version: 66.04
glider: 167
mission: 2
dive: 388
start: 7 25 109 9 51 0
data:
$ID,167
$MISSION,2
$DIVE,388
$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,-13251.606
$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,95
$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
$GPS1,094424,2438.367,12425.773,28,1.5,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-65.4
$GPS2,095040,2438.437,12425.835,12,2.9,31,-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,72.7,6937,-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,-121.7,0.0,0.0,0,57,0.00,0.00,-40.03,0.000,2,0.000,0.000,140,2483,2444
$GC,60,-1.25,-121.7,3.1,-2.9,7,122,7.93,1.98,-48.53,0.000,4,0.232,0.054,2127,3758,3989
$GC,376,-0.84,-121.7,60.4,-19.8,62,383,0.50,1.80,0.00,0.000,6,0.163,0.023,2272,2464,3990
$GC,722,-1.23,-121.7,101.7,-11.1,123,729,0.30,0.00,0.00,0.000,6,0.052,0.000,2142,2463,3990
$GC,1068,-1.11,-121.7,155.9,-12.5,184,1076,0.15,1.90,0.00,0.000,4,0.166,0.022,2180,1107,3991
$GC,1183,-1.11,-121.7,169.5,-11.1,204,1190,0.00,1.98,0.00,0.000,6,0.000,0.028,2178,2462,3991
$GC,1529,-1.11,-121.7,210.2,-12.0,265,1535,0.00,1.92,0.00,0.000,4,0.000,0.041,2169,3759,3992
$GC,1560,-1.04,-121.7,214.3,-13.8,270,1567,0.15,1.83,0.00,0.000,6,0.157,0.021,2207,2437,3992
$GC,1910,-1.36,-121.7,252.6,-10.9,331,1917,0.25,2.00,0.00,0.000,4,0.059,0.041,2097,3754,3993
$GC,1974,-1.05,-121.7,262.4,-16.3,342,1981,0.38,1.80,0.00,0.000,6,0.165,0.021,2202,2448,3993
$GC,2320,-1.35,-121.7,295.3,-9.2,403,2326,0.22,1.90,0.00,0.000,4,0.059,0.023,2103,1094,3992
$GC,2401,-1.21,-121.7,306.0,-13.3,413,2405,0.20,1.95,0.00,0.000,6,0.171,0.029,2149,2434,3993
$GC,2731,-1.25,-121.7,341.9,-11.3,444,2735,0.00,1.98,0.00,0.000,4,0.000,0.042,2142,3754,3993
$STATE,2768,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2768,begin apogee
$GC,2776,-0.22,0.0,347.2,13.7,447,2866,1.02,0.00,86.12,0.808,6,0.153,0.000,2461,2378,3531
$STATE,2867,end apogee,CONTROL_FINISHED_OK
$STATE,2867,begin climb
$GC,2871,1.25,121.7,355.0,0.0,456,2968,1.30,1.98,89.95,0.795,4,0.064,0.023,2951,1031,3034
$GC,3222,0.99,250.5,352.1,3.8,486,3325,0.32,2.03,93.05,0.798,6,0.202,0.028,2869,2419,2509
$GC,3644,1.04,291.6,317.5,10.1,526,3680,0.00,2.05,31.27,0.771,4,0.000,0.042,2869,3732,2342
$GC,3750,0.96,309.5,306.1,11.8,535,3769,0.00,1.85,14.75,0.726,6,0.000,0.021,2876,2418,2270
$GC,4101,1.07,396.4,268.2,6.8,593,4172,0.00,2.12,65.25,0.762,4,0.000,0.026,2882,1019,1915
$GC,4309,1.27,396.4,244.6,14.6,629,4315,0.20,2.00,0.00,0.000,6,0.070,0.027,2963,2376,1910
$GC,4654,1.19,396.4,195.2,13.3,690,4660,0.15,1.95,0.00,0.000,4,0.184,0.025,2935,1026,1907
$GC,4775,1.26,409.3,181.2,12.1,711,4789,0.00,1.92,10.25,0.646,6,0.000,0.026,2935,2358,1863
$GC,5129,1.39,423.9,141.3,12.0,773,5148,0.15,2.00,12.35,0.644,4,0.071,0.026,3004,1023,1802
$GC,5241,1.33,453.2,127.4,10.9,792,5273,0.12,1.85,23.98,0.663,6,0.176,0.027,2974,2300,1683
$GC,5614,1.46,477.6,88.7,11.3,857,5639,0.12,2.28,18.85,0.624,4,0.084,0.041,3020,3760,1585
$GC,5675,1.33,477.6,80.6,14.1,867,5682,0.22,2.10,0.00,0.000,6,0.176,0.021,2973,2277,1583
$GC,6021,1.52,503.8,42.6,11.2,928,6052,0.17,1.83,21.70,0.590,4,0.076,0.026,3056,1023,1476
$GC,6122,1.49,522.2,30.3,11.7,945,6147,0.12,1.80,15.60,0.562,6,0.185,0.025,3027,2270,1401
$STATE,6326,end climb,SURFACE_DEPTH_REACHED
$STATE,6326,begin surface coast
$FINISH,1.6,1.002557
$STATE,6350,end surface coast,CONTROL_FINISHED_OK
$STATE,6350,begin surface
$SM_CCo,6429,0.00,0.000,0,0,1397,523.72
$SM_GC,2.49,7.65,0.00,0.00,0.054,0.000,0.000,138,2488,1397,-7.51,0.14,523.72
$IRIDIUM_FIX,2429.95,12426.12,191098,080819
$TT8_MAMPS,0.028379
$HUMID,1713
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,27.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,225.2,146.6
$24V_AH,24.5,66.350
$10V_AH,10.9,36.421
$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,21.650,51.000,483.125,0.000,0.000,31.415,42.277,161.672,2.000,0.000,0.000,32.766,1595.715,2668.998,522.440,1569.873,448.187,0.000,1333.408,0.000,1525.254,0.000,7.512,0.000
$DEVICE_MAMPS,231.634,53.690,808.418,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.139,784.478,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50575,985
$CAP_FILE_SIZE,85468,0
$CFSIZE,260165632,194961408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267,326.3,1
$GPS,250709,113916,2439.211,12425.778,12,99.0,31,-3.7