version: 66.04
glider: 167
mission: 2
dive: 397
start: 7 26 109 2 52 35
data:
$ID,167
$MISSION,2
$DIVE,397
$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,-13494.351
$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,105
$R_STBD_OVSHOOT,56
$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
$GPS1,024643,2441.072,12423.969,7,1.3,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-66.2
$GPS2,025213,2441.150,12423.911,11,1.3,16,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2435.000,12430.000
$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,139.4,15325,-24.8,-13.043
$D_GRID,161
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.25,-121.7,0.0,0.0,0,56,0.00,0.00,-39.33,0.000,2,0.000,0.000,141,2502,2473
$GC,59,-1.25,-121.7,3.2,-3.0,7,120,8.05,1.92,-45.42,0.000,4,0.233,0.054,2125,3747,3989
$GC,226,-0.80,-121.7,29.8,-20.3,35,233,0.55,1.75,0.00,0.000,6,0.165,0.020,2283,2473,3990
$GC,573,-1.22,-121.7,68.9,-9.5,96,579,0.32,1.92,0.00,0.000,4,0.051,0.040,2139,3743,3989
$GC,682,-0.85,-121.7,86.3,-17.3,115,690,0.45,1.70,0.00,0.000,6,0.164,0.020,2267,2492,3990
$GC,1029,-1.30,-121.7,123.7,-9.9,176,1036,0.35,1.90,0.00,0.000,4,0.050,0.042,2111,3741,3991
$GC,1105,-0.91,-121.7,136.3,-19.8,189,1111,0.47,1.62,0.00,0.000,6,0.161,0.020,2247,2543,3991
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1325,-0.22,0.0,161.3,10.4,227,1413,0.65,0.00,83.18,0.653,6,0.117,0.000,2468,2404,3531
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1416,1.25,121.7,168.3,0.0,242,1512,1.30,2.08,87.78,0.644,4,0.065,0.023,2957,1019,3034
$GC,1713,1.30,368.0,182.5,-4.6,293,1898,0.00,2.03,175.65,0.654,6,0.000,0.035,2957,2404,2029
$GC,2240,1.31,380.8,130.1,12.1,384,2258,0.00,2.03,10.18,0.555,4,0.000,0.041,2957,3744,1978
$GC,2350,1.27,394.8,116.9,12.0,403,2368,0.00,1.88,12.15,0.566,6,0.000,0.019,2966,2405,1922
$GC,2708,1.38,450.9,82.3,9.0,466,2755,0.00,2.08,42.92,0.597,4,0.000,0.025,2975,1012,1692
$GC,2831,1.57,482.3,70.5,10.8,487,2863,0.20,2.03,24.12,0.571,6,0.068,0.025,3058,2398,1564
$GC,3205,1.49,482.3,18.3,13.2,552,3211,0.12,2.00,0.00,0.000,4,0.176,0.024,3035,1013,1560
$GC,3279,1.49,484.5,8.2,12.9,565,3286,0.00,1.95,0.00,0.000,6,0.000,0.025,3035,2357,1558
$STATE,3317,end climb,SURFACE_DEPTH_REACHED
$STATE,3317,begin surface coast
$FINISH,1.3,1.010269
$STATE,3342,end surface coast,CONTROL_FINISHED_OK
$STATE,3342,begin surface
$SM_CCo,3422,0.00,0.000,0,0,1556,484.71
$SM_GC,2.39,7.57,0.00,0.00,0.049,0.000,0.000,139,2501,1556,-7.50,0.51,484.71
$IRIDIUM_FIX,2432.32,12424.16,201098,010102
$TT8_MAMPS,0.029146
$HUMID,1634
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,27.10
$XPDR_PINGS,9
$24V_AH,24.7,67.373
$10V_AH,10.9,36.914
$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,20.050,27.100,435.975,0.000,0.000,31.544,32.185,143.052,2.250,0.000,0.000,16.929,888.660,1200.812,450.068,863.527,353.918,0.000,943.841,0.000,849.732,0.000,1.013,0.000
$DEVICE_MAMPS,233.168,61.360,654.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.735,588.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28483,576
$CAP_FILE_SIZE,49839,0
$CFSIZE,260165632,194564096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.426,308.3,1
$GPS,260709,035043,2441.488,12423.346,14,1.1,31,-3.7