version: 66.04
glider: 167
mission: 2
dive: 391
start: 7 25 109 15 57 48
data:
$ID,167
$MISSION,2
$DIVE,391
$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,-13353.793
$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,96
$R_STBD_OVSHOOT,37
$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
$GPS1,155057,2439.987,12424.591,26,2.3,45,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-67.4
$GPS2,155728,2440.001,12424.535,16,2.3,35,-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,113.3,7929,-24.8,-13.043
$D_GRID,371
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.25,-121.7,0.0,0.0,0,53,0.00,0.00,-34.35,0.000,2,0.000,0.000,141,2485,2476
$GC,57,-1.25,-121.7,3.3,-2.9,6,116,8.05,1.95,-45.15,0.000,4,0.233,0.053,2130,3773,3988
$GC,264,-0.83,-121.7,39.9,-20.4,42,271,0.50,1.80,0.00,0.000,6,0.161,0.020,2275,2467,3988
$GC,610,-1.25,-121.7,80.8,-11.7,103,616,0.32,0.00,0.00,0.000,6,0.052,0.000,2133,2468,3989
$GC,954,-1.06,-121.7,134.4,-13.5,164,962,0.20,1.98,0.00,0.000,4,0.163,0.038,2184,3774,3990
$GC,1165,-0.99,-121.7,162.1,-14.1,201,1172,0.15,1.80,0.00,0.000,6,0.154,0.021,2224,2468,3991
$GC,1511,-1.33,-121.7,202.7,-9.1,262,1517,0.28,1.92,0.00,0.000,4,0.055,0.022,2105,1094,3992
$GC,1537,-1.33,-121.7,205.7,-11.7,266,1543,0.00,2.03,0.00,0.000,6,0.000,0.027,2097,2485,3991
$GC,1882,-1.11,-121.7,253.9,-13.3,327,1889,0.28,1.98,0.00,0.000,4,0.171,0.021,2179,1098,3992
$GC,1924,-1.22,-121.7,258.8,-10.9,334,1930,0.00,1.98,0.00,0.000,6,0.000,0.028,2179,2454,3992
$GC,2273,-1.48,-121.7,293.6,-10.2,395,2280,0.28,1.95,0.00,0.000,4,0.057,0.041,2056,3755,3992
$GC,2392,-1.10,-121.7,309.7,-13.1,410,2399,0.47,1.80,0.00,0.000,6,0.169,0.021,2190,2453,3992
$GC,2718,-1.40,-121.7,338.7,-9.5,441,2722,0.22,2.00,0.00,0.000,4,0.059,0.041,2085,3764,3992
$GC,2735,-1.56,-121.7,340.2,-8.3,442,2742,0.12,1.83,0.00,0.000,6,0.084,0.020,2035,2437,3992
$STATE,2951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2951,begin apogee
$GC,2958,-0.22,0.0,372.0,15.2,463,3049,1.48,0.00,86.43,0.841,6,0.174,0.000,2465,2435,3532
$STATE,3050,end apogee,CONTROL_FINISHED_OK
$STATE,3050,begin climb
$GC,3052,1.25,121.7,379.3,0.0,472,3159,1.30,2.15,90.75,0.825,4,0.061,0.024,2956,1023,3034
$GC,3413,0.97,250.3,377.2,3.8,503,3519,0.38,2.05,93.82,0.828,6,0.194,0.028,2859,2417,2510
$GC,3835,1.05,317.8,340.8,8.2,543,3893,0.00,2.12,50.75,0.807,4,0.000,0.025,2865,1038,2236
$GC,3971,1.17,354.0,327.5,10.4,555,4006,0.15,1.98,28.38,0.781,6,0.077,0.028,2924,2361,2087
$GC,4332,1.10,354.0,280.4,13.5,601,4338,0.00,1.95,0.00,0.000,4,0.000,0.028,2927,1028,2082
$GC,4413,1.05,364.3,270.1,12.3,615,4428,0.17,1.92,8.77,0.683,6,0.172,0.027,2881,2344,2046
$GC,4767,1.23,404.1,231.1,10.2,677,4808,0.17,2.22,31.30,0.755,4,0.075,0.043,2958,3751,1883
$GC,4912,1.07,404.1,210.7,14.4,702,4920,0.30,2.12,0.00,0.000,6,0.183,0.021,2888,2266,1879
$GC,5260,1.38,457.9,177.9,9.2,763,5309,0.25,2.40,41.70,0.725,4,0.064,0.041,2994,3763,1664
$GC,5368,1.19,457.9,163.0,15.1,781,5374,0.30,2.08,0.00,0.000,6,0.186,0.021,2927,2329,1661
$GC,5713,1.41,501.8,123.8,9.9,842,5756,0.17,1.88,34.22,0.680,4,0.069,0.026,3009,1038,1485
$GC,5908,1.42,515.4,99.4,12.1,876,5926,0.00,1.75,11.48,0.614,6,0.000,0.026,3010,2231,1430
$GC,6264,1.49,526.1,55.1,12.3,939,6278,0.00,1.80,9.60,0.572,4,0.000,0.025,3017,1036,1387
$GC,6320,1.59,541.2,48.6,12.0,948,6339,0.10,1.80,13.35,0.589,6,0.091,0.026,3063,2266,1324
$STATE,6645,end climb,SURFACE_DEPTH_REACHED
$STATE,6646,begin surface coast
$FINISH,1.7,1.008456
$STATE,6673,end surface coast,CONTROL_FINISHED_OK
$STATE,6673,begin surface
$SM_CCo,6752,0.00,0.000,0,0,1317,543.34
$SM_GC,2.42,7.75,0.00,0.00,0.054,0.000,0.000,141,2513,1317,-7.49,0.85,543.34
$IRIDIUM_FIX,2429.95,12424.16,191098,131328
$TT8_MAMPS,0.028379
$HUMID,1707
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.3,134.2
$24V_AH,24.5,66.710
$10V_AH,10.9,36.603
$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,23.400,51.525,500.550,0.000,0.000,26.494,37.857,180.737,1.250,0.000,0.000,36.334,1640.443,2875.727,540.496,1617.141,467.369,0.000,1372.936,0.000,1564.687,0.000,12.704,0.000
$DEVICE_MAMPS,233.168,52.923,840.632,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.072,795.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53732,1010
$CAP_FILE_SIZE,88519,0
$CFSIZE,260165632,194797568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,250.4,1
$GPS,250709,175137,2439.423,12424.527,36,1.9,42,-3.7