version: 66.04
glider: 167
mission: 2
dive: 555
start: 8 24 109 4 21 5
data:
$ID,167
$MISSION,2
$DIVE,555
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20165.486
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,44
$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
$GPS1,041406,2520.069,12235.872,37,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.5
$GPS2,042046,2519.919,12235.874,15,3.0,34,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,313.5,20479,-25.0,-13.200
$D_GRID,607
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.50,-121.7,0.0,0.0,0,50,0.00,0.00,-29.33,0.000,2,0.000,0.000,136,2397,2305
$GC,54,-1.50,-121.7,3.1,-2.1,5,126,8.18,2.20,-56.15,0.000,4,0.236,0.054,2081,3760,3989
$GC,348,-0.76,-121.7,87.7,-28.5,56,356,0.90,2.03,0.00,0.000,6,0.180,0.024,2329,2351,3992
$GC,698,-1.04,-121.7,143.2,-13.1,117,706,0.20,2.20,0.00,0.000,4,0.065,0.045,2232,3756,3994
$GC,719,-1.17,-121.7,146.5,-14.3,120,726,0.00,1.90,0.00,0.000,6,0.000,0.024,2232,2420,3994
$GC,1068,-1.06,-121.7,218.3,-20.0,181,1074,0.00,2.08,0.00,0.000,4,0.000,0.046,2222,3750,3995
$GC,1330,-0.88,-121.7,271.3,-21.3,227,1337,0.25,1.90,0.00,0.000,6,0.164,0.025,2291,2426,3995
$GC,1672,-1.09,-121.7,313.7,-12.7,278,1676,0.17,2.10,0.00,0.000,4,0.067,0.047,2219,3763,3995
$GC,1843,-1.02,-121.7,345.9,-19.1,292,1851,0.12,1.92,0.00,0.000,6,0.163,0.025,2250,2419,3995
$GC,2168,-1.14,-121.7,398.4,-15.2,323,2173,0.12,2.10,0.00,0.000,4,0.080,0.048,2193,3754,3995
$GC,2307,-0.94,-121.7,424.4,-20.7,334,2318,0.30,1.90,0.00,0.000,6,0.156,0.025,2278,2432,3995
$GC,2634,-1.17,-121.7,477.5,-15.8,365,2638,0.20,2.10,0.00,0.000,4,0.071,0.048,2193,3761,3995
$GC,2772,-1.05,-121.7,505.3,-20.0,376,2776,0.17,1.90,0.00,0.000,6,0.166,0.026,2238,2447,3994
$GC,3103,-1.17,-121.7,551.5,-12.3,392,3108,0.12,2.08,0.00,0.000,4,0.078,0.050,2188,3755,3993
$GC,3206,-1.07,-121.7,569.0,-16.9,396,3211,0.10,1.90,0.00,0.000,6,0.160,0.026,2229,2470,3993
$STATE,3463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3463,begin apogee
$GC,3472,-0.27,0.0,608.1,15.1,409,3568,0.88,0.00,92.88,1.095,6,0.157,0.000,2489,2379,3532
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3573,1.50,121.7,613.8,0.0,414,3681,1.60,2.28,98.50,1.066,4,0.065,0.047,3061,3757,3034
$GC,3935,0.62,121.7,594.2,13.3,430,3941,1.15,2.08,0.00,0.000,6,0.222,0.025,2783,2348,3030
$GC,4258,0.90,271.8,582.2,2.3,446,4385,0.22,2.33,119.00,1.065,4,0.074,0.050,2876,3750,2421
$GC,4541,0.82,271.8,547.5,16.5,458,4548,0.15,2.05,0.00,0.000,6,0.183,0.025,2848,2378,2415
$GC,4859,0.94,278.8,508.8,12.7,474,4870,0.10,2.20,5.65,0.807,4,0.091,0.051,2886,3747,2394
$GC,4923,0.84,278.8,498.1,17.3,477,4928,0.17,2.03,0.00,0.000,6,0.186,0.025,2851,2379,2394
$GC,5254,0.96,285.0,454.8,12.7,508,5265,0.10,0.00,6.50,0.841,6,0.090,0.000,2890,2376,2370
$GC,5582,0.99,306.5,412.9,11.6,539,5606,0.00,2.28,18.90,0.962,4,0.000,0.051,2889,3753,2282
$GC,5747,0.93,306.5,387.0,18.2,553,5751,0.00,2.00,0.00,0.000,6,0.000,0.026,2899,2404,2278
$GC,6081,0.93,306.5,317.6,21.1,584,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2401,2276
$GC,6421,0.93,311.6,260.9,12.8,637,6433,0.00,2.17,4.75,0.679,4,0.000,0.034,2909,963,2261
$GC,6474,1.00,311.6,253.8,13.8,646,6480,0.00,2.17,0.00,0.000,6,0.000,0.032,2909,2389,2260
$GC,6820,1.08,376.7,212.3,8.5,707,6879,0.00,2.25,52.78,0.842,4,0.000,0.049,2908,3752,1995
$GC,7011,1.16,376.7,187.9,17.9,740,7018,0.12,2.00,0.00,0.000,6,0.086,0.025,2958,2404,1989
$GC,7361,1.16,376.7,104.8,23.9,801,7367,0.00,2.12,0.00,0.000,4,0.000,0.031,2967,980,1986
$GC,7559,1.25,376.7,63.4,15.3,836,7566,0.00,2.17,0.00,0.000,6,0.000,0.031,2967,2422,1986
$GC,7907,1.39,376.7,13.9,14.1,897,7913,0.17,2.08,0.00,0.000,4,0.074,0.049,3040,3761,1985
$STATE,7974,end climb,SURFACE_DEPTH_REACHED
$STATE,7974,begin surface coast
$FINISH,1.8,1.008998
$STATE,7991,end surface coast,CONTROL_FINISHED_OK
$STATE,7991,begin surface
$SM_CCo,8014,76.78,0.637,2,0,1594,475.15
$SM_GC,3.06,0.00,0.00,76.78,0.000,0.000,0.637,138,2355,1594,-7.63,-0.79,475.15
$IRIDIUM_FIX,2510.35,12237.96,181198,010143
$TT8_MAMPS,0.029146
$HUMID,1817
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,602.1,95.9
$24V_AH,23.4,96.848
$10V_AH,10.6,50.897
$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,23.475,62.600,398.950,76.775,0.000,25.764,33.778,165.350,4.750,0.000,0.000,35.068,1580.712,4179.471,562.441,1640.805,532.683,0.000,1393.580,0.000,1579.441,0.000,32.403,0.000
$DEVICE_MAMPS,236.236,85.137,1095.276,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.748,644.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50583,912
$CAP_FILE_SIZE,93178,0
$CFSIZE,260165632,181895168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.184,155.3,1
$GPS,240809,063722,2519.959,12235.909,15,4.8,34,-3.7