version: 66.04
glider: 167
mission: 2
dive: 564
start: 8 25 109 3 26 33
data:
$ID,167
$MISSION,2
$DIVE,564
$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,-20384.922
$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,75
$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
$GPS1,031704,2522.723,12234.198,11,99.0,30,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.9
$GPS2,032614,2522.529,12234.014,10,1.7,10,-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,299.7,15757,-25.0,-13.200
$D_GRID,542
$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,-22.40,0.000,2,0.000,0.000,139,2355,2144
$GC,44,-1.50,-121.7,3.0,-1.6,3,122,8.07,2.22,-61.35,0.000,4,0.232,0.054,2082,3767,3989
$GC,264,-0.67,-121.7,58.1,-33.3,41,271,1.00,2.03,0.00,0.000,6,0.180,0.021,2357,2346,3992
$GC,611,-0.96,-121.7,92.8,-10.8,102,619,0.22,1.92,0.00,0.000,4,0.062,0.024,2258,1007,3994
$GC,671,-0.96,-121.7,101.7,-16.1,112,677,0.00,2.05,0.00,0.000,6,0.000,0.031,2258,2380,3994
$GC,1016,-0.96,-121.7,161.2,-18.3,173,1022,0.00,2.10,0.00,0.000,4,0.000,0.044,2248,3753,3995
$GC,1092,-0.89,-121.7,175.3,-18.7,186,1100,0.17,1.95,0.00,0.000,6,0.161,0.024,2295,2380,3995
$GC,1448,-1.05,-121.7,225.5,-11.4,247,1455,0.15,2.15,0.00,0.000,4,0.071,0.046,2231,3755,3996
$GC,1614,-0.94,-121.7,253.5,-16.2,276,1621,0.17,1.95,0.00,0.000,6,0.163,0.024,2277,2389,3996
$GC,1961,-1.12,-121.7,293.5,-10.4,337,1968,0.17,2.15,0.00,0.000,4,0.069,0.046,2205,3762,3996
$GC,2078,-0.96,-121.7,311.2,-16.1,351,2083,0.22,1.95,0.00,0.000,6,0.160,0.025,2266,2402,3996
$GC,2410,-1.15,-121.7,351.4,-12.4,382,2415,0.17,2.12,0.00,0.000,4,0.071,0.048,2188,3754,3995
$GC,2604,-0.92,-121.7,391.7,-21.9,398,2612,0.32,1.92,0.00,0.000,6,0.165,0.025,2279,2418,3994
$GC,2929,-1.17,-121.7,436.8,-14.0,429,2934,0.20,2.10,0.00,0.000,4,0.071,0.048,2192,3751,3993
$GC,3111,-1.04,-121.7,469.8,-18.3,445,3115,0.12,1.92,0.00,0.000,6,0.155,0.025,2240,2444,3993
$GC,3438,-1.14,-121.7,518.7,-14.2,470,3441,0.00,2.08,0.00,0.000,4,0.000,0.049,2234,3762,3991
$GC,3466,-1.20,-121.7,523.3,-15.7,471,3471,0.12,1.92,0.00,0.000,6,0.081,0.025,2182,2430,3990
$STATE,3584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3584,begin apogee
$GC,3593,-0.27,0.0,543.2,16.5,477,3688,1.05,0.00,91.57,1.047,6,0.160,0.000,2487,2429,3532
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3692,1.50,121.7,548.4,0.0,482,3802,1.60,2.17,97.30,1.019,4,0.062,0.045,3064,3757,3034
$GC,3855,0.67,125.1,547.1,13.0,489,3865,1.10,2.08,3.83,0.609,6,0.219,0.024,2799,2362,3022
$GC,4185,0.85,204.1,520.0,7.5,505,4253,0.15,2.12,62.15,1.009,4,0.081,0.031,2864,986,2698
$GC,4507,0.92,204.1,477.2,14.3,526,4511,0.00,2.10,0.00,0.000,6,0.000,0.033,2864,2354,2694
$GC,4842,0.92,204.1,429.1,13.6,557,4846,0.00,2.08,0.00,0.000,4,0.000,0.031,2869,972,2692
$GC,4950,1.00,216.4,414.5,12.3,566,4969,0.10,2.10,10.27,0.890,6,0.095,0.034,2908,2354,2648
$GC,5289,0.93,232.6,371.8,12.0,598,5312,0.00,2.28,14.00,0.908,4,0.000,0.051,2908,3755,2583
$GC,5566,0.75,232.6,330.5,16.0,622,5574,0.35,2.08,0.00,0.000,6,0.179,0.025,2823,2341,2580
$GC,5898,0.99,251.4,290.3,11.8,660,5919,0.20,2.33,15.15,0.872,4,0.069,0.048,2907,3759,2506
$GC,6141,0.82,251.4,252.0,16.5,702,6149,0.28,2.05,0.00,0.000,6,0.173,0.025,2842,2371,2503
$GC,6491,1.04,290.3,211.9,10.4,763,6526,0.17,0.00,31.85,0.842,6,0.073,0.000,2916,2368,2348
$GC,6866,1.04,290.3,153.9,18.3,829,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2368,2343
$GC,7213,1.04,290.3,94.7,15.9,890,7220,0.00,2.20,0.00,0.000,4,0.000,0.050,2917,3760,2341
$GC,7440,1.04,290.3,57.2,13.7,930,7448,0.00,2.08,0.00,0.000,6,0.000,0.025,2926,2350,2340
$GC,7788,1.20,342.0,23.4,9.4,991,7836,0.12,2.25,39.85,0.687,4,0.081,0.046,2978,3757,2135
$STATE,7959,end climb,SURFACE_DEPTH_REACHED
$STATE,7959,begin surface coast
$FINISH,1.7,1.021553
$STATE,8028,end surface coast,CONTROL_FINISHED_OK
$STATE,8028,begin surface
$SM_CCo,8050,99.55,0.657,0,0,1595,475.15
$SM_GC,3.08,0.00,0.00,99.55,0.000,0.000,0.657,139,2361,1595,-7.63,-0.62,475.15
$IRIDIUM_FIX,2515.12,12233.94,191198,030310
$TT8_MAMPS,0.029913
$HUMID,1841
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.3,112.2
$24V_AH,23.5,98.084
$10V_AH,10.6,51.477
$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,24.025,62.550,365.975,99.550,0.000,55.137,67.032,218.362,3.750,0.000,0.000,10.366,1758.167,3971.681,551.476,1746.123,671.199,0.000,1432.329,0.000,1716.908,0.000,26.686,0.000
$DEVICE_MAMPS,232.401,53.690,1046.955,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.048,767.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53833,1033
$CAP_FILE_SIZE,98322,0
$CFSIZE,260165632,181383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,249.2,1
$GPS,250809,054336,2522.806,12232.750,15,0.9,31,-3.7