version: 66.04
glider: 167
mission: 2
dive: 558
start: 8 24 109 11 57 13
data:
$ID,167
$MISSION,2
$DIVE,558
$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,-20273.49
$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,65
$R_STBD_OVSHOOT,41
$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
$GPS1,115021,2520.636,12237.157,13,99.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.1
$GPS2,115654,2520.709,12237.475,37,1.4,41,-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,299.1,22329,-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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.83,0.000,2,0.000,0.000,137,2396,2123
$GC,44,-1.50,-121.7,3.2,-2.8,4,125,8.20,2.12,-63.47,0.000,4,0.236,0.054,2080,3766,3989
$GC,151,-0.60,-121.7,20.2,-42.7,21,158,1.10,2.03,0.00,0.000,6,0.189,0.022,2377,2359,3991
$GC,497,-0.91,-121.7,70.3,-13.7,82,504,0.22,1.98,0.00,0.000,4,0.060,0.025,2279,995,3992
$GC,529,-0.98,-121.7,75.2,-17.1,87,535,0.00,2.10,0.00,0.000,6,0.000,0.032,2275,2394,3993
$GC,876,-0.98,-121.7,125.9,-16.7,148,883,0.00,2.10,0.00,0.000,4,0.000,0.048,2275,3754,3994
$GC,1047,-0.98,-121.7,151.7,-13.8,178,1053,0.00,1.95,0.00,0.000,6,0.000,0.024,2275,2379,3995
$GC,1395,-1.05,-121.7,201.5,-15.1,239,1401,0.00,2.15,0.00,0.000,4,0.000,0.047,2275,3756,3997
$GC,1577,-1.10,-121.7,228.2,-14.2,271,1584,0.15,1.90,0.00,0.000,6,0.071,0.025,2210,2425,3997
$GC,1924,-0.97,-121.7,287.8,-16.3,332,1932,0.17,2.10,0.00,0.000,4,0.163,0.046,2261,3763,3997
$GC,1979,-0.97,-121.7,296.7,-15.4,341,1985,0.00,1.90,0.00,0.000,6,0.000,0.025,2261,2425,3997
$GC,2312,-1.05,-121.7,340.9,-14.1,374,2316,0.00,2.05,0.00,0.000,4,0.000,0.026,2261,1005,3997
$GC,2325,-1.14,-121.7,343.1,-15.0,375,2330,0.15,2.17,0.00,0.000,6,0.071,0.034,2200,2442,3997
$GC,2651,-1.01,-121.7,398.7,-18.6,405,2656,0.20,2.05,0.00,0.000,4,0.176,0.047,2249,3764,3997
$GC,2906,-1.10,-121.7,435.8,-13.7,427,2910,0.00,1.85,0.00,0.000,6,0.000,0.025,2249,2481,3997
$GC,3238,-1.22,-121.7,480.3,-13.6,458,3242,0.17,2.03,0.00,0.000,4,0.071,0.049,2179,3762,3995
$GC,3342,-1.02,-121.7,500.7,-21.2,467,3346,0.28,1.83,0.00,0.000,6,0.170,0.026,2252,2495,3995
$GC,3666,-1.16,-121.7,548.4,-13.8,483,3670,0.15,2.00,0.00,0.000,4,0.074,0.050,2193,3758,3993
$GC,3716,-1.05,-121.7,556.9,-16.7,485,3720,0.17,1.80,0.00,0.000,6,0.170,0.026,2237,2514,3993
$GC,4048,-1.15,-121.7,594.6,-10.9,501,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2514,3992
$GC,4353,-1.26,-121.7,629.5,-12.1,516,4357,0.20,1.98,0.00,0.000,4,0.070,0.051,2152,3754,3990
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4406,-0.27,0.0,637.5,19.4,518,4503,1.17,0.00,92.97,1.120,6,0.172,0.000,2485,2356,3532
