version: 66.04
glider: 167
mission: 2
dive: 563
start: 8 25 109 0 51 52
data:
$ID,167
$MISSION,2
$DIVE,563
$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,-20373.926
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,004534,2522.348,12235.671,7,99.0,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.7
$GPS2,005132,2522.312,12235.855,12,1.9,12,-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,296.8,18829,-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,-23.12,0.000,2,0.000,0.000,138,2395,2155
$GC,45,-1.50,-121.7,3.0,-1.6,4,124,8.15,2.12,-63.12,0.000,4,0.235,0.054,2085,3758,3990
$GC,296,-0.70,-121.7,88.0,-30.0,47,303,0.98,2.03,0.00,0.000,6,0.187,0.023,2349,2336,3992
$GC,644,-1.07,-121.7,126.3,-11.3,108,651,0.28,1.92,0.00,0.000,4,0.057,0.025,2229,1000,3995
$GC,692,-0.98,-121.7,134.0,-17.1,116,700,0.15,2.08,0.00,0.000,6,0.165,0.029,2258,2395,3995
$GC,1040,-0.98,-121.7,201.9,-19.2,177,1046,0.00,2.08,0.00,0.000,4,0.000,0.044,2250,3753,3996
$GC,1086,-0.88,-121.7,211.2,-20.7,185,1093,0.17,1.95,0.00,0.000,6,0.163,0.023,2297,2379,3996
$GC,1437,-1.09,-121.7,260.9,-10.9,246,1444,0.17,2.15,0.00,0.000,4,0.066,0.044,2208,3757,3997
$GC,1667,-0.85,-121.7,302.0,-16.8,285,1671,0.32,1.92,0.00,0.000,6,0.165,0.024,2300,2411,3997
$GC,1993,-1.09,-121.7,328.1,-10.0,315,1998,0.20,2.10,0.00,0.000,4,0.064,0.045,2206,3752,3997
$GC,2106,-0.93,-121.7,345.7,-15.6,324,2113,0.25,1.92,0.00,0.000,6,0.163,0.025,2275,2410,3997
$GC,2433,-1.10,-121.7,376.4,-7.8,355,2437,0.15,2.10,0.00,0.000,4,0.074,0.046,2207,3750,3996
$GC,2500,-0.95,-121.7,384.9,-13.4,360,2507,0.22,1.92,0.00,0.000,6,0.164,0.025,2268,2406,3996
$GC,2827,-1.10,-121.7,420.5,-12.6,391,2831,0.12,2.12,0.00,0.000,4,0.077,0.046,2208,3758,3995
$GC,2940,-0.97,-121.7,441.6,-19.8,400,2947,0.20,1.95,0.00,0.000,6,0.166,0.025,2262,2427,3994
$GC,3268,-1.12,-121.7,494.7,-15.3,431,3273,0.12,2.10,0.00,0.000,4,0.081,0.048,2208,3757,3993
$GC,3337,-1.02,-121.7,508.2,-20.1,435,3342,0.10,1.92,0.00,0.000,6,0.155,0.025,2249,2454,3993
$GC,3668,-1.15,-121.7,559.1,-14.6,451,3672,0.12,2.05,0.00,0.000,4,0.081,0.048,2193,3753,3992
$GC,3702,-1.08,-121.7,565.5,-17.3,452,3707,0.15,1.90,0.00,0.000,6,0.172,0.026,2230,2441,3991
$STATE,3938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3938,begin apogee
$GC,3947,-0.27,0.0,598.3,13.0,464,4043,0.85,0.00,92.55,1.083,6,0.150,0.000,2486,2441,3532
$STATE,4044,end apogee,CONTROL_FINISHED_OK
$STATE,4044,begin climb
$GC,4047,1.50,121.7,602.0,0.0,469,4154,1.60,0.00,97.90,1.055,6,0.064,0.000,3060,2440,3034
$GC,4464,0.84,121.7,567.8,13.4,489,4467,0.80,0.00,0.00,0.000,6,0.209,0.000,2855,2440,3031
$GC,4774,0.85,194.8,542.3,7.9,504,4839,0.00,2.22,56.75,1.040,4,0.000,0.029,2860,993,2738
$GC,5075,0.92,194.8,506.1,13.2,517,5079,0.00,2.10,0.00,0.000,6,0.000,0.035,2860,2357,2734
$GC,5411,0.96,232.6,465.9,10.5,546,5448,0.00,2.28,31.00,0.999,4,0.000,0.052,2860,3748,2582
$GC,5517,0.96,232.6,452.6,13.4,555,5523,0.00,2.08,0.00,0.000,6,0.000,0.025,2868,2358,2579
$GC,5847,1.09,282.2,414.9,9.6,586,5892,0.17,2.35,39.75,0.971,4,0.074,0.051,2935,3755,2380
$GC,6102,0.90,282.2,363.7,22.3,608,6109,0.28,2.08,0.00,0.000,6,0.186,0.025,2872,2354,2375
$GC,6428,1.05,282.2,307.8,17.9,639,6432,0.12,2.05,0.00,0.000,4,0.084,0.031,2921,978,2373
$GC,6514,1.05,282.2,292.8,17.8,650,6521,0.00,2.10,0.00,0.000,6,0.000,0.034,2922,2351,2373
$GC,6861,1.05,282.2,236.4,19.5,711,6867,0.00,2.22,0.00,0.000,4,0.000,0.051,2922,3767,2372
$GC,6938,0.93,282.2,220.9,20.2,724,6945,0.17,2.10,0.00,0.000,6,0.189,0.025,2886,2341,2372
$GC,7285,1.06,282.2,162.2,15.0,785,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2339,2371
$GC,7629,1.21,282.2,109.9,16.7,846,7637,0.20,2.25,0.00,0.000,4,0.070,0.047,2973,3762,2371
$GC,7805,0.98,282.2,76.3,18.0,876,7812,0.32,2.08,0.00,0.000,6,0.186,0.025,2896,2348,2370
$GC,8152,1.23,317.4,41.0,10.6,937,8189,0.17,2.30,26.88,0.700,4,0.076,0.047,2974,3761,2236
$GC,8445,1.39,449.3,7.6,3.6,988,8546,0.12,2.05,94.07,0.658,2,0.078,0.025,3030,2356,1740
$STATE,8546,end climb,SURFACE_DEPTH_REACHED
$STATE,8546,begin surface coast
$FINISH,1.8,1.008139
$STATE,8590,end surface coast,CONTROL_FINISHED_OK
$STATE,8590,begin surface
$SM_CCo,8611,26.27,0.628,0,0,1595,475.15
$SM_GC,2.36,0.00,0.00,26.27,0.000,0.000,0.628,138,2355,1595,-7.63,-0.79,475.15
$IRIDIUM_FIX,2512.73,12240.53,181198,222209
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,23.5,97.949
$10V_AH,10.6,51.412
$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,24.675,66.600,438.900,26.275,0.000,26.042,33.626,155.249,4.750,0.000,0.000,12.841,1730.062,4472.979,534.664,1713.473,544.248,0.000,1421.861,0.000,1680.592,0.000,30.601,0.000
$DEVICE_MAMPS,235.469,54.457,1083.004,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,683.657,746.351,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53597,1013
$CAP_FILE_SIZE,99143,0
$CFSIZE,260165632,181432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,267.9,1
$GPS,250809,031704,2522.723,12234.198,11,99.0,30,-3.7