version: 66.04
glider: 167
mission: 2
dive: 389
start: 7 25 109 11 49 23
data:
$ID,167
$MISSION,2
$DIVE,389
$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,-13294.059
$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,99
$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
$GPS1,113916,2439.211,12425.778,12,99.0,31,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-61.6
$GPS2,114901,2439.311,12425.804,41,1.4,41,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2440.600,12429.200
$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,116.0,6195,-24.8,-13.043
$D_GRID,441
$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,11,begin dive
$GC,14,-1.25,-121.7,0.0,0.0,0,64,0.00,0.00,-47.45,0.000,2,0.000,0.000,138,2489,2606
$GC,68,-1.25,-121.7,3.3,-3.5,8,122,8.10,1.98,-41.25,0.000,4,0.237,0.054,2127,3759,3989
$GC,248,-0.83,-121.7,33.5,-21.4,39,256,0.52,1.77,0.00,0.000,6,0.166,0.020,2277,2468,3989
$GC,594,-1.03,-121.7,80.9,-14.0,100,600,0.17,1.98,0.00,0.000,4,0.065,0.042,2192,3765,3989
$GC,705,-0.86,-121.7,100.3,-17.4,119,713,0.25,1.75,0.00,0.000,6,0.157,0.021,2262,2486,3990
$GC,1053,-1.23,-121.7,141.3,-11.7,180,1059,0.28,1.92,0.00,0.000,4,0.054,0.021,2140,1106,3990
$GC,1078,-1.38,-121.7,145.0,-14.0,184,1084,0.00,2.03,0.00,0.000,6,0.000,0.033,2133,2491,3990
$GC,1423,-1.21,-121.7,194.1,-14.1,245,1429,0.00,1.88,0.00,0.000,4,0.000,0.040,2124,3757,3991
$GC,1469,-0.96,-121.7,201.0,-15.0,253,1476,0.38,1.75,0.00,0.000,6,0.160,0.020,2230,2477,3991
$GC,1815,-1.34,-121.7,241.8,-11.3,314,1821,0.30,1.92,0.00,0.000,4,0.055,0.021,2099,1097,3992
$GC,1852,-1.14,-121.7,246.4,-14.1,320,1859,0.28,2.05,0.00,0.000,6,0.165,0.029,2173,2493,3992
$GC,2201,-1.34,-121.7,277.3,-6.8,381,2208,0.17,1.98,0.00,0.000,4,0.067,0.021,2100,1104,3992
$GC,2237,-1.16,-121.7,280.7,-9.8,387,2245,0.28,2.03,0.00,0.000,6,0.163,0.028,2174,2490,3992
$GC,2578,-1.22,-121.7,311.2,-10.4,438,2582,0.00,1.90,0.00,0.000,4,0.000,0.041,2166,3774,3992
$GC,2692,-1.22,-121.7,325.2,-11.7,448,2696,0.00,1.75,0.00,0.000,6,0.000,0.022,2166,2511,3992
$GC,3026,-1.31,-121.7,358.9,-10.4,479,3030,0.12,1.90,0.00,0.000,4,0.077,0.041,2110,3764,3992
$STATE,3035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3035,begin apogee
$GC,3044,-0.22,0.0,360.6,10.9,480,3134,1.15,0.00,85.85,0.819,6,0.157,0.000,2462,2374,3532
$STATE,3134,end apogee,CONTROL_FINISHED_OK
$STATE,3135,begin climb
$GC,3138,1.25,121.7,366.8,0.0,489,3243,1.30,2.25,90.32,0.805,4,0.058,0.041,2949,3765,3034
$GC,3497,0.86,289.3,370.0,1.0,520,3626,0.52,1.92,122.40,0.811,6,0.212,0.020,2825,2383,2352
$GC,3945,1.08,332.4,335.9,10.0,562,3988,0.20,2.20,32.33,0.781,4,0.065,0.041,2910,3761,2175
$GC,4017,0.88,332.4,325.2,17.5,568,4024,0.32,1.95,0.00,0.000,6,0.183,0.021,2833,2387,2174
$GC,4351,1.23,391.3,285.3,8.8,611,4404,0.25,2.17,44.78,0.770,4,0.064,0.041,2941,3754,1935
$GC,4545,1.09,391.3,258.3,15.4,645,4553,0.20,1.85,0.00,0.000,6,0.175,0.021,2898,2459,1930
$GC,4892,1.23,412.9,218.8,11.5,706,4917,0.12,2.00,17.25,0.708,4,0.086,0.041,2948,3759,1846
$GC,4953,1.11,412.9,210.2,15.6,716,4960,0.20,1.95,0.00,0.000,6,0.186,0.020,2904,2397,1845
$GC,5299,1.33,475.1,170.2,8.6,777,5354,0.17,2.10,47.75,0.706,4,0.073,0.027,2988,1006,1593
$GC,5478,1.33,475.1,145.4,16.5,808,5484,0.00,2.05,0.00,0.000,6,0.000,0.025,2988,2395,1589
$GC,5822,1.33,475.1,98.3,14.8,869,5829,0.00,2.03,0.00,0.000,4,0.000,0.027,2996,995,1586
$GC,5903,1.33,475.1,86.0,15.4,883,5909,0.00,2.00,0.00,0.000,6,0.000,0.027,2996,2360,1586
$GC,6248,1.45,511.9,44.8,10.4,944,6285,0.00,2.03,28.52,0.607,4,0.000,0.028,3004,1010,1443
$GC,6349,1.56,521.2,33.6,12.4,961,6364,0.12,1.88,8.60,0.530,6,0.082,0.025,3061,2295,1406
$STATE,6559,end climb,SURFACE_DEPTH_REACHED
$STATE,6559,begin surface coast
$FINISH,1.6,1.008599
$STATE,6583,end surface coast,CONTROL_FINISHED_OK
$STATE,6583,begin surface
$SM_CCo,6662,0.00,0.000,0,0,1401,522.73
$SM_GC,2.36,7.68,0.00,0.00,0.050,0.000,0.000,142,2495,1401,-7.49,0.34,522.73
$IRIDIUM_FIX,2429.95,12424.16,191098,111159
$TT8_MAMPS,0.028379
$HUMID,1704
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,26.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,250.2,135.0
$24V_AH,24.5,66.474
$10V_AH,10.9,36.481
$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,23.100,59.150,477.800,0.000,0.000,52.467,64.291,247.773,2.750,0.000,0.000,41.819,1627.417,2880.519,539.939,1606.369,593.993,0.000,1369.637,0.000,1548.983,0.000,9.155,0.000
$DEVICE_MAMPS,237.003,53.690,819.156,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.291,779.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50611,1002
$CAP_FILE_SIZE,91815,0
$CFSIZE,260165632,194904064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.364,316.0,1
$GPS,250709,134137,2440.022,12425.273,37,1.2,37,-3.7