version: 66.04
glider: 167
mission: 2
dive: 358
start: 7 23 109 21 18 58
data:
$ID,167
$MISSION,2
$DIVE,358
$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,-12520.783
$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,65
$R_STBD_OVSHOOT,61
$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
$GPS1,210904,2442.569,12426.463,10,3.5,29,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-60.2
$GPS2,211837,2442.535,12426.552,9,1.4,14,-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,161.6,55874,-24.8,-13.043
$D_GRID,533
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-30.38,0.000,2,0.000,0.000,140,2505,2352
$GC,52,-1.25,-121.7,3.0,-1.8,5,116,8.12,1.90,-49.83,0.000,4,0.234,0.056,2131,3748,3989
$GC,198,-0.75,-121.7,28.9,-25.4,30,205,0.60,1.83,0.00,0.000,6,0.170,0.021,2300,2440,3990
$GC,543,-0.98,-121.7,77.9,-13.6,91,550,0.17,1.98,0.00,0.000,4,0.064,0.041,2207,3736,3990
$GC,722,-0.88,-121.7,106.0,-15.4,122,729,0.20,1.70,0.00,0.000,6,0.160,0.021,2262,2510,3991
$GC,1067,-1.19,-121.7,144.6,-11.2,183,1074,0.25,1.88,0.00,0.000,4,0.058,0.041,2149,3740,3992
$GC,1148,-0.96,-121.7,156.9,-14.8,197,1155,0.30,1.67,0.00,0.000,6,0.158,0.022,2234,2525,3992
$GC,1494,-1.16,-121.7,198.7,-13.1,258,1501,0.17,1.85,0.00,0.000,4,0.064,0.051,2152,3734,3993
$GC,1688,-0.99,-121.7,230.7,-15.6,292,1695,0.25,1.62,0.00,0.000,6,0.156,0.022,2222,2559,3993
$GC,2035,-1.33,-121.7,268.3,-10.3,353,2041,0.25,1.80,0.00,0.000,4,0.058,0.042,2110,3743,3994
$GC,2065,-1.19,-121.7,272.6,-13.9,358,2071,0.20,1.62,0.00,0.000,6,0.170,0.022,2162,2572,3993
$GC,2407,-1.19,-121.7,319.2,-13.1,407,2410,0.00,1.77,0.00,0.000,4,0.000,0.042,2155,3746,3993
$GC,2430,-1.12,-121.7,322.7,-14.7,409,2434,0.00,1.65,0.00,0.000,6,0.000,0.022,2155,2567,3993
$GC,2761,-1.12,-121.7,368.8,-13.1,440,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2567,3993
$GC,3084,-1.12,-121.7,410.3,-12.9,470,3087,0.00,1.80,0.00,0.000,4,0.000,0.044,2152,3748,3994
$GC,3262,-1.06,-121.7,433.5,-12.3,485,3270,0.17,1.62,0.00,0.000,6,0.154,0.024,2199,2585,3994
$GC,3588,-1.38,-121.7,465.4,-10.7,516,3592,0.25,2.12,0.00,0.000,4,0.060,0.023,2093,1093,3993
$GC,3677,-1.22,-121.7,478.0,-15.0,523,3684,0.22,2.12,0.00,0.000,6,0.163,0.030,2146,2528,3993
$GC,3999,-1.22,-121.7,524.3,-13.5,546,4003,0.00,1.85,0.00,0.000,4,0.000,0.044,2140,3756,3992
$STATE,4057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4057,begin apogee
$GC,4066,-0.22,0.0,533.1,14.0,548,4158,1.05,0.00,88.75,0.973,6,0.154,0.000,2463,2382,3532
$STATE,4159,end apogee,CONTROL_FINISHED_OK
$STATE,4159,begin climb
$GC,4162,1.25,121.7,540.1,0.0,553,4263,1.33,2.22,93.50,0.957,4,0.061,0.044,2951,3760,3035
$GC,4414,0.69,200.8,535.9,7.4,564,4482,0.73,1.95,59.67,0.947,6,0.202,0.021,2768,2393,2713
