version: 66.04
glider: 167
mission: 2
dive: 369
start: 7 24 109 15 19 58
data:
$ID,167
$MISSION,2
$DIVE,369
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-12747.387
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,65
$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
$GPS1,151052,2437.434,12426.499,8,6.0,27,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-65.2
$GPS2,151936,2437.452,12426.492,16,1.4,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.000,12442.300
$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,123.4,47861,-24.8,-13.043
$D_GRID,198
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.25,-121.7,0.0,0.0,0,55,0.00,0.00,-38.70,0.000,2,0.000,0.000,139,2517,2626
$GC,59,-1.25,-121.7,3.3,-3.8,6,113,7.85,1.85,-39.65,0.000,4,0.230,0.056,2129,3741,3988
$GC,212,-0.79,-121.7,31.1,-22.7,32,219,0.55,1.75,0.00,0.000,6,0.163,0.021,2289,2470,3988
$GC,558,-1.23,-121.7,73.6,-11.7,93,566,0.35,1.92,0.00,0.000,4,0.051,0.021,2137,1090,3989
$GC,657,-1.01,-121.7,89.5,-16.1,110,664,0.32,2.03,0.00,0.000,6,0.157,0.028,2219,2482,3989
$GC,1003,-1.17,-121.7,127.1,-10.8,171,1009,0.15,1.90,0.00,0.000,4,0.067,0.051,2152,3753,3989
$GC,1068,-0.98,-121.7,136.0,-15.9,182,1075,0.28,1.75,0.00,0.000,6,0.160,0.034,2229,2492,3989
$GC,1415,-1.34,-121.7,170.3,-9.7,243,1421,0.30,1.92,0.00,0.000,4,0.054,0.042,2097,3763,3990
$GC,1435,-1.43,-121.7,172.6,-10.6,246,1441,0.00,1.75,0.00,0.000,6,0.000,0.021,2096,2488,3990
$STATE,1591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1591,begin apogee
$GC,1600,-0.22,0.0,198.1,15.9,274,1687,1.20,0.00,83.45,0.680,6,0.162,0.000,2461,2487,3531
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,1.25,121.7,206.5,0.0,289,1786,1.30,2.05,88.15,0.673,4,0.064,0.042,2945,3760,3034
$GC,2037,0.99,326.3,221.0,-1.6,349,2190,0.35,1.90,146.12,0.686,6,0.186,0.020,2861,2379,2200
$GC,2532,1.24,376.8,183.9,9.4,434,2579,0.17,2.15,37.75,0.657,4,0.070,0.042,2939,3747,1994
$GC,2704,1.12,376.8,160.6,14.1,464,2710,0.15,1.90,0.00,0.000,6,0.176,0.021,2910,2392,1991
$GC,3050,1.25,376.8,122.9,13.2,525,3057,0.10,1.95,0.00,0.000,4,0.090,0.035,2964,1024,1989
$GC,3086,1.25,376.8,117.4,15.2,531,3092,0.00,1.92,0.00,0.000,6,0.000,0.028,2964,2344,1989
$GC,3430,1.33,446.1,80.7,8.1,592,3489,0.00,2.03,51.90,0.613,4,0.000,0.027,2968,1014,1713
$GC,3643,1.48,457.6,57.5,12.2,629,3662,0.15,1.98,9.98,0.535,6,0.076,0.027,3027,2366,1665
$GC,4001,1.48,462.8,13.7,12.7,692,4014,0.00,1.98,4.80,0.423,4,0.000,0.027,3032,1032,1644
$STATE,4085,end climb,SURFACE_DEPTH_REACHED
$STATE,4085,begin surface coast
$FINISH,1.6,1.021445
$STATE,4108,end surface coast,CONTROL_FINISHED_OK
$STATE,4109,begin surface
$SM_CCo,4189,0.00,0.000,0,0,1639,464.35
$SM_GC,2.47,7.60,0.00,0.00,0.052,0.000,0.000,139,2490,1639,-7.50,0.20,464.35
$IRIDIUM_FIX,2429.95,12431.37,181098,151536
$TT8_MAMPS,0.028379
$HUMID,1642
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,26.80
$XPDR_PINGS,18
$24V_AH,24.4,64.671
$10V_AH,11.0,35.774
$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,20.825,34.925,422.150,0.000,0.000,62.670,95.308,173.497,4.500,0.000,0.000,34.227,1112.023,1587.461,451.771,1076.662,492.240,0.000,1028.318,0.000,1043.077,0.000,1.014,0.000
$DEVICE_MAMPS,230.100,55.991,685.698,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.524,660.139,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34774,711
$CAP_FILE_SIZE,61009,0
$CFSIZE,260165632,195612672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,225.8,1
$GPS,240709,163032,2437.046,12426.294,10,1.5,10,-3.7