version: 66.04
glider: 167
mission: 2
dive: 559
start: 8 24 109 14 38 4
data:
$ID,167
$MISSION,2
$DIVE,559
$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,-20307.906
$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,82
$R_STBD_OVSHOOT,38
$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
$GPS1,143124,2521.368,12236.643,36,1.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.4
$GPS2,143746,2521.257,12236.749,13,99.0,32,-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,286.5,20840,-25.0,-13.200
$D_GRID,624
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,47,0.00,0.00,-28.70,0.000,2,0.000,0.000,139,2399,2281
$GC,51,-1.50,-121.7,3.1,-1.5,5,126,8.15,2.15,-56.75,0.000,4,0.235,0.054,2086,3757,3990
$GC,235,-0.62,-121.7,52.7,-40.8,36,242,1.05,2.00,0.00,0.000,6,0.179,0.023,2376,2363,3992
$GC,583,-1.04,-121.7,81.0,-7.5,97,589,0.32,2.20,0.00,0.000,4,0.056,0.045,2232,3766,3994
$GC,735,-0.87,-121.7,107.9,-19.4,123,741,0.25,1.95,0.00,0.000,6,0.162,0.023,2301,2396,3995
$GC,1082,-1.08,-121.7,153.9,-12.5,184,1088,0.17,2.12,0.00,0.000,4,0.070,0.044,2218,3760,3997
$GC,1317,-0.90,-121.7,201.1,-19.1,225,1324,0.25,1.90,0.00,0.000,6,0.165,0.025,2286,2428,3997
$GC,1668,-1.07,-121.7,248.5,-13.7,286,1675,0.15,2.10,0.00,0.000,4,0.072,0.047,2220,3767,3997
$GC,1711,-0.98,-121.7,254.7,-15.2,293,1718,0.15,1.95,0.00,0.000,6,0.163,0.024,2258,2406,3997
$GC,2055,-1.05,-121.7,308.2,-14.8,349,2058,0.00,2.12,0.00,0.000,4,0.000,0.045,2250,3769,3997
$GC,2218,-1.10,-121.7,329.9,-15.3,363,2222,0.00,1.90,0.00,0.000,6,0.000,0.025,2250,2467,3997
$GC,2550,-1.22,-121.7,379.4,-11.5,394,2554,0.17,2.03,0.00,0.000,4,0.072,0.047,2166,3761,3997
$GC,2689,-0.94,-121.7,407.8,-23.5,406,2694,0.32,1.85,0.00,0.000,6,0.169,0.025,2271,2499,3997
$GC,3021,-1.14,-121.7,453.9,-13.2,437,3025,0.17,1.98,0.00,0.000,4,0.069,0.048,2193,3754,3996
$GC,3095,-0.98,-121.7,468.4,-22.0,443,3101,0.25,1.83,0.00,0.000,6,0.169,0.026,2260,2494,3996
$GC,3422,-1.15,-121.7,513.9,-13.1,469,3426,0.15,2.00,0.00,0.000,4,0.077,0.048,2193,3760,3994
$GC,3500,-1.04,-121.7,527.4,-17.4,472,3504,0.20,1.80,0.00,0.000,6,0.171,0.026,2245,2516,3994
$GC,3821,-1.21,-121.7,572.3,-13.9,488,3826,0.17,1.98,0.00,0.000,4,0.074,0.050,2166,3758,3993
$GC,3989,-1.06,-121.7,600.7,-17.6,495,3993,0.28,1.77,0.00,0.000,6,0.187,0.028,2235,2557,3992
$STATE,4174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4174,begin apogee
$GC,4183,-0.27,0.0,625.7,10.8,504,4280,0.85,0.00,93.35,1.116,6,0.150,0.000,2491,2400,3532
$STATE,4281,end apogee,CONTROL_FINISHED_OK
$STATE,4281,begin climb
$GC,4284,1.50,121.7,630.3,0.0,509,4392,1.62,2.30,98.65,1.086,4,0.059,0.047,3073,3767,3034
$GC,4569,0.64,121.7,613.7,16.3,522,4574,1.17,2.12,0.00,0.000,6,0.223,0.024,2792,2331,3032
$GC,4891,0.73,194.7,588.0,7.9,538,4955,0.00,2.08,57.75,1.072,4,0.000,0.030,2800,983,2737
$GC,5147,1.03,271.8,565.6,7.6,549,5216,0.30,2.12,62.30,1.055,6,0.062,0.031,2914,2373,2423
$GC,5529,0.94,271.8,507.8,15.7,567,5532,0.00,2.17,0.00,0.000,4,0.000,0.048,2914,3753,2416
$GC,5717,0.75,271.8,471.4,20.0,581,5723,0.38,2.00,0.00,0.000,6,0.183,0.025,2823,2392,2414
$GC,6042,0.96,271.8,427.2,13.4,612,6047,0.17,2.15,0.00,0.000,4,0.073,0.048,2898,3757,2412
$GC,6128,0.82,271.8,412.3,17.8,619,6133,0.25,2.00,0.00,0.000,6,0.182,0.025,2841,2387,2412
$GC,6454,1.00,313.0,372.0,10.2,649,6493,0.17,2.22,32.90,0.957,4,0.076,0.048,2916,3763,2254
$GC,6618,0.87,313.0,342.5,19.9,663,6623,0.22,1.98,0.00,0.000,6,0.178,0.025,2866,2441,2250
$GC,6948,1.01,313.0,295.7,14.0,695,6953,0.10,0.00,0.00,0.000,6,0.093,0.000,2905,2439,2248
$GC,7293,1.01,313.0,238.9,16.2,756,7299,0.00,2.17,0.00,0.000,4,0.000,0.030,2915,975,2246
$GC,7425,1.11,313.0,218.0,14.9,779,7431,0.00,2.22,0.00,0.000,6,0.000,0.035,2914,2433,2246
$GC,7771,1.11,313.0,163.7,16.9,840,7777,0.00,2.17,0.00,0.000,4,0.000,0.031,2923,987,2245
$GC,7881,1.17,313.0,146.4,15.0,859,7888,0.10,2.17,0.00,0.000,6,0.087,0.032,2964,2426,2246
$GC,8229,1.08,313.0,84.7,17.8,920,8235,0.15,2.08,0.00,0.000,4,0.181,0.049,2927,3752,2245
$GC,8490,1.01,313.0,35.4,18.9,966,8497,0.12,1.98,0.00,0.000,6,0.184,0.025,2906,2381,2245
$GC,8839,1.45,435.3,7.8,4.3,1027,8903,0.35,0.00,61.30,0.671,2,0.059,0.000,3047,2379,1928
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$FINISH,1.8,1.004173
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8958,62.00,0.651,0,0,1594,475.15
$SM_GC,2.58,0.00,0.00,62.00,0.000,0.000,0.651,136,2379,1594,-7.64,-0.11,475.15
$IRIDIUM_FIX,2510.35,12235.95,181198,121226
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.7,63.5
$24V_AH,23.5,97.410
$10V_AH,10.6,51.157
$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,26.225,69.750,406.250,62.000,0.000,23.812,35.218,159.739,4.500,0.000,0.000,33.786,1819.191,4625.459,538.042,1868.097,548.456,0.000,1472.269,0.000,1805.407,0.000,32.304,0.000
$DEVICE_MAMPS,235.469,53.690,1115.985,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.551,772.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56982,1044
$CAP_FILE_SIZE,105084,0
$CFSIZE,260165632,181653504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,287.7,1
$GPS,240809,170937,2521.683,12235.387,30,1.4,30,-3.7