version: 66.04
glider: 167
mission: 2
dive: 402
start: 7 26 109 10 53 18
data:
$ID,167
$MISSION,2
$DIVE,402
$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,-13636.558
$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,84
$R_STBD_OVSHOOT,52
$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
$GPS1,104645,2441.472,12424.170,13,99.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-65.6
$GPS2,105258,2441.571,12424.171,15,99.0,34,-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,79.9,7749,-24.8,-13.043
$D_GRID,475
$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,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,58,0.00,0.00,-41.72,0.000,2,0.000,0.000,141,2501,2481
$GC,62,-1.25,-121.7,3.1,-2.6,7,122,8.10,1.95,-46.47,0.000,4,0.235,0.053,2129,3754,3989
$GC,377,-0.86,-121.7,59.3,-19.8,62,385,0.47,1.80,0.00,0.000,6,0.163,0.021,2264,2458,3990
$GC,724,-1.24,-121.7,102.9,-10.3,123,731,0.30,1.98,0.00,0.000,4,0.054,0.040,2125,3756,3991
$GC,903,-0.97,-121.7,130.9,-13.8,154,911,0.38,1.73,0.00,0.000,6,0.160,0.021,2231,2500,3991
$GC,1249,-1.32,-121.7,170.7,-11.2,215,1255,0.28,1.90,0.00,0.000,4,0.054,0.040,2102,3755,3992
$GC,1365,-1.02,-121.7,190.1,-16.3,235,1371,0.40,1.67,0.00,0.000,6,0.160,0.021,2215,2532,3992
$GC,1713,-1.35,-121.7,227.1,-9.6,296,1719,0.25,1.85,0.00,0.000,4,0.056,0.040,2100,3753,3993
$GC,1743,-1.23,-121.7,230.8,-11.9,301,1750,0.17,1.62,0.00,0.000,6,0.170,0.021,2144,2565,3993
$GC,2091,-1.16,-121.7,270.9,-11.5,362,2098,0.00,1.77,0.00,0.000,4,0.000,0.039,2137,3749,3993
$GC,2107,-1.07,-121.7,272.6,-11.1,364,2113,0.22,1.62,0.00,0.000,6,0.166,0.021,2198,2574,3993
$GC,2452,-1.40,-121.7,308.2,-9.2,418,2456,0.25,2.08,0.00,0.000,4,0.058,0.021,2089,1101,3994
$GC,2553,-1.17,-121.7,321.3,-14.4,426,2562,0.30,2.15,0.00,0.000,6,0.166,0.030,2166,2560,3994
$GC,2879,-1.40,-121.7,352.8,-9.2,457,2884,0.20,2.10,0.00,0.000,4,0.067,0.022,2080,1095,3994
$GC,2901,-1.40,-121.7,355.5,-10.7,458,2908,0.00,2.12,0.00,0.000,6,0.000,0.028,2071,2545,3993
$GC,3229,-1.17,-121.7,400.2,-14.5,489,3233,0.30,1.83,0.00,0.000,4,0.172,0.041,2153,3760,3993
$GC,3320,-1.17,-121.7,413.2,-13.6,497,3323,0.00,1.65,0.00,0.000,6,0.000,0.023,2153,2576,3994
$GC,3655,-1.37,-121.7,450.4,-11.4,528,3659,0.15,2.10,0.00,0.000,4,0.072,0.023,2089,1097,3993
$GC,3710,-1.23,-121.7,458.6,-15.1,532,3717,0.22,2.17,0.00,0.000,6,0.165,0.031,2145,2561,3993
$STATE,3852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3853,begin apogee
$GC,3859,-0.22,0.0,475.2,10.8,546,3951,1.00,0.00,87.62,0.923,6,0.136,0.000,2467,2412,3532
$STATE,3951,end apogee,CONTROL_FINISHED_OK
$STATE,3952,begin climb
