version: 66.04
glider: 167
mission: 2
dive: 373
start: 7 24 109 19 24 41
data:
$ID,167
$MISSION,2
$DIVE,373
$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,-12841.844
$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,95
$R_STBD_OVSHOOT,43
$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
$GPS1,191607,2435.990,12426.462,9,1.7,14,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-64.2
$GPS2,192420,2436.001,12426.462,14,1.9,14,-3.6
$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,72.2,13861,-24.8,-13.043
$D_GRID,175
$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,-121.7,0.0,0.0,0,48,0.00,0.00,-30.67,0.000,2,0.000,0.000,140,2479,2424
$GC,51,-1.25,-121.7,3.0,-2.5,5,116,7.93,1.92,-49.42,0.000,4,0.232,0.054,2126,3757,3988
$GC,370,-0.80,-121.7,69.3,-24.9,60,377,0.55,1.77,0.00,0.000,6,0.161,0.023,2287,2477,3988
$GC,716,-1.26,-121.7,105.1,-9.0,121,722,0.38,1.95,0.00,0.000,4,0.048,0.051,2123,3757,3989
$GC,785,-0.95,-121.7,115.3,-15.8,133,792,0.40,1.75,0.00,0.000,6,0.161,0.033,2238,2493,3989
$GC,1131,-1.17,-121.7,152.4,-9.7,194,1138,0.17,1.92,0.00,0.000,4,0.060,0.041,2152,3767,3990
$GC,1236,-0.98,-121.7,166.2,-13.1,212,1242,0.28,1.73,0.00,0.000,6,0.153,0.032,2230,2516,3990
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1333,-0.22,0.0,175.2,8.5,228,1420,0.70,0.00,82.78,0.667,6,0.120,0.000,2467,2394,3532
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1424,1.25,121.7,181.0,0.0,243,1522,1.27,2.05,87.85,0.657,4,0.064,0.025,2953,1021,3034
$GC,1622,1.26,352.9,191.3,-3.5,276,1796,0.00,2.05,164.45,0.660,6,0.000,0.028,2952,2419,2092
$GC,2139,1.28,413.8,141.8,8.7,365,2192,0.00,2.10,45.70,0.628,4,0.000,0.027,2957,1024,1842
$GC,2261,1.32,446.5,128.9,10.7,386,2295,0.00,2.03,25.73,0.606,6,0.000,0.027,2957,2404,1709
$GC,2635,1.46,470.5,90.3,11.3,452,2660,0.17,2.10,18.73,0.585,4,0.070,0.042,3033,3755,1612
$GC,2788,1.31,480.2,69.6,12.4,478,2807,0.28,2.00,8.57,0.521,6,0.172,0.021,2968,2345,1573
$GC,3146,1.52,480.2,36.4,16.0,541,3153,0.17,1.88,0.00,0.000,4,0.070,0.026,3049,1027,1569
$GC,3314,1.43,480.2,12.8,14.5,570,3321,0.17,1.88,0.00,0.000,6,0.176,0.028,3004,2324,1568
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3381,begin surface coast
$FINISH,1.6,1.003780
$STATE,3405,end surface coast,CONTROL_FINISHED_OK
$STATE,3405,begin surface
$SM_CCo,3484,0.00,0.000,0,0,1565,482.51
$SM_GC,2.49,7.43,0.00,0.00,0.047,0.000,0.000,139,2494,1565,-7.50,0.31,482.51
$IRIDIUM_FIX,2427.58,12428.07,181098,191947
$TT8_MAMPS,0.028379
$HUMID,1649
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,27.00
$XPDR_PINGS,9
$24V_AH,24.5,65.014
$10V_AH,10.9,35.906
$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,19.900,27.375,433.800,0.000,0.000,58.702,122.058,141.398,2.250,0.000,0.000,14.848,900.259,1291.176,453.359,876.890,461.961,0.000,950.836,0.000,862.670,0.000,1.016,0.000
$DEVICE_MAMPS,231.634,85.137,666.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.162,598.697,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28580,586
$CAP_FILE_SIZE,51163,0
$CFSIZE,260165632,195493888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,183.2,1
$GPS,240709,202406,2435.813,12426.733,36,1.4,46,-3.6