-0.64,-194.7,121.8,-9.5,170,998,0.17,0.00,0.00,0.000,6,0.062,0.000,2314,2406,3992
$GC,1336,-0.51,-194.7,170.6,-14.8,231,1343,0.20,2.05,0.00,0.000,4,0.153,0.044,2372,3754,3993
$GC,1406,-0.73,-194.7,178.4,-9.3,243,1413,0.17,1.83,0.00,0.000,6,0.064,0.025,2294,2445,3994
$GC,1751,-0.63,-194.7,227.9,-12.4,304,1757,0.17,0.00,0.00,0.000,6,0.147,0.000,2350,2443,3995
$GC,2095,-0.81,-194.7,254.7,-7.2,365,2103,0.17,2.00,0.00,0.000,4,0.067,0.045,2262,3755,3995
$GC,2205,-0.61,-194.7,269.3,-14.4,384,2212,0.28,1.83,0.00,0.000,6,0.149,0.025,2345,2456,3995
$GC,2550,-0.81,-194.7,299.4,-8.7,445,2562,0.17,2.03,0.00,0.000,4,0.067,0.027,2263,1038,3995
$GC,2603,-0.72,-194.7,305.9,-13.5,450,2608,0.17,2.10,0.00,0.000,6,0.153,0.033,2312,2460,3995
$GC,2929,-0.82,-194.7,339.6,-10.4,480,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2460,3995
$GC,3249,-0.92,-194.7,371.2,-9.5,510,3253,0.17,2.05,0.00,0.000,4,0.071,0.027,2231,1045,3994
$GC,3316,-0.73,-194.7,381.6,-16.3,516,3321,0.28,2.08,0.00,0.000,6,0.151,0.033,2307,2450,3994
$GC,3642,-0.84,-194.7,416.1,-8.2,546,3646,0.00,1.98,0.00,0.000,4,0.000,0.049,2303,3754,3993
$GC,3689,-0.95,-194.7,419.8,-7.8,550,3693,0.17,1.88,0.00,0.000,6,0.069,0.026,2229,2431,3993
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4023,-0.22,0.0,465.1,15.1,581,4112,0.75,0.00,85.07,0.952,6,0.153,0.000,2463,2517,3532
$STATE,4113,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4115,1.05,194.7,469.8,0.0,590,4267,1.15,2.05,143.60,0.930,4,0.068,0.049,2882,3755,2738
$GC,4495,0.39,194.7,428.9,19.8,623,4500,0.77,1.80,0.00,0.000,6,0.191,0.025,2676,2504,2734
$GC,4820,0.66,296.4,400.7,7.8,653,4901,0.20,2.12,74.95,0.899,4,0.071,0.031,2769,1125,2322
$GC,4959,0.66,296.4,384.0,12.7,665,4965,0.00,2.10,0.00,0.000,6,0.000,0.032,2769,2498,2319
$GC,5285,0.66,296.4,342.6,12.7,696,5288,0.00,1.92,0.00,0.000,4,0.000,0.051,2769,3755,2315
$GC,5308,0.57,296.4,339.2,14.4,698,5312,0.17,1.83,0.00,0.000,6,0.173,0.025,2730,2481,2315
$GC,5638,0.74,340.9,304.3,10.2,729,5680,0.15,2.08,32.62,0.848,4,0.070,0.049,2793,3754,2141
$GC,5709,0.60,340.9,294.6,15.9,738,5717,0.22,1.83,0.00,0.000,6,0.169,0.026,2739,2501,2139
$GC,6055,0.74,340.9,256.9,12.2,799,6061,0.12,0.00,0.00,0.000,6,0.076,0.000,2792,2500,2135
$GC,6398,0.74,340.9,212.7,13.2,860,6404,0.00,1.98,0.00,0.000,4,0.000,0.049,2792,3786,2134
$GC,6489,0.66,340.9,199.9,14.8,876,6496,0.15,1.85,0.00,0.000,6,0.173,0.025,2758,2487,2133
$GC,6834,0.92,397.8,165.4,9.6,937,6883,0.20,2.00,41.92,0.752,4,0.067,0.048,2846,3754,1908
$GC,6941,0.82,397.8,148.7,16.9,955,6947,0.17,1.75,0.00,0.000,6,0.170,0.025,2809,2539,1904
$GC,7286,1.01,430.6,106.1,10.6,1016,7316,0.17,2.15,24.83,0.684,4,0.068,0.030,2898,1118,1775
$GC,7547,0.96,430.6,67.0,16.7,1062,7555,0.15,2.08,0.00,0.000,6,0.166,0.033,2859,2508,1770
$GC,7894,1.08,431.7,20.2,12.0,1123,7900,0.00,1.88,0.00,0.000,4,0.000,0.048,2859,3752,1769
$GC,8008,1.08,431.7,4.6,13.3,1143,8014,0.00,1.75,0.00,0.000,6,0.000,0.025,2859,2514,1769
$STATE,8023,end climb,SURFACE_DEPTH_REACHED
$STATE,8023,begin surface coast
$FINISH,1.6,1.020649
$STATE,8047,end surface coast,CONTROL_FINISHED_OK
$STATE,8047,begin surface
$SM_CCo,8124,0.00,0.000,0,0,1768,432.95
$SM_GC,2.53,7.18,0.00,0.00,0.057,0.000,0.000,139,2510,1768,-7.51,2.35,432.95
$IRIDIUM_FIX,2403.92,12321.74,030998,151515
$TT8_MAMPS,0.029146
$HUMID,1595
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.8,23.293
$10V_AH,10.9,13.734
$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,23.200,59.125,403.000,0.000,0.000,27.857,39.543,129.111,3.000,0.000,0.000,31.190,1910.083,3857.875,471.678,1826.097,379.747,0.000,1387.687,0.000,1771.156,0.000,22.374,0.000
$DEVICE_MAMPS,243.906,75.166,951.847,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,768.803,865.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60024,1150
$CAP_FILE_SIZE,101038,0
$CFSIZE,260165632,215904256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,161.8,1
$GPS,090609,194706,2410.671,12317.896,10,1.1,26,-3.4