version: 66.04
glider: 167
mission: 2
dive: 560
start: 8 24 109 17 16 16
data:
$ID,167
$MISSION,2
$DIVE,560
$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,-20325.227
$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,87
$R_STBD_OVSHOOT,42
$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
$GPS1,170937,2521.683,12235.387,30,1.4,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.2
$GPS2,171556,2521.608,12235.340,16,2.0,16,-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,294.2,18402,-25.0,-13.200
$D_GRID,597
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.90,0.000,2,0.000,0.000,136,2379,2143
$GC,45,-1.50,-121.7,3.1,-1.9,4,124,8.10,2.17,-63.28,0.000,4,0.232,0.055,2085,3757,3989
$GC,374,-0.73,-121.7,93.9,-30.6,61,381,0.93,2.00,0.00,0.000,6,0.182,0.023,2343,2357,3993
$GC,722,-1.07,-121.7,133.5,-8.3,122,729,0.28,2.20,0.00,0.000,4,0.058,0.045,2222,3761,3995
$GC,816,-0.83,-121.7,149.9,-20.2,138,823,0.32,1.95,0.00,0.000,6,0.173,0.024,2310,2406,3995
$GC,1163,-1.01,-121.7,201.2,-17.1,199,1170,0.17,2.10,0.00,0.000,4,0.066,0.044,2222,3751,3996
$GC,1201,-0.89,-121.7,208.7,-22.5,205,1208,0.25,1.95,0.00,0.000,6,0.166,0.023,2290,2381,3996
$GC,1552,-1.09,-121.7,261.6,-12.1,266,1560,0.17,2.15,0.00,0.000,4,0.066,0.045,2205,3754,3996
$GC,1590,-0.96,-121.7,268.2,-18.5,272,1597,0.22,1.90,0.00,0.000,6,0.165,0.024,2266,2427,3996
$GC,1934,-1.06,-121.7,313.4,-11.2,323,1938,0.00,2.08,0.00,0.000,4,0.000,0.047,2261,3751,3996
$GC,2059,-1.12,-121.7,327.4,-10.9,334,2064,0.08,1.90,0.00,0.000,6,0.071,0.025,2205,2443,3996
$GC,2391,-1.02,-121.7,373.8,-14.6,365,2395,0.17,2.05,0.00,0.000,4,0.163,0.045,2243,3756,3996
$GC,2430,-1.02,-121.7,379.7,-14.4,368,2436,0.00,1.88,0.00,0.000,6,0.000,0.024,2243,2435,3996
$GC,2762,-1.10,-121.7,424.9,-13.9,399,2766,0.00,2.08,0.00,0.000,4,0.000,0.048,2239,3757,3996
$GC,2948,-1.15,-121.7,451.5,-11.5,415,2954,0.00,1.85,0.00,0.000,6,0.000,0.025,2239,2474,3995
$GC,3277,-1.23,-121.7,489.9,-13.2,446,3281,0.15,2.03,0.00,0.000,4,0.076,0.048,2176,3753,3994
$GC,3417,-1.02,-121.7,513.6,-18.0,455,3421,0.28,1.83,0.00,0.000,6,0.173,0.027,2248,2501,3993
$GC,3753,-1.16,-121.7,557.3,-12.8,471,3758,0.12,2.00,0.00,0.000,4,0.081,0.050,2193,3763,3992
$GC,3909,-1.07,-121.7,583.7,-16.1,477,3916,0.15,1.80,0.00,0.000,6,0.173,0.028,2230,2522,3992
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4025,-0.27,0.0,598.5,12.8,483,4121,0.85,0.00,93.05,1.093,6,0.150,0.000,2485,2389,3532
$STATE,4122,end apogee,CONTROL_FINISHED_OK
$STATE,4122,begin climb
$GC,4127,1.50,121.7,602.5,0.0,488,4234,1.60,2.22,98.47,1.062,4,0.065,0.028,3068,950,3035