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4507,1.50,121.7,642.0,0.0,523,4614,1.62,0.00,98.80,1.088,6,0.065,0.000,3064,2356,3034
$GC,4925,0.84,143.6,608.4,11.6,543,4950,0.80,2.10,17.98,1.025,4,0.214,0.030,2864,990,2946
$GC,5009,0.85,198.8,600.6,9.2,546,5059,0.00,2.12,44.75,1.057,6,0.000,0.035,2864,2367,2721
$GC,5369,0.86,211.8,558.8,12.3,564,5386,0.00,0.00,11.55,0.968,6,0.000,0.000,2864,2367,2667
$GC,5696,0.86,211.8,510.4,15.5,580,5700,0.00,2.17,0.00,0.000,4,0.000,0.050,2864,3755,2664
$GC,5747,0.74,211.8,501.5,16.5,582,5752,0.20,2.03,0.00,0.000,6,0.186,0.025,2823,2383,2664
$GC,6079,0.87,211.8,457.7,13.3,613,6083,0.12,2.20,0.00,0.000,4,0.085,0.050,2872,3764,2663
$GC,6153,0.72,211.8,445.4,16.9,619,6157,0.25,2.08,0.00,0.000,6,0.187,0.026,2818,2366,2662
$GC,6479,0.86,211.8,402.6,14.2,649,6484,0.12,2.20,0.00,0.000,4,0.085,0.046,2868,3758,2661
$GC,6688,0.76,211.8,365.3,17.7,667,6692,0.20,2.03,0.00,0.000,6,0.192,0.026,2828,2396,2660
$GC,7014,0.98,296.8,332.0,7.0,697,7087,0.17,0.00,67.18,0.935,6,0.080,0.000,2903,2393,2320
$GC,7415,0.98,296.8,271.6,17.0,747,7421,0.00,2.17,0.00,0.000,4,0.000,0.049,2903,3755,2312
$GC,7456,0.90,296.8,263.7,20.0,754,7463,0.15,2.03,0.00,0.000,6,0.179,0.025,2874,2398,2311
$GC,7803,1.03,296.8,201.7,15.3,815,7809,0.12,2.12,0.00,0.000,4,0.084,0.029,2931,959,2310
$GC,7850,1.03,296.8,193.0,19.2,823,7856,0.00,2.22,0.00,0.000,6,0.000,0.031,2931,2426,2310
$GC,8196,1.03,296.8,123.7,18.5,884,8203,0.00,2.10,0.00,0.000,4,0.000,0.051,2931,3764,2309
$GC,8403,0.90,296.8,84.2,20.1,920,8411,0.25,1.98,0.00,0.000,6,0.176,0.025,2872,2400,2309
$GC,8753,1.35,406.0,57.4,5.3,981,8845,0.35,2.17,83.57,0.707,4,0.058,0.030,3025,975,1874
$STATE,9074,end climb,SURFACE_DEPTH_REACHED
$STATE,9074,begin surface coast
$FINISH,1.9,0.997820
$STATE,9097,end surface coast,CONTROL_FINISHED_OK
$STATE,9098,begin surface
$SM_CCo,9121,50.95,0.650,0,0,1594,475.15
$SM_GC,2.93,0.00,0.00,50.95,0.000,0.000,0.650,139,2399,1594,-7.63,0.45,475.15
$IRIDIUM_FIX,2512.73,12235.95,181198,090933
$TT8_MAMPS,0.029146
$HUMID,1838
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.4,97.270
$10V_AH,10.6,51.091
$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,24.700,74.075,416.800,50.950,0.000,30.229,33.414,158.197,4.500,0.000,0.000,41.960,1784.212,4920.420,555.865,1752.748,550.679,0.000,1441.209,0.000,1692.892,0.000,31.046,0.000
$DEVICE_MAMPS,236.236,53.690,1119.820,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.203,770.928,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56775,1042
$CAP_FILE_SIZE,101631,0
$CFSIZE,260165632,181714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 29.2,1
$GPS,240809,143124,2521.368,12236.643,36,1.9,36,-3.7