$GC,3955,1.25,121.7,481.9,0.0,555,4057,1.30,2.20,92.55,0.906,4,0.060,0.042,2949,3757,3034
$GC,4142,0.71,212.2,482.8,6.6,571,4217,0.70,1.98,67.90,0.898,6,0.207,0.021,2777,2374,2666
$GC,4543,1.02,307.8,459.1,6.2,609,4621,0.22,2.25,71.85,0.900,4,0.067,0.043,2875,3749,2276
$GC,4695,0.88,307.8,441.1,13.9,622,4702,0.20,1.90,0.00,0.000,6,0.180,0.021,2832,2423,2272
$GC,5020,1.16,374.2,409.1,8.3,653,5079,0.20,2.17,50.78,0.880,4,0.066,0.044,2921,3755,2004
$GC,5204,1.00,389.6,387.5,11.9,669,5222,0.22,1.98,12.88,0.802,6,0.180,0.022,2871,2381,1943
$GC,5541,1.16,407.4,348.7,11.8,701,5564,0.12,2.15,15.00,0.810,4,0.081,0.044,2924,3755,1870
$GC,5684,1.04,407.4,326.8,15.0,713,5691,0.20,2.03,0.00,0.000,6,0.178,0.022,2880,2353,1866
$GC,6018,1.31,445.4,284.6,10.3,755,6055,0.20,2.17,30.38,0.811,4,0.067,0.041,2970,3750,1715
$GC,6181,1.13,445.4,262.2,13.5,783,6189,0.25,1.95,0.00,0.000,6,0.183,0.022,2914,2408,1711
$GC,6528,1.26,445.4,221.7,15.1,844,6535,0.10,2.05,0.00,0.000,4,0.090,0.026,2967,993,1709
$GC,6586,1.26,445.4,211.9,17.0,854,6592,0.00,2.05,0.00,0.000,6,0.000,0.028,2967,2382,1709
$GC,6930,1.30,472.4,160.2,11.1,915,6961,0.00,2.10,21.25,0.715,4,0.000,0.027,2975,989,1605
$GC,7004,1.31,485.1,151.8,12.1,927,7023,0.00,2.12,11.55,0.665,6,0.000,0.028,2975,2419,1553
$GC,7361,1.38,488.4,107.8,12.8,990,7367,0.00,2.10,0.00,0.000,4,0.000,0.028,2980,993,1549
$GC,7437,1.52,502.3,98.4,12.0,1003,7457,0.15,2.00,14.75,0.647,6,0.077,0.027,3039,2353,1484
$GC,7798,1.48,511.1,53.8,12.4,1066,7812,0.00,2.17,8.15,0.563,4,0.000,0.041,3039,3751,1448
$GC,7909,1.37,511.1,38.3,14.0,1085,7915,0.25,2.12,0.00,0.000,6,0.180,0.021,2983,2267,1447
$STATE,8240,end climb,SURFACE_DEPTH_REACHED
$STATE,8240,begin surface coast
$FINISH,1.7,1.008246
$STATE,8269,end surface coast,CONTROL_FINISHED_OK
$STATE,8269,begin surface
$SM_CCo,8348,0.00,0.000,0,0,1445,511.94
$SM_GC,2.56,7.45,0.00,0.00,0.048,0.000,0.000,139,2491,1445,-7.51,0.25,511.94
$IRIDIUM_FIX,2429.95,12424.16,201098,080809
$TT8_MAMPS,0.028379
$HUMID,1708
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.80
$XPDR_PINGS,2
$24V_AH,24.3,67.956
$10V_AH,10.9,37.192
$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,24.575,72.075,484.650,0.000,0.000,24.333,37.833,161.034,3.500,0.000,0.000,35.884,1905.987,3901.112,555.139,1867.750,490.561,0.000,1507.217,0.000,1809.273,0.000,21.067,0.000
$DEVICE_MAMPS,234.702,52.923,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,764.606,859.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60012,1149
$CAP_FILE_SIZE,105951,0
$CFSIZE,260165632,194252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,309.6,1
$GPS,260709,131337,2442.234,12424.135,35,1.4,35,-3.7