version: 66.04
glider: 167
mission: 2
dive: 557
start: 8 24 109 9 21 55
data:
$ID,167
$MISSION,2
$DIVE,557
$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,-20230.902
$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,67
$R_STBD_OVSHOOT,36
$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
$GPS1,091524,2520.037,12236.605,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-69.6
$GPS2,092136,2520.285,12236.910,15,1.6,25,-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,318.2,21752,-25.0,-13.200
$D_GRID,637
$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,16,-1.50,-121.7,0.0,0.0,0,47,0.00,0.00,-28.77,0.000,2,0.000,0.000,141,2392,2309
$GC,51,-1.50,-121.7,3.3,-2.2,5,116,8.12,2.12,-50.35,0.000,4,0.235,0.050,2082,3777,3989
$GC,125,-0.58,-121.7,12.9,-27.9,17,132,1.12,2.05,0.00,0.000,6,0.187,0.021,2386,2339,3989
$GC,472,-0.88,-121.7,64.1,-14.8,78,478,0.22,1.92,0.00,0.000,4,0.063,0.030,2287,1028,3992
$GC,625,-0.94,-121.7,83.9,-10.0,104,632,0.00,2.05,0.00,0.000,6,0.000,0.031,2277,2398,3992
$GC,972,-0.94,-121.7,145.0,-14.8,165,978,0.00,2.10,0.00,0.000,4,0.000,0.046,2275,3763,3994
$GC,1114,-0.94,-121.7,172.4,-17.6,190,1120,0.00,1.98,0.00,0.000,6,0.000,0.022,2275,2352,3995
$GC,1460,-1.01,-121.7,226.8,-17.5,251,1466,0.00,2.17,0.00,0.000,4,0.000,0.045,2275,3750,3995
$GC,1635,-1.08,-121.7,257.0,-17.1,281,1642,0.12,1.88,0.00,0.000,6,0.078,0.024,2220,2427,3996
$GC,1977,-1.08,-121.7,315.6,-15.8,333,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2427,3995
$GC,2295,-1.08,-121.7,366.8,-15.3,363,2299,0.00,2.08,0.00,0.000,4,0.000,0.047,2218,3751,3996
$GC,2381,-1.01,-121.7,380.5,-15.9,370,2388,0.12,1.90,0.00,0.000,6,0.164,0.025,2249,2425,3996
$GC,2708,-1.13,-121.7,423.0,-13.3,401,2712,0.00,2.08,0.00,0.000,4,0.000,0.048,2246,3753,3996
$GC,2816,-1.19,-121.7,438.3,-14.3,410,2823,0.15,1.90,0.00,0.000,6,0.074,0.025,2184,2433,3995
$GC,3142,-1.07,-121.7,497.8,-18.1,441,3147,0.17,2.08,0.00,0.000,4,0.164,0.047,2222,3750,3994
$GC,3257,-1.07,-121.7,518.1,-17.1,447,3260,0.00,1.90,0.00,0.000,6,0.000,0.025,2223,2433,3993
$GC,3591,-1.07,-121.7,575.6,-17.5,463,3594,0.00,2.10,0.00,0.000,4,0.000,0.051,2221,3759,3992
$GC,3648,-1.07,-121.7,586.5,-18.7,465,3652,0.00,1.90,0.00,0.000,6,0.000,0.026,2221,2439,3991
$STATE,3925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3926,begin apogee
$GC,3933,-0.27,0.0,639.4,19.0,479,4029,0.90,0.00,92.75,1.114,6,0.153,0.000,2488,2437,3532
$STATE,4030,end apogee,CONTROL_FINISHED_OK
$STATE,4030,begin climb
$GC,4033,1.50,121.7,646.9,0.0,484,4144,1.60,0.00,98.72,1.087,6,0.064,0.000,3064,2436,3034
$GC,4451,0.92,195.2,630.8,7.9,504,4516,0.70,2.30,58.05,1.077,4,0.214,0.029,2885,987,2735
$GC,4658,0.97,234.4,614.2,10.4,513,4696,0.00,2.08,32.55,1.051,6,0.000,0.031,2885,2343,2576
$GC,5005,1.00,264.4,577.5,11.0,530,5035,0.00,2.30,24.33,1.034,4,0.000,0.049,2885,3757,2454
$GC,5081,0.88,264.4,567.3,15.1,533,5086,0.12,2.10,0.00,0.000,6,0.192,0.024,2866,2356,2452
$GC,5399,0.88,264.4,523.5,14.6,548,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2353,2449
$GC,5712,0.93,264.8,480.8,13.2,569,5716,0.00,2.22,0.00,0.000,4,0.000,0.050,2866,3760,2447
$GC,5827,0.87,264.8,462.5,16.6,579,5831,0.00,2.10,0.00,0.000,6,0.000,0.025,2874,2342,2447
$GC,6161,0.92,264.8,410.0,15.2,610,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2340,2445
$GC,6492,0.97,265.0,367.7,13.2,641,6496,0.00,2.03,0.00,0.000,4,0.000,0.032,2883,962,2444
$GC,6527,1.06,265.0,362.2,13.8,644,6531,0.10,2.12,0.00,0.000,6,0.097,0.033,2924,2358,2444
$GC,6858,0.98,265.0,314.2,14.1,675,6861,0.00,2.20,0.00,0.000,4,0.000,0.051,2924,3765,2443
$GC,7118,0.78,265.0,272.8,15.5,713,7125,0.38,2.10,0.00,0.000,6,0.179,0.025,2832,2331,2442
$GC,7465,1.13,367.7,243.2,5.8,774,7554,0.28,2.40,81.03,0.853,4,0.063,0.048,2947,3758,2031
$GC,7738,1.02,367.7,193.7,24.9,821,7744,0.17,2.05,0.00,0.000,6,0.183,0.024,2912,2376,2024
$GC,8085,1.17,367.7,111.3,24.8,882,8091,0.12,2.08,0.00,0.000,4,0.084,0.028,2972,967,2022
$GC,8122,1.24,367.7,102.2,25.4,888,8130,0.00,2.15,0.00,0.000,6,0.000,0.032,2972,2386,2022
$GC,8469,1.29,407.8,36.8,10.3,949,8508,0.00,2.17,31.23,0.678,4,0.000,0.027,2981,964,1867
$STATE,8732,end climb,SURFACE_DEPTH_REACHED
$STATE,8732,begin surface coast
$FINISH,2.0,1.021622
$STATE,8757,end surface coast,CONTROL_FINISHED_OK
$STATE,8757,begin surface
$SM_CCo,8780,50.22,0.647,0,0,1594,475.15
$SM_GC,3.38,0.00,0.00,50.22,0.000,0.000,0.647,137,2396,1594,-7.63,0.37,475.15
$IRIDIUM_FIX,2510.35,12235.95,181198,060656
$TT8_MAMPS,0.029146
$HUMID,1832
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.4,97.132
$10V_AH,10.6,51.026
$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,22.125,66.825,418.650,50.225,0.000,24.410,37.917,149.374,4.500,0.000,0.000,26.020,1703.020,4752.859,534.694,1683.612,526.697,0.000,1394.008,0.000,1637.377,0.000,31.062,0.000
$DEVICE_MAMPS,235.469,50.622,1114.451,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.356,719.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53801,1000
$CAP_FILE_SIZE,94800,0
$CFSIZE,260165632,181772288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,116.3,1
$GPS,240809,115021,2520.636,12237.157,13,99.0,32,-3.7