version: 66.04
glider: 167
mission: 2
dive: 360
start: 7 24 109 2 18 59
data:
$ID,167
$MISSION,2
$DIVE,360
$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,-12551.984
$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,67
$R_STBD_OVSHOOT,45
$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
$GPS1,021306,2441.383,12425.963,42,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.5
$GPS2,021838,2441.414,12425.947,15,1.4,15,-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,137.7,54567,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-33.85,0.000,2,0.000,0.000,140,2493,2428
$GC,55,-1.25,-121.7,3.2,-2.4,6,117,8.02,1.98,-49.25,0.000,4,0.232,0.054,2132,3758,3989
$GC,270,-0.80,-121.7,42.2,-21.2,43,278,0.52,1.85,0.00,0.000,6,0.166,0.021,2281,2435,3990
$GC,618,-1.07,-121.7,83.8,-11.1,104,624,0.20,2.03,0.00,0.000,4,0.058,0.050,2188,3753,3991
$GC,739,-0.93,-121.7,102.8,-15.8,125,745,0.20,1.73,0.00,0.000,6,0.155,0.022,2243,2504,3991
$GC,1084,-1.28,-121.7,140.1,-8.1,186,1092,0.28,1.98,0.00,0.000,4,0.054,0.023,2123,1101,3992
$GC,1116,-1.19,-121.7,143.9,-12.7,191,1124,0.17,2.05,0.00,0.000,6,0.164,0.028,2159,2506,3992
$GC,1465,-1.11,-121.7,191.9,-15.7,252,1471,0.00,1.88,0.00,0.000,4,0.000,0.042,2152,3744,3993
$GC,1523,-0.92,-121.7,201.3,-16.0,262,1530,0.32,1.73,0.00,0.000,6,0.156,0.022,2244,2497,3993
$GC,1869,-1.34,-121.7,237.9,-10.1,323,1877,0.32,1.92,0.00,0.000,4,0.051,0.042,2100,3761,3994
$GC,1985,-1.03,-121.7,256.6,-17.4,343,1993,0.38,1.73,0.00,0.000,6,0.165,0.023,2205,2515,3994
$GC,2334,-1.18,-121.7,291.9,-8.6,404,2341,0.12,1.88,0.00,0.000,4,0.076,0.042,2151,3748,3994
$GC,2475,-1.08,-121.7,308.4,-12.6,423,2480,0.17,1.62,0.00,0.000,6,0.159,0.022,2197,2570,3994
$GC,2807,-1.36,-121.7,343.0,-10.3,454,2811,0.22,2.08,0.00,0.000,4,0.060,0.023,2097,1103,3994
$GC,2981,-1.19,-121.7,366.5,-13.1,469,2986,0.25,2.12,0.00,0.000,6,0.160,0.031,2159,2542,3994
$STATE,3027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3027,begin apogee
$GC,3033,-0.22,0.0,371.9,10.5,473,3124,0.98,0.00,87.20,0.841,6,0.150,0.000,2467,2400,3531
$STATE,3125,end apogee,CONTROL_FINISHED_OK
$STATE,3125,begin climb
$GC,3129,1.25,121.7,375.9,0.0,482,3227,1.30,2.22,91.28,0.826,4,0.061,0.043,2948,3763,3035
$GC,3357,0.71,181.9,371.4,8.7,502,3408,0.68,1.98,44.60,0.815,6,0.196,0.021,2778,2365,2790
$GC,3726,0.96,273.0,345.8,6.5,537,3803,0.17,2.22,67.43,0.816,4,0.071,0.044,2855,3757,2417
$GC,3845,0.88,274.6,333.2,12.9,547,3853,0.15,1.92,0.00,0.000,6,0.182,0.021,2828,2421,2415
$GC,4173,1.07,331.0,296.6,9.0,581,4226,0.17,2.12,43.92,0.790,4,0.072,0.028,2912,1019,2181
$GC,4356,1.13,373.5,276.5,10.0,613,4396,0.00,2.03,32.88,0.769,6,0.000,0.030,2912,2377,2008
$GC,4734,1.15,392.8,233.0,11.7,680,4758,0.00,2.03,15.40,0.719,4,0.000,0.028,2918,1016,1930
$GC,4817,1.24,413.4,223.5,11.6,694,4840,0.00,1.98,17.30,0.718,6,0.000,0.028,2918,2346,1846
$GC,5179,1.36,431.1,178.9,11.8,758,5199,0.17,2.03,14.35,0.685,4,0.067,0.028,3003,1015,1774
$GC,5351,1.24,431.1,154.0,14.9,788,5358,0.22,1.92,0.00,0.000,6,0.177,0.030,2944,2320,1771
$GC,5697,1.35,451.8,108.6,11.6,849,5722,0.10,1.92,17.40,0.654,4,0.089,0.029,2993,1023,1689
$GC,5765,1.35,451.8,99.3,16.1,860,5771,0.00,1.90,0.00,0.000,6,0.000,0.029,2992,2307,1687
$GC,6109,1.46,485.4,54.4,10.6,921,6143,0.00,2.25,26.45,0.625,4,0.000,0.044,2993,3751,1551
$GC,6174,1.49,509.2,47.4,11.3,932,6199,0.00,2.08,19.73,0.601,6,0.000,0.021,3003,2315,1455
$STATE,6527,end climb,SURFACE_DEPTH_REACHED
$STATE,6528,begin surface coast
$FINISH,1.6,1.003041
$STATE,6554,end surface coast,CONTROL_FINISHED_OK
$STATE,6554,begin surface
$SM_CCo,6632,0.00,0.000,0,0,1446,511.70
$SM_GC,2.50,7.43,0.00,0.00,0.043,0.000,0.000,139,2502,1446,-7.49,0.54,511.70
$IRIDIUM_FIX,2432.32,12427.46,181098,000002
$TT8_MAMPS,0.029146
$HUMID,1650
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.60
$XPDR_PINGS,1
$24V_AH,24.5,63.766
$10V_AH,10.9,35.373
$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,22.575,55.525,477.925,0.000,0.000,31.526,31.734,140.502,2.000,0.000,0.000,15.209,1625.155,2821.340,533.966,1562.838,417.723,0.000,1347.644,0.000,1534.432,0.000,12.712,0.000
$DEVICE_MAMPS,232.401,53.690,840.632,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,661.964,782.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50587,999
$CAP_FILE_SIZE,88570,0
$CFSIZE,260165632,195940352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177,196.9,1
$GPS,240709,041036,2440.303,12426.041,15,1.0,31,-3.7