version: 66.04
glider: 167
mission: 2
dive: 401
start: 7 26 109 8 51 35
data:
$ID,167
$MISSION,2
$DIVE,401
$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,-13600.043
$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,76
$R_STBD_OVSHOOT,60
$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
$GPS1,084237,2441.088,12423.628,36,1.3,36,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-62.4
$GPS2,085114,2441.173,12423.636,14,1.7,14,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2443.000,12428.500
$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,52.1,8855,-24.8,-13.043
$D_GRID,376
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.25,-121.7,0.0,0.0,0,66,0.00,0.00,-46.83,0.000,2,0.000,0.000,142,2506,2459
$GC,70,-1.25,-121.7,3.1,-3.1,8,129,8.05,1.95,-45.65,0.000,4,0.233,0.055,2131,3750,3989
$GC,384,-0.84,-121.7,62.2,-20.9,63,391,0.47,1.80,0.00,0.000,6,0.160,0.021,2269,2446,3990
$GC,732,-1.29,-121.7,98.0,-9.6,124,738,0.35,1.98,0.00,0.000,4,0.051,0.041,2110,3746,3991
$GC,914,-0.96,-121.7,128.5,-16.2,156,921,0.43,1.70,0.00,0.000,6,0.163,0.021,2231,2505,3991
$GC,1260,-1.29,-121.7,167.4,-11.5,217,1267,0.25,1.88,0.00,0.000,4,0.055,0.041,2113,3745,3992
$GC,1280,-1.45,-121.7,170.0,-12.3,220,1286,0.10,1.70,0.00,0.000,6,0.084,0.021,2070,2495,3992
$GC,1626,-1.12,-121.7,228.1,-17.2,281,1632,0.35,0.00,0.00,0.000,6,0.170,0.000,2174,2494,3992
$GC,1971,-1.27,-121.7,267.7,-10.6,342,1979,0.12,1.90,0.00,0.000,4,0.074,0.041,2111,3746,3993
$GC,2042,-1.05,-121.7,276.6,-12.6,354,2050,0.32,1.65,0.00,0.000,6,0.161,0.021,2202,2543,3992
$GC,2387,-1.38,-121.7,311.4,-9.8,405,2392,0.25,2.03,0.00,0.000,4,0.055,0.023,2092,1108,3993
$GC,2467,-1.19,-121.7,321.5,-12.8,411,2474,0.28,2.05,0.00,0.000,6,0.164,0.028,2160,2508,3993
$GC,2792,-1.32,-121.7,355.7,-9.3,442,2794,0.12,0.00,0.00,0.000,6,0.077,0.000,2107,2511,3993
$STATE,2971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2971,begin apogee
$GC,2979,-0.22,0.0,376.6,12.7,459,3069,1.20,0.00,86.50,0.837,6,0.165,0.000,2465,2511,3533
$STATE,3070,end apogee,CONTROL_FINISHED_OK
$STATE,3070,begin climb
$GC,3073,1.25,121.7,384.2,0.0,468,3175,1.30,2.28,91.15,0.822,4,0.065,0.025,2960,1035,3034
$GC,3428,1.00,270.6,387.5,2.4,500,3544,0.35,2.03,108.93,0.830,6,0.197,0.029,2869,2410,2427
$GC,3862,1.04,303.4,351.2,10.7,541,3894,0.00,2.05,25.33,0.794,4,0.000,0.028,2871,1039,2294
$GC,3923,1.12,324.0,344.1,11.6,546,3944,0.00,2.03,16.67,0.762,6,0.000,0.028,2871,2398,2211
$GC,4264,1.25,374.8,306.7,9.4,578,4309,0.17,2.15,39.08,0.791,4,0.072,0.043,2947,3751,2003
$GC,4374,1.02,374.8,293.3,13.9,591,4380,0.30,1.92,0.00,0.000,6,0.191,0.021,2878,2409,1999
$GC,4719,1.32,416.0,255.8,10.1,652,4757,0.22,2.15,32.00,0.761,4,0.065,0.042,2977,3749,1835
$GC,4857,1.13,416.0,236.8,14.5,675,4863,0.30,2.05,0.00,0.000,6,0.185,0.021,2908,2328,1830
$GC,5202,1.27,416.0,196.1,13.8,736,5209,0.12,1.90,0.00,0.000,4,0.079,0.027,2968,1006,1827
$GC,5345,1.27,416.0,173.9,14.9,761,5353,0.00,1.92,0.00,0.000,6,0.000,0.027,2968,2326,1827
$GC,5691,1.32,459.0,129.8,10.0,822,5732,0.00,1.95,33.47,0.686,4,0.000,0.026,2976,1004,1658
$GC,5785,1.43,500.6,120.2,10.1,838,5826,0.00,1.98,32.70,0.667,6,0.000,0.028,2976,2336,1490
$GC,6166,1.58,500.6,71.3,13.6,905,6172,0.17,1.95,0.00,0.000,4,0.071,0.026,3066,1000,1484
$GC,6258,1.44,500.6,58.1,13.4,921,6265,0.22,1.88,0.00,0.000,6,0.182,0.027,3008,2290,1482
$GC,6604,1.55,513.7,19.6,12.1,982,6621,0.00,0.00,10.80,0.550,6,0.000,0.000,3008,2289,1436
$STATE,6737,end climb,SURFACE_DEPTH_REACHED
$STATE,6737,begin surface coast
$FINISH,1.6,1.011002
$STATE,6763,end surface coast,CONTROL_FINISHED_OK
$STATE,6764,begin surface
$SM_CCo,6842,0.00,0.000,0,0,1433,514.88
$SM_GC,2.49,7.72,0.00,0.00,0.063,0.000,0.000,141,2501,1433,-7.49,0.51,514.88
$IRIDIUM_FIX,2434.69,12430.76,201098,080820
$TT8_MAMPS,0.027612
$HUMID,1732
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.70
$XPDR_PINGS,5
$24V_AH,24.5,67.825
$10V_AH,10.9,37.126
$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,23.200,47.125,476.625,0.000,0.000,51.513,115.839,163.702,3.250,0.000,0.000,14.861,1639.777,3046.772,531.953,1588.293,551.842,0.000,1354.502,0.000,1558.729,0.000,16.284,0.000
$DEVICE_MAMPS,233.168,55.224,836.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.937,787.575,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53737,1010
$CAP_FILE_SIZE,87673,0
$CFSIZE,260165632,194330624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,  2.9,1
$GPS,260709,104645,2441.472,12424.170,13,99.0,32,-3.7