version: 66.04
glider: 167
mission: 2
dive: 387
start: 7 25 109 7 59 17
data:
$ID,167
$MISSION,2
$DIVE,387
$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,-13218.212
$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,86
$R_STBD_OVSHOOT,51
$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
$GPS1,075356,2438.302,12425.402,11,1.9,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-67.5
$GPS2,075855,2438.335,12425.437,14,2.0,31,-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,68.8,7597,-24.8,-13.043
$D_GRID,360
$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,-121.7,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,140,2482,2715
$GC,62,-1.25,-121.7,3.3,-3.6,7,112,7.88,1.98,-36.25,0.000,4,0.232,0.054,2132,3764,3989
$GC,366,-0.85,-121.7,58.2,-18.0,60,373,0.47,1.80,0.00,0.000,6,0.163,0.031,2270,2452,3990
$GC,712,-1.25,-121.7,100.1,-10.7,121,719,0.32,1.98,0.00,0.000,4,0.053,0.041,2124,3757,3989
$GC,765,-0.88,-121.7,108.3,-17.2,130,773,0.47,1.75,0.00,0.000,6,0.164,0.028,2261,2482,3990
$GC,1114,-1.31,-121.7,141.2,-9.3,191,1121,0.35,1.90,0.00,0.000,4,0.051,0.041,2102,3754,3990
$GC,1162,-0.94,-121.7,148.1,-16.5,199,1168,0.47,1.73,0.00,0.000,6,0.166,0.021,2237,2487,3990
$GC,1508,-1.23,-121.7,185.1,-10.5,260,1514,0.22,0.00,0.00,0.000,6,0.058,0.000,2138,2487,3990
$GC,1853,-1.12,-121.7,235.6,-15.0,321,1859,0.17,1.92,0.00,0.000,4,0.162,0.050,2182,3758,3990
$GC,1979,-1.12,-121.7,251.4,-13.1,343,1985,0.00,1.77,0.00,0.000,6,0.000,0.021,2182,2459,3990
$GC,2324,-1.12,-121.7,286.6,-10.9,404,2329,0.00,1.88,0.00,0.000,4,0.000,0.023,2182,1113,3990
$GC,2359,-1.25,-121.7,291.3,-12.1,410,2367,0.10,1.98,0.00,0.000,6,0.087,0.038,2133,2467,3990
$GC,2697,-1.18,-121.7,333.9,-11.1,447,2702,0.12,1.92,0.00,0.000,4,0.174,0.041,2155,3754,3989
$STATE,2763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2763,begin apogee
$GC,2771,-0.22,0.0,342.9,12.4,453,2859,0.98,0.00,84.22,0.798,6,0.149,0.000,2462,2394,3532
$STATE,2860,end apogee,CONTROL_FINISHED_OK
$STATE,2860,begin climb
$GC,2863,1.25,121.7,349.5,0.0,462,2959,1.30,2.00,89.43,0.783,4,0.060,0.023,2959,1030,3034
$GC,3211,0.95,247.6,342.5,4.0,492,3308,0.43,2.03,90.32,0.787,6,0.211,0.028,2851,2419,2522
$GC,3634,1.07,346.6,306.6,5.9,532,3713,0.12,2.10,72.97,0.773,4,0.085,0.044,2898,3741,2118
$GC,3889,0.95,346.6,274.7,17.3,570,3896,0.22,1.92,0.00,0.000,6,0.191,0.022,2851,2380,2112
$GC,4235,1.33,392.5,235.2,9.8,631,4277,0.30,2.00,34.53,0.736,4,0.060,0.027,2987,1011,1930
$GC,4419,1.18,392.5,210.0,13.6,663,4427,0.22,1.90,0.00,0.000,6,0.182,0.028,2929,2310,1926
$GC,4766,1.23,392.5,163.7,13.8,724,4772,0.00,1.85,0.00,0.000,4,0.000,0.026,2937,1018,1923
$GC,4835,1.29,392.5,154.0,13.7,736,4841,0.00,1.85,0.00,0.000,6,0.000,0.027,2936,2293,1922
$GC,5180,1.45,460.8,117.9,8.1,797,5238,0.17,0.00,51.38,0.671,6,0.069,0.000,3011,2293,1653
$GC,5578,1.51,509.7,73.1,9.5,867,5619,0.00,0.00,37.75,0.627,6,0.000,0.000,3011,2293,1452
$GC,5958,1.58,511.2,25.4,12.9,934,5964,0.12,1.85,0.00,0.000,4,0.081,0.026,3074,1014,1446
$GC,6017,1.48,511.2,16.9,13.9,944,6023,0.20,1.83,0.00,0.000,6,0.190,0.028,3023,2279,1446
$STATE,6122,end climb,SURFACE_DEPTH_REACHED
$STATE,6122,begin surface coast
$FINISH,1.6,1.008742
$STATE,6149,end surface coast,CONTROL_FINISHED_OK
$STATE,6149,begin surface
$SM_CCo,6227,0.00,0.000,0,0,1443,512.43
$SM_GC,2.38,7.55,0.00,0.00,0.051,0.000,0.000,140,2483,1443,-7.49,0.00,512.43
$IRIDIUM_FIX,2429.95,12426.12,191098,070750
$TT8_MAMPS,0.028379
$HUMID,1727
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,26.80
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,225.5,141.9
$24V_AH,24.6,66.235
$10V_AH,10.9,36.363
$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,22.225,42.100,460.600,0.000,0.000,31.545,34.134,115.253,8.000,0.000,0.000,31.427,1564.654,2573.236,489.694,1534.255,376.570,0.000,1274.334,0.000,1490.027,0.000,7.500,0.000
$DEVICE_MAMPS,232.401,53.690,797.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.402,784.427,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50580,967
$CAP_FILE_SIZE,79490,0
$CFSIZE,260165632,195014656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,288.6,1
$GPS,250709,094424,2438.367,12425.773,28,1.5,45,-3.7