version: 66.04
glider: 167
mission: 2
dive: 395
start: 7 25 109 23 11 18
data:
$ID,167
$MISSION,2
$DIVE,395
$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,-13466.056
$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,104
$R_STBD_OVSHOOT,38
$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
$GPS1,230507,2439.801,12425.120,34,1.5,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-63.6
$GPS2,231058,2439.853,12425.133,12,7.4,31,-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,119.7,6984,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,61,0.00,0.00,-44.08,0.000,2,0.000,0.000,138,2483,2486
$GC,64,-1.25,-121.7,3.1,-2.3,7,124,8.02,2.00,-46.25,0.000,4,0.232,0.054,2129,3767,3989
$GC,267,-0.83,-121.7,38.2,-20.2,42,275,0.50,1.77,0.00,0.000,6,0.160,0.021,2274,2479,3989
$GC,614,-1.23,-121.7,82.0,-11.9,103,621,0.30,1.98,0.00,0.000,4,0.054,0.051,2139,3770,3990
$GC,734,-0.89,-121.7,105.7,-21.3,124,742,0.40,1.75,0.00,0.000,6,0.161,0.020,2254,2490,3990
$GC,1081,-1.22,-121.7,147.2,-10.3,185,1088,0.25,1.92,0.00,0.000,4,0.054,0.041,2140,3757,3991
$GC,1128,-0.99,-121.7,153.6,-14.9,193,1134,0.30,1.75,0.00,0.000,6,0.159,0.021,2224,2477,3991
$GC,1475,-1.32,-121.7,191.2,-11.5,254,1483,0.28,1.92,0.00,0.000,4,0.056,0.021,2105,1101,3992
$GC,1526,-1.09,-121.7,198.8,-17.4,262,1535,0.35,2.05,0.00,0.000,6,0.163,0.028,2195,2506,3992
$GC,1876,-1.21,-121.7,245.2,-12.3,323,1882,0.12,1.88,0.00,0.000,4,0.076,0.041,2140,3763,3993
$GC,1962,-1.04,-121.7,258.3,-15.0,338,1970,0.25,1.75,0.00,0.000,6,0.160,0.021,2208,2492,3994
$GC,2310,-1.39,-121.7,295.1,-9.0,399,2316,0.28,1.95,0.00,0.000,4,0.057,0.022,2090,1103,3994
$GC,2359,-1.14,-121.7,300.7,-12.6,407,2364,0.32,1.98,0.00,0.000,6,0.165,0.028,2174,2457,3994
$GC,2685,-1.33,-121.7,331.4,-9.1,437,2689,0.17,1.92,0.00,0.000,4,0.067,0.022,2101,1112,3994
$GC,2732,-1.18,-121.7,336.6,-12.2,441,2736,0.25,1.92,0.00,0.000,6,0.163,0.028,2166,2425,3994
$STATE,3049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3049,begin apogee
$GC,3055,-0.22,0.0,371.8,13.6,471,3145,0.90,0.00,86.55,0.829,6,0.128,0.000,2462,2426,3531
$STATE,3146,end apogee,CONTROL_FINISHED_OK
$STATE,3146,begin climb
$GC,3150,1.25,121.7,382.9,0.0,480,3248,1.35,2.15,90.93,0.820,4,0.078,0.043,2943,3761,3034
$GC,3362,0.87,334.0,401.9,-2.2,498,3530,0.47,1.92,156.07,0.829,6,0.204,0.020,2831,2386,2169
$GC,3845,1.07,334.0,368.9,13.6,543,3849,0.17,1.95,0.00,0.000,4,0.065,0.027,2911,1039,2164
$GC,3930,1.08,339.8,357.2,12.6,550,3939,0.00,2.00,5.20,0.592,6,0.000,0.028,2911,2399,2146
$GC,4266,1.01,339.8,310.8,13.6,582,4270,0.15,2.05,0.00,0.000,4,0.171,0.041,2872,3760,2144
$GC,4344,1.03,354.7,299.5,12.0,588,4365,0.00,1.88,13.00,0.732,6,0.000,0.021,2881,2430,2084
$GC,4703,1.16,380.5,261.3,11.2,651,4729,0.12,2.10,20.30,0.746,4,0.078,0.042,2932,3755,1979
$GC,4764,1.06,380.5,253.2,13.3,661,4771,0.20,2.03,0.00,0.000,6,0.172,0.021,2887,2342,1977
$GC,5111,1.40,444.1,219.5,8.5,722,5170,0.25,2.00,49.42,0.742,4,0.062,0.026,3005,1012,1720
$GC,5258,1.30,444.1,200.8,13.7,747,5265,0.17,1.95,0.00,0.000,6,0.176,0.027,2961,2334,1715
$GC,5604,1.41,492.5,160.7,9.6,808,5647,0.12,2.22,37.30,0.696,4,0.081,0.041,3009,3747,1524
$GC,5716,1.27,492.5,145.1,14.2,827,5723,0.25,2.17,0.00,0.000,6,0.175,0.020,2955,2229,1520
$GC,6062,1.54,501.0,102.7,12.4,888,6076,0.20,2.40,7.43,0.561,4,0.067,0.039,3039,3759,1488
$GC,6105,1.40,501.0,96.3,15.8,895,6112,0.20,2.15,0.00,0.000,6,0.187,0.021,2997,2243,1487
$GC,6451,1.53,526.2,56.7,11.2,956,6481,0.12,2.35,21.10,0.604,4,0.086,0.041,3045,3745,1385
$GC,6512,1.44,526.2,49.0,14.4,966,6519,0.17,2.10,0.00,0.000,6,0.183,0.019,3011,2260,1383
$GC,6858,1.53,531.0,6.1,12.7,1027,6869,0.00,2.28,4.95,0.438,4,0.000,0.038,3011,3759,1366
$STATE,6879,end climb,SURFACE_DEPTH_REACHED
$STATE,6879,begin surface coast
$FINISH,1.6,1.002528
$STATE,6891,end surface coast,CONTROL_FINISHED_OK
$STATE,6891,begin surface
$SM_CCo,6971,0.00,0.000,0,0,1363,532.06
$SM_GC,2.32,7.50,0.00,0.00,0.048,0.000,0.000,141,2457,1363,-7.49,-0.74,532.06
$IRIDIUM_FIX,2429.95,12422.82,191098,212125
$TT8_MAMPS,0.029146
$HUMID,1689
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,26.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.0,137.9
$24V_AH,24.5,67.167
$10V_AH,10.9,36.825
$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,24.175,64.125,492.250,0.000,0.000,24.629,37.674,142.084,1.750,0.000,0.000,32.037,1693.166,3011.676,546.518,1633.668,436.658,0.000,1396.302,0.000,1585.380,0.000,12.508,0.000
$DEVICE_MAMPS,231.634,53.690,829.127,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.237,806.982,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53774,1033
$CAP_FILE_SIZE,93590,0
$CFSIZE,260165632,194588672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.335,322.1,1
$GPS,260709,010834,2440.434,12424.735,10,99.0,29,-3.7