version: 66.04
glider: 167
mission: 2
dive: 565
start: 8 25 109 5 50 3
data:
$ID,167
$MISSION,2
$DIVE,565
$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,-20401.799
$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,72
$R_STBD_OVSHOOT,40
$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
$GPS1,054336,2522.806,12232.750,15,0.9,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.5
$GPS2,054943,2522.711,12232.681,11,1.8,16,-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,309.0,13529,-25.0,-13.200
$D_GRID,508
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.88,0.000,2,0.000,0.000,139,2361,2147
$GC,45,-1.50,-121.7,3.1,-1.8,4,125,8.05,2.20,-64.30,0.000,4,0.232,0.054,2086,3763,3988
$GC,250,-0.66,-121.7,45.1,-33.1,39,257,1.00,2.03,0.00,0.000,6,0.181,0.023,2365,2345,3991
$GC,598,-1.02,-121.7,83.1,-10.8,100,604,0.28,1.92,0.00,0.000,4,0.061,0.025,2246,1012,3993
$GC,740,-1.02,-121.7,110.1,-19.8,125,747,0.00,2.05,0.00,0.000,6,0.000,0.030,2245,2384,3994
$GC,1089,-0.93,-121.7,176.6,-18.9,186,1095,0.12,2.12,0.00,0.000,4,0.177,0.045,2275,3760,3994
$GC,1176,-0.97,-121.7,191.4,-15.3,201,1183,0.00,1.98,0.00,0.000,6,0.000,0.024,2275,2364,3994
$GC,1525,-1.07,-121.7,242.6,-17.2,262,1531,0.12,2.17,0.00,0.000,4,0.075,0.045,2210,3754,3995
$GC,1624,-0.87,-121.7,263.6,-22.7,279,1631,0.30,1.95,0.00,0.000,6,0.164,0.025,2294,2391,3995
$GC,1973,-1.09,-121.7,308.3,-10.2,334,1978,0.17,2.15,0.00,0.000,4,0.070,0.047,2218,3759,3995
$GC,2065,-1.01,-121.7,321.4,-14.1,342,2069,0.15,1.98,0.00,0.000,6,0.165,0.025,2257,2383,3995
$GC,2396,-1.13,-121.7,359.9,-12.0,373,2401,0.12,2.17,0.00,0.000,4,0.076,0.049,2205,3758,3995
$GC,2611,-1.01,-121.7,395.7,-17.3,391,2618,0.17,1.95,0.00,0.000,6,0.163,0.026,2250,2411,3995
$GC,2938,-1.13,-121.7,440.3,-13.7,422,2941,0.00,2.12,0.00,0.000,4,0.000,0.049,2246,3759,3994
$GC,3041,-1.22,-121.7,454.6,-13.5,431,3045,0.17,1.92,0.00,0.000,6,0.068,0.026,2175,2435,3993
$STATE,3324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3324,begin apogee
$GC,3332,-0.27,0.0,509.0,20.0,456,3428,1.08,0.00,91.65,1.022,6,0.164,0.000,2486,2434,3532
$STATE,3428,end apogee,CONTROL_FINISHED_OK
$STATE,3429,begin climb
$GC,3433,1.50,121.7,514.9,0.0,461,3537,1.62,2.25,97.00,0.995,4,0.065,0.028,3072,973,3034
$GC,3793,0.94,167.1,500.6,9.9,477,3836,0.75,2.15,36.05,0.977,6,0.210,0.035,2882,2377,2850
$GC,4162,0.94,233.2,466.6,8.4,511,4219,0.00,2.17,52.03,0.976,4,0.000,0.030,2885,980,2580
$GC,4469,1.02,252.0,432.4,11.8,538,4489,0.00,2.08,15.10,0.913,6,0.000,0.032,2886,2340,2504
$GC,4816,1.04,266.3,390.9,12.2,571,4837,0.00,2.30,12.45,0.887,4,0.000,0.051,2885,3755,2446
$GC,5001,1.04,269.0,365.8,13.0,587,5007,0.00,2.05,0.00,0.000,6,0.000,0.025,2894,2362,2443
$GC,5333,1.09,269.0,327.1,13.7,618,5337,0.10,2.05,0.00,0.000,4,0.093,0.029,2938,984,2441
$GC,5383,1.09,269.0,318.4,15.2,622,5389,0.00,2.10,0.00,0.000,6,0.000,0.033,2938,2364,2441
$GC,5723,1.01,269.0,257.9,17.4,673,5730,0.12,2.08,0.00,0.000,4,0.177,0.028,2915,977,2440
$GC,5897,1.09,269.0,230.4,15.0,703,5903,0.00,2.05,0.00,0.000,6,0.000,0.031,2916,2336,2439
$GC,6243,1.09,273.8,182.7,12.8,764,6256,0.00,2.05,6.45,0.702,4,0.000,0.029,2921,976,2415
$GC,6349,1.21,285.8,169.5,12.3,782,6367,0.15,2.03,11.38,0.757,6,0.075,0.032,2979,2317,2366
$GC,6707,1.10,285.8,109.1,21.2,845,6715,0.17,2.00,0.00,0.000,4,0.180,0.028,2938,979,2363
$GC,6970,1.20,285.8,72.3,13.2,891,6976,0.00,2.10,0.00,0.000,6,0.000,0.031,2938,2370,2363
$GC,7316,1.45,369.1,32.5,7.2,952,7387,0.25,2.20,64.38,0.680,4,0.061,0.028,3052,963,2026
$STATE,7566,end climb,SURFACE_DEPTH_REACHED
$STATE,7566,begin surface coast
$FINISH,1.8,1.005527
$STATE,7602,end surface coast,CONTROL_FINISHED_OK
$STATE,7602,begin surface
$SM_CCo,7626,78.65,0.640,0,0,1594,475.15
$SM_GC,2.54,0.00,0.00,78.65,0.000,0.000,0.640,139,2396,1594,-7.63,0.37,475.15
$IRIDIUM_FIX,2512.73,12233.94,191198,030323
$TT8_MAMPS,0.029146
$HUMID,1811
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.0,85.8
$24V_AH,23.6,98.211
$10V_AH,10.6,51.538
$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,22.925,62.600,386.475,78.650,0.000,28.096,32.733,154.159,3.250,0.000,0.000,16.248,1700.320,3602.712,550.158,1692.707,525.069,0.000,1396.903,0.000,1657.190,0.000,24.026,0.000
$DEVICE_MAMPS,231.634,53.690,1021.644,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.505,754.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53637,1002
$CAP_FILE_SIZE,92536,0
$CFSIZE,260165632,181338112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,163.4,1
$GPS,250809,075936,2522.754,12232.418,11,1.2,27,-3.7