version: 66.04
glider: 167
mission: 2
dive: 141
start: 6 11 109 16 2 6
data:
$ID,167
$MISSION,2
$DIVE,141
$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,-7643.6021
$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,86
$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
$GPS1,155616,2414.256,12259.149,10,4.0,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-66.7
$GPS2,160146,2414.352,12259.166,15,99.0,34,-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,195.1,26829,-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,-194.7,0.0,0.0,0,57,0.00,0.00,-39.75,0.000,2,0.000,0.000,143,2472,2547
$GC,60,-1.05,-194.7,3.1,-2.1,7,121,8.45,2.03,-43.92,0.000,4,0.252,0.057,2184,3765,3989
$GC,145,-0.10,-194.7,16.7,-33.6,21,152,1.12,1.90,0.00,0.000,6,0.187,0.023,2502,2420,3990
$GC,489,-1.07,-194.7,72.0,-13.0,82,496,0.80,2.05,0.00,0.000,4,0.072,0.044,2196,3763,3991
$GC,543,-0.36,-194.7,82.1,-24.9,91,550,0.77,1.85,0.00,0.000,6,0.179,0.023,2419,2443,3992
$GC,888,-0.64,-194.7,100.0,-0.5,152,896,0.20,2.03,0.00,0.000,4,0.060,0.045,2327,3770,3992
$GC,982,-0.53,-194.7,108.5,-12.4,168,989,0.17,1.80,0.00,0.000,6,0.144,0.025,2376,2482,3992
$GC,1328,-0.71,-194.7,156.2,-6.9,229,1334,0.17,2.03,0.00,0.000,4,0.063,0.025,2294,1053,3993
$GC,1357,-0.71,-194.7,158.8,-9.5,234,1363,0.00,2.12,0.00,0.000,6,0.000,0.032,2289,2496,3993
$GC,1701,-0.54,-194.7,189.4,-11.4,295,1708,0.22,1.90,0.00,0.000,4,0.150,0.045,2359,3761,3994
$GC,1738,-0.69,-194.7,192.0,-5.6,301,1745,0.10,1.80,0.00,0.000,6,0.081,0.025,2311,2480,3995
$GC,2082,-0.69,-194.7,214.7,-8.8,362,2088,0.00,1.95,0.00,0.000,4,0.000,0.044,2305,3767,3995
$GC,2140,-0.69,-194.7,219.9,-8.7,372,2147,0.00,1.80,0.00,0.000,6,0.000,0.025,2305,2483,3995
$GC,2486,-0.69,-194.7,250.3,-10.3,433,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2483,3995
$GC,2829,-0.79,-194.7,295.7,-11.4,494,2835,0.00,1.95,0.00,0.000,4,0.000,0.048,2303,3759,3995
$GC,2944,-0.90,-194.7,311.5,-14.7,508,2948,0.12,1.80,0.00,0.000,6,0.077,0.027,2246,2492,3995
$GC,3274,-0.76,-194.7,362.5,-13.7,539,3278,0.17,2.08,0.00,0.000,4,0.147,0.027,2296,1055,3994
$GC,3369,-0.86,-194.7,372.4,-10.3,547,3374,0.00,2.12,0.00,0.000,6,0.000,0.034,2297,2472,3995
$STATE,3693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3693,begin apogee
$GC,3698,-0.22,0.0,400.2,7.3,578,3786,0.50,0.00,84.60,0.898,6,0.128,0.000,2465,2472,3532
$STATE,3787,end apogee,CONTROL_FINISHED_OK
$STATE,3787,begin climb
$GC,3789,1.05,194.7,401.9,0.0,587,3938,1.12,2.05,142.00,0.875,4,0.063,0.048,2882,3764,2739
$GC,4047,0.39,194.7,384.7,18.7,609,4054,0.77,1.83,0.00,0.000,6,0.188,0.026,2678,2507,2736
$GC,4372,0.61,242.9,353.5,10.0,640,4417,0.17,2.10,36.05,0.846,4,0.071,0.031,2760,1128,2540
$GC,4522,0.61,242.9,336.7,12.0,653,4526,0.00,2.10,0.00,0.000,6,0.000,0.035,2760,2509,2537
$GC,4850,0.61,242.9,296.1,12.3,686,4856,0.00,2.05,0.00,0.000,4,0.000,0.031,2760,1118,2534
$GC,4936,0.61,244.1,285.2,12.0,701,4942,0.00,2.10,0.00,0.000,6,0.000,0.035,2760,2519,2534
$GC,5279,0.61,247.3,241.8,11.9,762,5285,0.00,1.90,0.00,0.000,4,0.000,0.051,2760,3765,2532
$GC,5398,0.50,247.3,226.2,13.2,783,5405,0.17,1.77,0.00,0.000,6,0.166,0.028,2713,2520,2531
$GC,5742,0.99,523.5,214.8,0.6,844,5959,0.38,2.15,205.45,0.767,4,0.055,0.032,2872,1120,1396
$GC,5982,0.99,523.5,177.7,20.6,885,5989,0.00,2.17,0.00,0.000,6,0.000,0.035,2872,2520,1393
$GC,6326,0.99,523.5,120.9,13.3,946,6332,0.00,2.08,0.00,0.000,4,0.000,0.031,2872,1126,1387
$GC,6372,1.08,523.5,115.0,12.6,954,6378,0.00,2.08,0.00,0.000,6,0.000,0.034,2872,2507,1387
$GC,6715,1.20,523.5,59.1,17.7,1015,6721,0.15,1.90,0.00,0.000,4,0.075,0.048,2935,3759,1386
$GC,6745,1.10,523.5,52.8,22.9,1020,6753,0.17,1.80,0.00,0.000,6,0.179,0.025,2896,2491,1386
$STATE,7054,end climb,SURFACE_DEPTH_REACHED
$STATE,7054,begin surface coast
$FINISH,1.8,1.021617
$STATE,7078,end surface coast,CONTROL_FINISHED_OK
$STATE,7078,begin surface
$SM_CCo,7155,0.00,0.000,0,0,1383,527.15
$SM_GC,2.38,7.20,0.00,0.00,0.051,0.000,0.000,143,2487,1383,-7.49,1.70,527.15
$IRIDIUM_FIX,2406.29,12258.16,050998,141454
$TT8_MAMPS,0.028379
$HUMID,1626
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.6,125.6
$24V_AH,24.8,25.740
$10V_AH,10.9,15.005
$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,22.975,59.275,468.100,0.000,0.000,28.290,47.307,126.520,2.000,0.000,0.000,35.564,1753.793,3129.251,529.703,1700.505,374.997,0.000,1399.646,0.000,1650.437,0.000,17.627,0.000
$DEVICE_MAMPS,252.343,56.758,898.157,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.949,825.579,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57044,1079
$CAP_FILE_SIZE,91217,0
$CFSIZE,260165632,214790144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265, 13.0,1
$GPS,110609,180237,2414.335,12259.216,42,1.0,42,-3.4