version: 66.04
glider: 167
mission: 2
dive: 372
start: 7 24 109 18 11 48
data:
$ID,167
$MISSION,2
$DIVE,372
$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,-12826.369
$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,58
$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
$GPS1,180630,2436.433,12426.239,36,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-63.2
$GPS2,181126,2436.416,12426.208,14,1.0,14,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2433.000,12434.000
$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,75.0,14571,-24.8,-13.043
$D_GRID,209
$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,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-35.05,0.000,2,0.000,0.000,140,2507,2618
$GC,55,-1.25,-121.7,3.5,-4.8,6,109,7.90,1.85,-38.55,0.000,4,0.232,0.055,2129,3740,3988
$GC,363,-0.80,-121.7,61.4,-19.3,60,371,0.52,1.77,0.00,0.000,6,0.161,0.023,2282,2458,3989
$GC,711,-1.26,-121.7,100.2,-10.9,121,717,0.35,1.95,0.00,0.000,4,0.049,0.041,2124,3744,3989
$GC,848,-0.95,-121.7,123.4,-16.5,145,855,0.38,1.73,0.00,0.000,6,0.160,0.025,2231,2497,3989
$GC,1194,-1.28,-121.7,156.9,-8.9,206,1200,0.25,1.90,0.00,0.000,4,0.056,0.051,2113,3751,3989
$GC,1287,-0.96,-121.7,171.2,-17.7,222,1293,0.43,1.70,0.00,0.000,6,0.162,0.025,2235,2521,3989
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1614,-0.22,0.0,209.8,14.6,279,1702,0.68,0.00,83.22,0.687,6,0.124,0.000,2464,2387,3532
$STATE,1703,end apogee,CONTROL_FINISHED_OK
$STATE,1703,begin climb
$GC,1705,1.25,121.7,220.7,0.0,294,1801,1.30,2.08,88.20,0.683,4,0.063,0.026,2958,1016,3034
$GC,1844,1.23,380.0,232.7,-5.5,316,2039,0.00,2.05,185.27,0.683,6,0.000,0.038,2958,2398,1981
$GC,2378,1.17,393.4,168.7,12.1,409,2397,0.15,2.05,11.02,0.587,4,0.173,0.027,2925,1019,1927
$GC,2455,1.25,400.0,159.2,12.6,422,2470,0.00,2.03,6.62,0.525,6,0.000,0.028,2925,2405,1901
$GC,2809,1.36,414.3,117.1,12.0,484,2830,0.15,2.03,12.10,0.581,4,0.066,0.025,2998,1008,1843
$GC,2929,1.30,414.3,99.4,16.1,504,2936,0.12,2.03,0.00,0.000,6,0.178,0.028,2968,2403,1840
$GC,3275,1.41,445.2,60.2,10.8,565,3305,0.00,2.08,24.38,0.588,4,0.000,0.026,2975,1013,1716
$GC,3427,1.56,458.0,42.5,12.1,591,3444,0.20,1.92,11.05,0.539,6,0.071,0.027,3054,2338,1664
$STATE,3712,end climb,SURFACE_DEPTH_REACHED
$STATE,3712,begin surface coast
$FINISH,1.6,1.021599
$STATE,3731,end surface coast,CONTROL_FINISHED_OK
$STATE,3731,begin surface
$SM_CCo,3809,0.00,0.000,0,0,1657,459.94
$SM_GC,2.51,7.60,0.00,0.00,0.049,0.000,0.000,140,2479,1657,-7.50,-0.11,459.94
$IRIDIUM_FIX,2422.84,12207.36,181098,171719
$TT8_MAMPS,0.028379
$HUMID,1657
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,26.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,200.4,128.3
$24V_AH,24.4,64.919
$10V_AH,10.9,35.868
$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,20.025,27.400,421.875,0.000,0.000,31.448,33.420,129.091,4.500,0.000,0.000,14.812,996.198,1388.217,431.706,965.919,335.581,0.000,964.271,0.000,949.182,0.000,5.793,0.000
$DEVICE_MAMPS,232.401,62.894,687.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.405,607.999,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31704,645
$CAP_FILE_SIZE,53536,0
$CFSIZE,260165632,195522560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,198.3,1
$GPS,240709,191607,2435.990,12426.462,9,1.7,14,-3.6