version: 66.04
glider: 167
mission: 2
dive: 568
start: 8 25 109 12 37 41
data:
$ID,167
$MISSION,2
$DIVE,568
$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,-20487.514
$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,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
$GPS1,123058,2523.048,12232.705,13,6.1,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.2
$GPS2,123722,2523.114,12232.791,16,99.0,35,-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,306.5,13493,-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,-121.7,0.0,0.0,0,53,0.00,0.00,-34.70,0.000,2,0.000,0.000,137,2399,2456
$GC,57,-1.50,-121.7,3.6,-3.6,6,117,7.97,2.17,-45.95,0.000,4,0.229,0.038,2092,972,3990
$GC,213,-0.74,-121.7,48.2,-47.8,32,221,0.93,2.15,0.00,0.000,6,0.181,0.034,2337,2395,3992
$GC,562,-1.12,-121.7,99.7,-5.9,93,569,0.28,2.10,0.00,0.000,4,0.055,0.045,2208,3755,3994
$GC,594,-1.20,-121.7,102.6,-10.9,98,600,0.00,1.98,0.00,0.000,6,0.000,0.022,2208,2351,3993
$GC,939,-1.20,-121.7,142.3,-11.8,159,945,0.00,2.17,0.00,0.000,4,0.000,0.044,2205,3756,3996
$GC,1048,-1.20,-121.7,158.4,-15.4,178,1054,0.00,1.85,0.00,0.000,6,0.000,0.023,2205,2435,3997
$GC,1396,-1.25,-121.7,210.9,-12.3,239,1401,0.00,2.05,0.00,0.000,4,0.000,0.045,2204,3757,3997
$GC,1558,-1.25,-121.7,234.0,-16.2,267,1564,0.00,1.83,0.00,0.000,6,0.000,0.024,2205,2468,3997
$GC,1904,-1.30,-121.7,291.5,-15.1,328,1912,0.12,2.00,0.00,0.000,4,0.075,0.045,2142,3753,3997
$GC,1954,-1.07,-121.7,300.8,-20.6,336,1958,0.32,1.83,0.00,0.000,6,0.160,0.025,2232,2473,3997
$GC,2286,-1.26,-121.7,345.6,-11.8,367,2291,0.17,2.00,0.00,0.000,4,0.069,0.045,2149,3753,3997
$GC,2356,-1.10,-121.7,357.8,-19.7,373,2360,0.28,1.80,0.00,0.000,6,0.162,0.025,2224,2501,3997
$GC,2687,-1.28,-121.7,404.8,-13.6,404,2691,0.17,1.98,0.00,0.000,4,0.071,0.047,2150,3760,3996
$GC,2782,-1.08,-121.7,423.4,-21.3,412,2790,0.30,1.77,0.00,0.000,6,0.166,0.025,2231,2522,3996
$GC,3108,-1.31,-121.7,469.3,-13.8,443,3110,0.20,0.00,0.00,0.000,6,0.066,0.000,2151,2522,3995
$STATE,3304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3304,begin apogee
$GC,3313,-0.27,0.0,508.5,19.9,460,3409,1.15,0.00,91.75,0.999,6,0.161,0.000,2486,2398,3532
$STATE,3409,end apogee,CONTROL_FINISHED_OK
$STATE,3410,begin climb
$GC,3414,1.50,121.7,515.3,0.0,465,3522,1.52,2.28,96.15,0.978,4,0.046,0.045,3062,3763,3034
$GC,3777,0.56,134.9,495.2,12.2,482,3795,1.23,2.05,11.18,0.875,6,0.225,0.023,2768,2351,2982
$GC,4113,0.67,225.2,473.1,6.6,514,4191,0.00,2.15,71.00,0.966,4,0.000,0.029,2773,986,2613
$GC,4323,0.85,226.4,448.2,13.1,532,4331,0.22,2.08,0.00,0.000,6,0.072,0.031,2859,2347,2608
$GC,4650,0.73,226.4,390.0,17.2,563,4654,0.17,2.20,0.00,0.000,4,0.185,0.047,2815,3760,2606
$GC,4909,0.61,226.4,341.9,18.6,585,4915,0.17,2.00,0.00,0.000,6,0.191,0.025,2781,2376,2604
$GC,5238,0.75,226.4,293.1,13.8,620,5245,0.12,0.00,0.00,0.000,6,0.087,0.000,2828,2372,2603
$GC,5585,0.75,226.4,239.7,16.9,681,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2372,2601
$GC,5930,0.75,226.4,180.1,15.4,742,5936,0.00,2.17,0.00,0.000,4,0.000,0.048,2828,3752,2600
$GC,6190,0.60,226.4,143.4,13.8,788,6198,0.22,2.03,0.00,0.000,6,0.189,0.025,2775,2360,2600
$GC,6539,0.95,372.0,118.0,2.6,849,6661,0.28,2.33,111.18,0.744,4,0.067,0.047,2891,3751,2013
$GC,6916,1.04,388.0,46.8,12.0,914,6935,0.00,2.03,12.40,0.643,6,0.000,0.025,2895,2371,1949
$GC,7276,1.34,445.6,9.3,9.0,977,7329,0.28,2.22,45.85,0.640,4,0.062,0.047,3011,3754,1712
$STATE,7333,end climb,SURFACE_DEPTH_REACHED
$STATE,7333,begin surface coast
$FINISH,1.8,1.009735
$STATE,7357,end surface coast,CONTROL_FINISHED_OK
$STATE,7357,begin surface
$SM_CCo,7380,21.20,0.617,0,0,1594,475.15
$SM_GC,2.69,0.00,0.00,21.20,0.000,0.000,0.617,140,2344,1594,-7.63,-1.10,475.15
$IRIDIUM_FIX,2512.73,12233.94,191198,101006
$TT8_MAMPS,0.029146
$HUMID,1856
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.8,129.7
$24V_AH,23.6,98.588
$10V_AH,10.7,51.722
$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,24.075,53.400,439.500,21.200,0.000,27.962,32.095,156.367,3.250,0.000,0.000,36.378,1644.429,3447.709,527.069,1655.367,507.929,0.000,1357.248,0.000,1598.830,0.000,20.812,0.000
$DEVICE_MAMPS,229.333,53.690,999.401,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.719,758.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53742,991
$CAP_FILE_SIZE,88893,0
$CFSIZE,260165632,181182464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,233.9,1
$GPS,250809,144225,2523.286,12231.538,42,1.1,42,-3.7