version: 66.04
glider: 167
mission: 2
dive: 403
start: 7 26 109 13 24 10
data:
$ID,167
$MISSION,2
$DIVE,403
$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,-13652.772
$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,66
$R_STBD_OVSHOOT,49
$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
$GPS1,131337,2442.234,12424.135,35,1.4,35,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-66.4
$GPS2,132349,2442.371,12424.100,10,2.0,15,-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,119.7,7494,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,59,0.00,0.00,-42.10,0.000,2,0.000,0.000,139,2492,2507
$GC,63,-1.25,-121.7,3.1,-2.4,7,122,8.07,1.98,-42.72,0.000,4,0.231,0.054,2130,3756,3989
$GC,310,-0.85,-121.7,49.0,-19.0,50,318,0.47,1.83,0.00,0.000,6,0.163,0.021,2265,2441,3991
$GC,658,-1.28,-121.7,90.3,-12.5,111,664,0.32,2.00,0.00,0.000,4,0.051,0.041,2124,3753,3991
$GC,695,-1.01,-121.7,95.9,-16.3,117,701,0.35,1.73,0.00,0.000,6,0.163,0.021,2221,2498,3991
$GC,1041,-1.21,-121.7,134.6,-8.6,178,1049,0.17,1.98,0.00,0.000,4,0.062,0.024,2142,1097,3991
$GC,1073,-1.12,-121.7,138.1,-11.6,183,1080,0.17,2.08,0.00,0.000,6,0.172,0.030,2181,2511,3991
$GC,1421,-1.23,-121.7,180.1,-11.8,244,1426,0.00,1.85,0.00,0.000,4,0.000,0.041,2178,3751,3993
$GC,1523,-1.23,-121.7,192.5,-11.6,262,1530,0.00,1.67,0.00,0.000,6,0.000,0.021,2178,2532,3993
$GC,1870,-1.40,-121.7,225.5,-9.4,323,1876,0.20,2.03,0.00,0.000,4,0.064,0.021,2087,1090,3993
$GC,1901,-1.22,-121.7,229.4,-13.2,328,1908,0.25,2.12,0.00,0.000,6,0.167,0.028,2151,2540,3994
$GC,2246,-1.22,-121.7,269.9,-11.3,389,2252,0.00,1.83,0.00,0.000,4,0.000,0.042,2151,3761,3993
$GC,2294,-1.13,-121.7,275.3,-11.8,397,2300,0.12,1.70,0.00,0.000,6,0.163,0.021,2183,2535,3994
$GC,2635,-1.39,-121.7,308.0,-9.3,450,2640,0.22,2.03,0.00,0.000,4,0.060,0.022,2084,1098,3993
$GC,2675,-1.20,-121.7,312.6,-12.0,453,2680,0.28,2.12,0.00,0.000,6,0.166,0.028,2153,2545,3994
$GC,3001,-1.34,-121.7,345.1,-8.8,483,3005,0.12,1.83,0.00,0.000,4,0.078,0.041,2098,3763,3994
$GC,3041,-1.14,-121.7,349.8,-12.5,486,3054,0.28,1.73,0.00,0.000,6,0.165,0.021,2173,2514,3993
$GC,3370,-1.37,-121.7,382.4,-9.4,517,3374,0.17,1.98,0.00,0.000,4,0.062,0.022,2093,1103,3994
$GC,3420,-1.21,-121.7,387.7,-10.7,521,3427,0.25,2.08,0.00,0.000,6,0.164,0.028,2153,2515,3994
$GC,3746,-1.42,-121.7,415.5,-9.0,552,3750,0.17,2.05,0.00,0.000,4,0.067,0.025,2076,1098,3992
$GC,3835,-1.23,-121.7,426.2,-12.6,559,3842,0.28,2.08,0.00,0.000,6,0.166,0.031,2146,2497,3993
$GC,4161,-1.39,-121.7,459.8,-10.7,590,4165,0.15,2.03,0.00,0.000,4,0.073,0.025,2085,1113,3992
$GC,4200,-1.24,-121.7,464.7,-12.3,593,4206,0.22,2.05,0.00,0.000,6,0.166,0.031,2145,2479,3991
$STATE,4291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4291,begin apogee