$GC,4798,0.95,293.3,512.8,6.4,583,4876,0.20,2.22,70.82,0.949,4,0.071,0.044,2854,3750,2335
$GC,4902,0.87,294.6,501.5,13.0,587,4908,0.15,1.95,0.00,0.000,6,0.183,0.022,2828,2417,2333
$GC,5228,1.02,339.8,465.0,9.8,617,5273,0.12,2.10,35.97,0.917,4,0.084,0.028,2885,1015,2145
$GC,5424,1.04,358.0,440.7,11.7,634,5443,0.00,2.08,15.05,0.859,6,0.000,0.029,2885,2400,2072
$GC,5769,1.04,358.0,396.9,14.0,667,5773,0.00,2.08,0.00,0.000,4,0.000,0.045,2885,3758,2066
$GC,5786,1.04,358.0,394.5,14.0,668,5793,0.00,1.98,0.00,0.000,6,0.000,0.022,2894,2394,2066
$GC,6115,1.09,393.2,351.7,10.5,699,6150,0.00,2.05,27.77,0.861,4,0.000,0.029,2898,1004,1928
$GC,6308,1.22,424.8,332.2,10.8,716,6342,0.12,2.00,25.67,0.838,6,0.084,0.028,2950,2345,1799
$GC,6666,1.22,424.8,278.5,16.9,760,6674,0.00,2.00,0.00,0.000,4,0.000,0.028,2957,990,1793
$GC,6736,1.22,424.8,267.0,17.1,772,6743,0.00,2.00,0.00,0.000,6,0.000,0.028,2956,2340,1793
$GC,7081,1.22,424.8,218.4,13.1,833,7087,0.00,1.98,0.00,0.000,4,0.000,0.028,2965,993,1792
$GC,7229,1.23,430.0,200.2,12.7,859,7242,0.00,1.92,4.57,0.546,6,0.000,0.028,2965,2304,1778
$GC,7582,1.24,441.0,157.7,12.2,921,7598,0.00,0.00,10.52,0.666,6,0.000,0.000,2965,2303,1733
$GC,7936,1.31,441.7,113.4,13.0,984,7943,0.00,1.90,0.00,0.000,4,0.000,0.028,2969,1000,1731
$GC,8012,1.39,441.7,103.3,13.3,997,8018,0.00,1.90,0.00,0.000,6,0.000,0.027,2969,2300,1731
$GC,8357,1.56,471.4,61.9,10.9,1058,8388,0.20,1.98,24.75,0.632,4,0.071,0.027,3060,996,1609
$GC,8451,1.46,471.4,49.0,14.1,1074,8457,0.17,1.92,0.00,0.000,6,0.193,0.027,3017,2310,1606
$GC,8795,1.51,511.4,7.9,10.2,1135,8832,0.00,2.00,32.03,0.587,4,0.000,0.026,3024,998,1445
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8836,begin surface coast
$FINISH,1.7,0.997672
$STATE,8859,end surface coast,CONTROL_FINISHED_OK
$STATE,8860,begin surface
$SM_CCo,8940,0.00,0.000,0,0,1441,512.92
$SM_GC,2.46,7.60,0.00,0.00,0.046,0.000,0.000,142,2505,1441,-7.49,0.62,512.92
$IRIDIUM_FIX,2432.32,12415.61,171098,212157
$TT8_MAMPS,0.029146
$HUMID,1609
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.90
$XPDR_PINGS,2
$24V_AH,24.3,63.525
$10V_AH,10.9,35.251
$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,22.850,73.275,489.100,0.000,0.000,56.173,81.292,233.660,4.000,0.000,0.000,14.709,1941.560,4462.884,552.280,1910.544,642.079,0.000,1536.730,0.000,1868.530,0.000,24.412,0.000
$DEVICE_MAMPS,233.935,55.991,973.323,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.865,864.374,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59970,1146
$CAP_FILE_SIZE,108409,0
$CFSIZE,260165632,196022272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,351.8,1
$GPS,230709,234904,2442.116,12426.339,11,99.0,30,-3.7