version: 66.04
glider: 167
mission: 2
dive: 359
start: 7 23 109 23 55 35
data:
$ID,167
$MISSION,2
$DIVE,359
$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,-12536.147
$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,68
$R_STBD_OVSHOOT,53
$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
$GPS1,234904,2442.116,12426.339,11,99.0,30,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-59.9
$GPS2,235514,2442.137,12426.308,14,1.2,14,-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,161.8,55426,-24.8,-13.043
$D_GRID,475
$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,-121.7,0.0,0.0,0,62,0.00,0.00,-44.35,0.000,2,0.000,0.000,141,2505,2561
$GC,65,-1.25,-121.7,3.4,-3.2,7,120,8.10,1.98,-40.47,0.000,4,0.235,0.057,2132,3755,3989
$GC,256,-0.78,-121.7,41.1,-22.0,40,263,0.55,1.83,0.00,0.000,6,0.164,0.021,2291,2450,3990
$GC,602,-1.05,-121.7,84.8,-12.6,101,608,0.20,1.98,0.00,0.000,4,0.058,0.041,2192,3743,3991
$GC,805,-0.93,-121.7,118.0,-14.9,137,812,0.20,1.70,0.00,0.000,6,0.159,0.022,2247,2515,3991
$GC,1152,-1.26,-121.7,163.7,-12.5,198,1159,0.28,1.88,0.00,0.000,4,0.055,0.042,2124,3747,3992
$GC,1178,-1.26,-121.7,167.6,-14.9,202,1185,0.00,1.67,0.00,0.000,6,0.000,0.022,2124,2525,3992
$GC,1526,-1.05,-121.7,223.8,-14.6,263,1532,0.25,1.85,0.00,0.000,4,0.163,0.040,2192,3747,3993
$GC,1606,-1.05,-121.7,234.4,-12.8,277,1612,0.00,1.65,0.00,0.000,6,0.000,0.022,2192,2545,3993
$GC,1952,-1.12,-121.7,273.2,-12.1,338,1958,0.00,1.83,0.00,0.000,4,0.000,0.044,2191,3745,3994
$GC,2049,-1.12,-121.7,287.3,-15.1,355,2055,0.00,1.62,0.00,0.000,6,0.000,0.023,2191,2565,3994
$GC,2380,-1.25,-121.7,328.6,-11.3,394,2382,0.15,0.00,0.00,0.000,6,0.071,0.000,2127,2565,3994
$GC,2701,-1.15,-121.7,366.3,-10.9,424,2707,0.17,0.00,0.00,0.000,6,0.161,0.000,2173,2565,3994
$GC,3029,-1.29,-121.7,397.3,-11.0,455,3033,0.12,1.80,0.00,0.000,4,0.077,0.042,2112,3746,3994
$GC,3289,-1.09,-121.7,436.7,-13.9,478,3293,0.28,1.62,0.00,0.000,6,0.163,0.025,2188,2586,3994
$GC,3620,-1.26,-121.7,466.8,-8.5,509,3624,0.15,2.12,0.00,0.000,4,0.069,0.025,2126,1101,3994
$GC,3687,-1.21,-121.7,474.8,-12.5,514,3696,0.12,2.12,0.00,0.000,6,0.169,0.031,2155,2531,3993
$STATE,3700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3700,begin apogee
$GC,3708,-0.22,0.0,476.9,12.9,516,3803,0.98,0.00,88.07,0.927,6,0.148,0.000,2462,2412,3532
$STATE,3804,end apogee,CONTROL_FINISHED_OK
$STATE,3804,begin climb
$GC,3807,1.25,121.7,485.4,0.0,526,3909,1.30,2.20,92.70,0.912,4,0.054,0.042,2951,3756,3035
$GC,4163,0.70,198.2,478.3,7.6,557,4226,0.70,1.98,57.00,0.905,6,0.199,0.022,2773,2364,2723
$GC,4543,0.98,289.0,449.5,6.5,593,4620,0.20,2.25,69.07,0.898,4,0.070,0.044,2862,3765,2352
$GC,4749,0.90,306.0,426.9,11.8,611,4770,0.15,1.95,14.15,0.820,6,0.182,0.023,2835,2407,2283
$GC,5096,1.10,347.7,392.4,10.1,644,5135,0.17,2.17,32.40,0.861,4,0.071,0.044,2905,3760,2113
$GC,5153,0.99,347.7,384.6,15.0,649,5157,0.20,1.95,0.00,0.000,6,0.175,0.023,2862,2433,2111
$GC,5483,1.12,373.9,344.2,11.2,680,5509,0.12,2.12,21.12,0.822,4,0.082,0.028,2921,994,2005
$GC,5638,1.12,373.9,323.4,13.3,693,5645,0.00,2.08,0.00,0.000,6,0.000,0.030,2921,2381,2002
$GC,5972,1.13,385.3,278.3,12.2,738,5986,0.00,2.10,9.15,0.722,4,0.000,0.028,2927,1000,1961
$GC,6038,1.14,391.6,270.1,12.6,749,6051,0.00,2.00,6.75,0.668,6,0.000,0.029,2927,2339,1935
$GC,6391,1.14,391.6,222.3,14.3,811,6397,0.00,1.98,0.00,0.000,4,0.000,0.028,2936,994,1932
$GC,6504,1.14,391.6,206.6,13.2,831,6510,0.00,1.90,0.00,0.000,6,0.000,0.029,2936,2279,1931
$GC,6848,1.14,391.6,157.9,14.0,892,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2279,1930
$GC,7192,1.28,441.6,115.8,9.5,953,7239,0.00,1.92,39.42,0.688,4,0.000,0.031,2937,1001,1729
$GC,7455,1.56,474.0,90.1,10.7,999,7485,0.30,1.90,25.48,0.650,6,0.061,0.028,3051,2293,1599
$GC,7826,1.47,474.0,36.1,14.9,1064,7833,0.12,1.90,0.00,0.000,4,0.189,0.027,3029,992,1593
$GC,7924,1.48,479.2,22.9,12.7,1081,7937,0.00,1.88,5.00,0.463,6,0.000,0.027,3029,2272,1577
$STATE,8070,end climb,SURFACE_DEPTH_REACHED
$STATE,8070,begin surface coast
$FINISH,1.8,1.021631
$STATE,8096,end surface coast,CONTROL_FINISHED_OK
$STATE,8096,begin surface
$SM_CCo,8174,0.00,0.000,0,0,1574,480.30
$SM_GC,2.56,7.60,0.00,0.00,0.050,0.000,0.000,140,2492,1574,-7.50,0.28,480.30
$IRIDIUM_FIX,2434.69,12424.16,171098,212123
$TT8_MAMPS,0.029146
$HUMID,1640
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.80
$XPDR_PINGS,1
$24V_AH,24.4,63.650
$10V_AH,10.9,35.315
$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,22.425,58.325,460.325,0.000,0.000,33.025,39.199,169.319,3.250,0.000,0.000,14.735,1840.435,3884.943,522.946,1807.959,484.090,0.000,1447.588,0.000,1773.978,0.000,21.074,0.000
$DEVICE_MAMPS,234.702,56.758,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,739.138,826.773,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56870,1111
$CAP_FILE_SIZE,100057,0
$CFSIZE,260165632,195981312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,257.3,1
$GPS,240709,021306,2441.383,12425.963,42,1.4,42,-3.7