$GC,4490,0.83,122.5,579.2,13.1,504,4495,0.85,2.20,0.00,0.000,6,0.212,0.035,2853,2378,3031
$GC,4812,0.82,206.7,552.7,7.1,520,4884,0.00,2.22,67.00,1.052,4,0.000,0.030,2855,966,2689
$GC,5101,0.90,206.7,518.6,13.4,533,5105,0.00,2.15,0.00,0.000,6,0.000,0.032,2855,2376,2684
$GC,5429,0.90,206.7,471.7,14.0,557,5433,0.00,2.15,0.00,0.000,4,0.000,0.051,2855,3753,2682
$GC,5589,0.80,206.7,447.4,15.8,571,5593,0.00,2.05,0.00,0.000,6,0.000,0.025,2865,2362,2680
$GC,5923,0.80,206.7,395.1,15.7,602,5926,0.00,2.22,0.00,0.000,4,0.000,0.050,2866,3759,2679
$GC,6183,0.69,206.7,357.7,14.1,625,6187,0.28,2.03,0.00,0.000,6,0.186,0.027,2802,2386,2678
$GC,6509,1.00,299.4,322.8,6.5,655,6588,0.25,2.28,72.62,0.929,4,0.070,0.051,2907,3758,2310
$GC,6632,0.92,299.4,307.3,16.8,666,6637,0.17,2.10,0.00,0.000,6,0.183,0.026,2874,2363,2306
$GC,6974,1.04,299.4,261.9,17.2,722,6982,0.12,2.08,0.00,0.000,4,0.085,0.031,2929,974,2303
$GC,7097,1.04,299.4,233.8,25.4,743,7105,0.00,2.12,0.00,0.000,6,0.000,0.034,2929,2367,2302
$GC,7443,1.04,299.4,166.7,18.0,804,7449,0.00,2.08,0.00,0.000,4,0.000,0.029,2938,985,2300
$GC,7536,1.04,299.4,148.4,21.2,820,7542,0.00,2.08,0.00,0.000,6,0.000,0.031,2938,2356,2299
$GC,7882,1.05,313.6,92.7,12.2,881,7901,0.00,2.22,10.68,0.713,4,0.000,0.048,2938,3747,2253
$GC,7920,1.08,332.5,88.3,11.8,887,7944,0.00,2.00,16.50,0.721,6,0.000,0.023,2948,2384,2176
$GC,8284,1.17,336.0,52.0,12.9,951,8296,0.00,2.15,3.85,0.483,4,0.000,0.031,2956,966,2162
$GC,8551,1.45,428.6,25.5,6.5,998,8634,0.25,2.15,72.95,0.667,6,0.066,0.031,3050,2389,1784
$STATE,8756,end climb,SURFACE_DEPTH_REACHED
$STATE,8756,begin surface coast
$FINISH,1.9,1.021782
$STATE,8782,end surface coast,CONTROL_FINISHED_OK
$STATE,8782,begin surface
$SM_CCo,8803,34.28,0.630,0,0,1594,475.15
$SM_GC,2.88,0.00,0.00,34.28,0.000,0.000,0.630,139,2395,1594,-7.63,0.34,475.15
$IRIDIUM_FIX,2510.35,12239.24,181198,141428
$TT8_MAMPS,0.029146
$HUMID,1811
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.9,79.3
$24V_AH,23.4,97.546
$10V_AH,10.6,51.222
$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,23.750,74.525,435.125,34.275,0.000,29.807,33.717,166.198,4.500,0.000,0.000,16.692,1796.711,4454.479,541.310,1864.675,556.324,0.000,1488.857,0.000,1817.769,0.000,29.024,0.000
$DEVICE_MAMPS,232.401,55.224,1092.975,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,701.088,768.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56786,1038
$CAP_FILE_SIZE,103782,0
$CFSIZE,260165632,181596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,133.1,1
$GPS,240809,194455,2521.683,12235.127,39,1.5,39,-3.7