$GC,4298,-0.22,0.0,475.1,11.5,602,4389,1.00,0.00,87.40,0.932,6,0.136,0.000,2466,2480,3531
$STATE,4390,end apogee,CONTROL_FINISHED_OK
$STATE,4390,begin climb
$GC,4393,1.25,121.7,482.4,0.0,611,4490,1.30,0.00,92.60,0.912,6,0.063,0.000,2944,2482,3035
$GC,4810,0.92,231.9,475.0,5.1,650,4895,0.35,0.00,82.25,0.913,6,0.196,0.000,2848,2482,2586
$GC,5215,1.00,295.2,441.8,8.5,688,5270,0.00,2.20,48.17,0.894,4,0.000,0.028,2856,1035,2327
$GC,5338,1.06,343.6,429.8,9.6,699,5382,0.00,2.03,37.67,0.874,6,0.000,0.029,2856,2382,2131
$GC,5701,1.19,368.0,391.5,11.3,733,5724,0.20,0.00,19.58,0.841,6,0.068,0.000,2935,2382,2031
$GC,6041,1.07,369.5,344.9,12.9,765,6045,0.17,2.00,0.00,0.000,4,0.179,0.028,2898,1031,2026
$GC,6103,1.14,385.5,336.9,11.9,770,6122,0.00,1.98,14.18,0.798,6,0.000,0.029,2898,2360,1959
$GC,6442,1.19,387.0,294.1,12.9,806,6448,0.00,2.12,0.00,0.000,4,0.000,0.045,2898,3751,1954
$GC,6511,1.19,387.0,284.3,13.5,818,6518,0.00,2.00,0.00,0.000,6,0.000,0.023,2909,2355,1954
$GC,6855,1.26,400.3,240.7,12.1,879,6874,0.12,1.95,12.40,0.745,4,0.079,0.028,2973,1002,1900
$GC,6979,1.11,400.3,223.4,15.1,900,6986,0.25,1.98,0.00,0.000,6,0.180,0.029,2907,2338,1897
$GC,7325,1.23,411.2,181.2,12.3,961,7343,0.00,2.20,9.93,0.685,4,0.000,0.044,2908,3749,1854
$GC,7482,1.24,415.7,160.9,12.7,988,7494,0.00,2.10,4.97,0.554,6,0.000,0.022,2916,2283,1837
$GC,7833,1.45,477.4,130.0,8.6,1050,7887,0.22,2.38,48.62,0.701,4,0.064,0.042,3013,3755,1584
$GC,8012,1.27,477.4,103.7,14.1,1081,8019,0.25,2.08,0.00,0.000,6,0.178,0.021,2957,2326,1580
$GC,8358,1.64,527.1,66.6,9.5,1142,8406,0.28,2.28,39.30,0.638,4,0.064,0.043,3078,3751,1382
$GC,8431,1.43,527.1,57.7,14.5,1154,8437,0.30,2.05,0.00,0.000,6,0.194,0.021,3010,2335,1380
$GC,8777,1.57,559.6,15.4,10.7,1215,8809,0.12,2.28,25.98,0.584,4,0.086,0.043,3062,3759,1249
$STATE,8858,end climb,SURFACE_DEPTH_REACHED
$STATE,8858,begin surface coast
$FINISH,1.7,1.021598
$STATE,8878,end surface coast,CONTROL_FINISHED_OK
$STATE,8878,begin surface
$SM_CCo,8959,0.00,0.000,0,0,1244,561.25
$SM_GC,2.55,7.88,0.00,0.00,0.058,0.000,0.000,138,2476,1244,-7.51,-0.20,561.25
$IRIDIUM_FIX,2434.69,12425.50,201098,131336
$TT8_MAMPS,0.029146
$HUMID,1709
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.70
$XPDR_PINGS,6
$24V_AH,24.3,68.101
$10V_AH,10.9,37.264
$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,24.750,76.200,523.050,0.000,0.000,54.735,87.138,267.513,4.500,0.000,0.000,15.587,2030.471,4330.319,594.937,1911.705,701.045,0.000,1584.236,0.000,1876.928,0.000,21.075,0.000
$DEVICE_MAMPS,230.867,54.457,931.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,819.694,922.838,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63189,1232
$CAP_FILE_SIZE,114823,0
$CFSIZE,260165632,194174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,306.4,1
$GPS,260709,155436,2442.609,12423.792,14,1.1,30,-3.7