version: 66.04
glider: 167
mission: 2
dive: 566
start: 8 25 109 8 9 40
data:
$ID,167
$MISSION,2
$DIVE,566
$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,-20434.109
$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,73
$R_STBD_OVSHOOT,39
$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
$GPS1,075936,2522.754,12232.418,11,1.2,27,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.3
$GPS2,080918,2522.958,12232.320,15,2.0,31,-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,316.4,12816,-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,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-23.40,0.000,2,0.000,0.000,139,2396,2176
$GC,45,-1.50,-121.7,3.0,-2.0,4,117,8.00,2.20,-58.03,0.000,4,0.230,0.055,2082,3773,3989
$GC,161,-0.30,-121.7,28.4,-49.6,23,170,1.50,2.03,0.00,0.000,6,0.202,0.022,2473,2352,3990
$GC,511,-1.04,-121.7,53.9,-2.1,84,517,0.57,1.95,0.00,0.000,4,0.044,0.024,2230,998,3992
$GC,598,-0.90,-121.7,70.2,-21.4,99,606,0.25,2.12,0.00,0.000,6,0.165,0.031,2288,2425,3993
$GC,946,-0.96,-121.7,125.7,-14.2,160,952,0.00,2.08,0.00,0.000,4,0.000,0.024,2289,992,3995
$GC,1077,-1.14,-121.7,144.4,-12.4,183,1085,0.20,2.08,0.00,0.000,6,0.064,0.029,2203,2392,3995
$GC,1428,-0.91,-121.7,211.9,-21.4,244,1435,0.25,2.10,0.00,0.000,4,0.183,0.044,2266,3758,3995
$GC,1575,-0.91,-121.7,239.3,-19.2,269,1581,0.00,1.92,0.00,0.000,6,0.000,0.023,2266,2389,3996
$GC,1923,-0.97,-121.7,299.0,-18.3,330,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2388,3995
$GC,2252,-1.07,-121.7,348.5,-14.9,361,2257,0.00,2.12,0.00,0.000,4,0.000,0.047,2262,3747,3995
$GC,2379,-1.16,-121.7,367.9,-14.9,372,2383,0.15,1.92,0.00,0.000,6,0.077,0.024,2199,2397,3996
$GC,2711,-1.06,-121.7,428.1,-19.0,403,2716,0.15,2.12,0.00,0.000,4,0.166,0.045,2230,3753,3994
$GC,2929,-1.06,-121.7,467.7,-16.6,422,2933,0.00,1.90,0.00,0.000,6,0.000,0.025,2229,2425,3994
$STATE,3201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3202,begin apogee
$GC,3210,-0.27,0.0,510.5,15.7,445,3305,0.88,0.00,91.20,1.004,6,0.156,0.000,2488,2421,3532
$STATE,3306,end apogee,CONTROL_FINISHED_OK
$STATE,3306,begin climb
$GC,3309,1.50,121.7,515.8,0.0,450,3417,1.58,2.25,95.93,0.979,4,0.065,0.028,3068,988,3035
$GC,3671,0.92,152.1,497.4,11.0,466,3701,0.73,2.10,24.25,0.943,6,0.208,0.033,2882,2369,2911
$GC,4020,0.88,200.0,462.4,9.7,499,4059,0.00,0.00,37.55,0.955,6,0.000,0.000,2882,2369,2716
$GC,4378,0.92,234.6,422.9,10.7,533,4412,0.00,2.25,27.92,0.934,4,0.000,0.048,2882,3747,2575
$GC,4553,0.84,234.6,400.9,13.8,548,4558,0.12,2.03,0.00,0.000,6,0.182,0.025,2852,2379,2571
$GC,4885,0.98,234.6,358.9,14.9,579,4889,0.12,2.17,0.00,0.000,4,0.081,0.048,2900,3755,2568
$GC,4918,0.88,234.6,352.5,19.5,581,4926,0.17,2.08,0.00,0.000,6,0.180,0.025,2864,2338,2568
$GC,5245,0.97,234.6,302.5,13.4,612,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2337,2567
$GC,5580,1.10,247.4,262.8,12.3,670,5595,0.20,2.10,9.60,0.796,4,0.071,0.031,2951,969,2522
$GC,5840,1.04,247.4,222.1,16.4,715,5848,0.15,2.10,0.00,0.000,6,0.179,0.031,2915,2361,2520
$GC,6187,1.04,247.4,174.6,13.3,776,6193,0.00,2.17,0.00,0.000,4,0.000,0.049,2915,3761,2519
$GC,6449,0.92,247.4,130.6,15.7,822,6456,0.17,2.03,0.00,0.000,6,0.182,0.025,2878,2353,2518
$GC,6796,1.08,291.4,92.9,10.0,883,6838,0.15,2.03,34.67,0.732,4,0.077,0.030,2937,995,2344
$GC,6989,1.20,291.4,67.5,13.7,916,6995,0.00,2.05,0.00,0.000,6,0.000,0.031,2937,2353,2341
$GC,7333,1.45,428.8,36.7,3.2,977,7446,0.28,2.15,104.97,0.667,4,0.061,0.028,3059,992,1782
$GC,7463,1.41,443.1,25.0,12.2,998,7482,0.00,2.08,12.68,0.594,6,0.000,0.031,3058,2337,1724
$STATE,7624,end climb,SURFACE_DEPTH_REACHED
$STATE,7624,begin surface coast
$FINISH,1.8,0.998096
$STATE,7640,end surface coast,CONTROL_FINISHED_OK
$STATE,7640,begin surface
$SM_CCo,7662,22.55,0.614,0,0,1593,475.15
$SM_GC,2.42,0.00,0.00,22.55,0.000,0.000,0.614,141,2340,1593,-7.62,-1.22,475.15
$IRIDIUM_FIX,2515.12,12231.93,191198,080841
$TT8_MAMPS,0.028379
$HUMID,1819
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.0,107.6
$24V_AH,23.6,98.340
$10V_AH,10.7,51.601
$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,23.475,54.125,438.775,22.550,0.000,56.412,150.937,153.386,3.250,0.000,0.000,31.684,1712.994,3671.561,521.150,1698.906,663.478,0.000,1375.832,0.000,1649.345,0.000,22.441,0.000
$DEVICE_MAMPS,230.100,55.224,1004.003,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.257,793.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53750,1029
$CAP_FILE_SIZE,92066,0
$CFSIZE,260165632,181284864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292,132.4,1
$GPS,250809,101907,2522.729,12232.766,41,1.0,41,-3.7