version: 66.04
glider: 167
mission: 2
dive: 122
start: 6 9 109 19 52 41
data:
$ID,167
$MISSION,2
$DIVE,122
$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,-7211.6436
$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,81
$R_STBD_OVSHOOT,42
$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
$GPS1,194706,2410.671,12317.896,10,1.1,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-66.9
$GPS2,195219,2410.638,12317.985,10,1.7,15,-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,272.0,11529,-18.3,-12.000
$D_GRID,430
$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,-194.7,0.0,0.0,0,47,0.00,0.00,-30.50,0.000,2,0.000,0.000,139,2510,2537
$GC,50,-1.05,-194.7,3.2,-3.5,5,111,8.23,2.20,-45.88,0.000,4,0.243,0.041,2199,1032,3989
$GC,198,-0.37,-194.7,33.8,-28.9,30,204,0.77,2.08,0.00,0.000,6,0.173,0.031,2418,2433,3990
$GC,543,-0.49,-194.7,77.3,-10.4,91,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2433,3991
$GC,885,-0.70,-194.7,103.7,-8.2,152,893,0.25,2.00,0.00,0.000,4,0.057,0.045,2303,3761,3992
$GC,945,-0.41,-194.7,113.2,-18.8,162,951,0.35,1.90,0.00,0.000,6,0.155,0.024,2407,2402,3992
$GC,1290,-0.65,-194.7,148.2,-8.4,223,1296,0.17,2.08,0.00,0.000,4,0.062,0.044,2319,3764,3993
$GC,1326,-0.55,-194.7,152.3,-12.9,229,1333,0.17,1.88,0.00,0.000,6,0.146,0.023,2368,2419,3993
$GC,1672,-0.71,-194.7,184.0,-7.7,290,1678,0.15,2.05,0.00,0.000,4,0.069,0.044,2295,3766,3994
$GC,1730,-0.58,-194.7,190.9,-13.7,300,1737,0.20,1.85,0.00,0.000,6,0.146,0.024,2353,2436,3994
$GC,2078,-0.76,-194.7,225.1,-8.0,361,2085,0.15,2.00,0.00,0.000,4,0.068,0.044,2278,3754,3995
$GC,2159,-0.60,-194.7,235.8,-14.9,375,2166,0.25,1.83,0.00,0.000,6,0.146,0.025,2353,2445,3995
$GC,2504,-0.83,-194.7,264.8,-6.6,436,2513,0.17,2.00,0.00,0.000,4,0.065,0.045,2264,3755,3995
$GC,2537,-0.83,-194.7,267.9,-10.6,441,2543,0.00,1.83,0.00,0.000,6,0.000,0.025,2264,2446,3995
$GC,2876,-0.70,-194.7,312.3,-13.8,494,2880,0.17,2.00,0.00,0.000,4,0.156,0.026,2320,1041,3995
$GC,2911,-0.79,-194.7,316.2,-10.6,497,2915,0.00,2.10,0.00,0.000,6,0.000,0.032,2319,2465,3995
$GC,3242,-0.91,-194.7,344.2,-7.4,528,3246,0.17,2.05,0.00,0.000,4,0.071,0.026,2234,1062,3995
$GC,3310,-0.73,-194.7,352.1,-13.0,534,3314,0.25,2.08,0.00,0.000,6,0.154,0.033,2306,2449,3995
$GC,3635,-0.83,-194.7,383.9,-10.1,564,3638,0.00,1.98,0.00,0.000,4,0.000,0.049,2303,3755,3994
$GC,3703,-0.93,-194.7,390.4,-8.7,570,3708,0.10,1.85,0.00,0.000,6,0.064,0.025,2236,2467,3994
$STATE,3988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3988,begin apogee
$GC,3994,-0.22,0.0,430.7,15.7,597,4082,0.73,0.00,84.88,0.927,6,0.144,0.000,2468,2465,3532
$STATE,4083,end apogee,CONTROL_FINISHED_OK
$STATE,4083,begin climb
$GC,4085,1.05,194.7,431.5,0.0,606,4237,1.15,2.10,143.27,0.900,4,0.074,0.030,2888,1123,2737
$GC,4491,0.56,194.7,388.2,14.9,642,4499,0.57,2.10,0.00,0.000,6,0.185,0.035,2729,2512,2733
$GC,4815,0.69,301.7,360.3,7.6,673,4901,0.12,1.98,78.90,0.873,4,0.077,0.050,2779,3749,2300
$GC,4929,0.51,301.7,347.7,13.9,683,4936,0.28,1.83,0.00,0.000,6,0.167,0.028,2713,2518,2298
$GC,5254,0.74,352.3,318.6,9.9,714,5298,0.20,2.15,37.90,0.843,4,0.064,0.032,2800,1113,2094
$GC,5342,0.74,352.3,305.6,15.4,722,5350,0.00,2.15,0.00,0.000,6,0.000,0.034,2800,2516,2091
$GC,5684,0.69,352.3,257.2,14.2,780,5690,0.12,1.90,0.00,0.000,4,0.161,0.048,2769,3758,2087
$GC,5747,0.69,352.3,248.1,14.4,791,5754,0.00,1.80,0.00,0.000,6,0.000,0.027,2773,2511,2087
$GC,6091,0.78,366.2,202.5,11.4,852,6110,0.00,2.03,10.70,0.727,4,0.000,0.031,2776,1123,2037
$GC,6145,0.96,387.2,196.6,11.1,861,6170,0.22,2.10,16.80,0.749,6,0.064,0.033,2871,2524,1951
$GC,6509,0.82,387.2,142.2,14.6,925,6516,0.17,1.88,0.00,0.000,4,0.173,0.048,2819,3754,1946
$GC,6769,0.85,410.4,108.4,11.0,971,6793,0.00,1.75,17.98,0.684,6,0.000,0.025,2824,2515,1858
$GC,7133,1.16,519.0,75.2,7.5,1035,7220,0.22,2.12,81.50,0.658,4,0.060,0.029,2931,1140,1415
$GC,7474,1.16,519.0,20.5,17.2,1095,7480,0.00,2.05,0.00,0.000,6,0.000,0.032,2931,2500,1408
$STATE,7573,end climb,SURFACE_DEPTH_REACHED
$STATE,7573,begin surface coast
$FINISH,1.6,1.000442
$STATE,7592,end surface coast,CONTROL_FINISHED_OK
$STATE,7593,begin surface
$SM_CCo,7670,0.00,0.000,0,0,1404,521.75
$SM_GC,2.40,7.38,0.00,0.00,0.054,0.000,0.000,142,2512,1404,-7.49,2.40,521.75
$IRIDIUM_FIX,2403.92,12315.20,030998,171732
$TT8_MAMPS,0.028379
$HUMID,1580
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.0,133.1
$24V_AH,24.8,23.415
$10V_AH,10.9,13.796
$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,22.750,63.650,471.925,0.000,0.000,24.930,32.702,141.462,2.500,0.000,0.000,16.088,1834.836,3478.539,535.476,1750.134,385.907,0.000,1430.370,0.000,1716.925,0.000,19.162,0.000
$DEVICE_MAMPS,243.139,49.855,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,743.694,863.564,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56938,1116
$CAP_FILE_SIZE,98207,0
$CFSIZE,260165632,215859200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,144.9,1
$GPS,090609,220137,2410.488,12317.145,32,1.2,32,-3.4