version: 66.04
glider: 167
mission: 2
dive: 569
start: 8 25 109 14 48 46
data:
$ID,167
$MISSION,2
$DIVE,569
$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,-20503.529
$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,91
$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
$GPS1,144225,2523.286,12231.538,42,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.2
$GPS2,144826,2523.208,12231.602,15,1.4,15,-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,309.1,11531,-25.0,-13.200
$D_GRID,497
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.52,0.000,2,0.000,0.000,140,2344,2220
$GC,48,-1.50,-121.7,3.2,-2.6,4,122,8.07,2.25,-58.15,0.000,4,0.233,0.053,2087,3758,3989
$GC,272,-0.83,-121.7,69.1,-27.8,42,279,0.77,1.98,0.00,0.000,6,0.166,0.022,2309,2368,3992
$GC,620,-1.14,-121.7,106.8,-9.7,103,627,0.22,2.17,0.00,0.000,4,0.060,0.044,2206,3765,3995
$GC,735,-1.01,-121.7,124.1,-16.4,123,742,0.17,1.90,0.00,0.000,6,0.158,0.023,2253,2421,3996
$GC,1082,-1.12,-121.7,174.5,-17.3,184,1088,0.00,2.08,0.00,0.000,4,0.000,0.044,2246,3759,3997
$GC,1240,-1.22,-121.7,203.3,-17.9,211,1246,0.17,1.88,0.00,0.000,6,0.067,0.024,2174,2440,3997
$GC,1588,-1.08,-121.7,274.1,-19.0,272,1595,0.17,2.05,0.00,0.000,4,0.163,0.044,2218,3754,3997
$GC,1709,-1.08,-121.7,297.3,-18.0,293,1716,0.00,1.83,0.00,0.000,6,0.000,0.025,2218,2477,3997
$GC,2037,-1.08,-121.7,345.0,-13.1,325,2041,0.00,2.00,0.00,0.000,4,0.000,0.048,2218,3753,3997
$GC,2116,-1.08,-121.7,353.5,-9.6,332,2120,0.00,1.83,0.00,0.000,6,0.000,0.025,2218,2471,3997
$GC,2452,-1.14,-121.7,387.0,-9.6,363,2456,0.00,2.03,0.00,0.000,4,0.000,0.048,2218,3759,3997
$GC,2593,-1.14,-121.7,404.4,-13.7,375,2599,0.00,1.80,0.00,0.000,6,0.000,0.026,2218,2502,3996
$GC,2925,-1.20,-121.7,449.3,-14.7,406,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2501,3995
$STATE,3250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3250,begin apogee
$GC,3258,-0.27,0.0,498.2,14.0,437,3353,0.88,0.00,91.88,1.000,6,0.150,0.000,2485,2394,3531
$STATE,3354,end apogee,CONTROL_FINISHED_OK
$STATE,3354,begin climb
$GC,3359,1.50,121.7,503.0,0.0,442,3466,1.55,2.25,96.05,0.976,4,0.047,0.028,3076,965,3035
$GC,3494,0.84,245.1,507.9,4.2,448,3601,0.90,2.17,95.97,0.964,6,0.225,0.038,2858,2374,2533
$GC,3919,0.74,245.1,441.2,17.7,484,3921,0.15,0.00,0.00,0.000,6,0.187,0.000,2821,2375,2526
$GC,4243,0.74,245.1,390.4,16.6,514,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2375,2525
$GC,4569,0.79,245.1,340.7,16.3,545,4572,0.00,2.15,0.00,0.000,4,0.000,0.049,2820,3754,2522
$GC,4819,0.70,245.1,296.6,18.5,568,4825,0.00,2.10,0.00,0.000,6,0.000,0.025,2828,2324,2521
$GC,5165,0.71,256.2,243.1,12.4,629,5178,0.00,0.00,7.78,0.751,6,0.000,0.000,2828,2322,2490
$GC,5517,0.73,272.5,196.8,12.0,691,5537,0.00,2.33,14.93,0.789,4,0.000,0.047,2828,3748,2420
$GC,5792,0.68,272.5,152.8,16.6,739,5799,0.12,2.08,0.00,0.000,6,0.193,0.025,2803,2328,2417
$GC,6139,0.84,272.5,106.0,14.0,800,6145,0.15,2.25,0.00,0.000,4,0.079,0.048,2865,3751,2416
$GC,6368,0.71,272.5,63.4,17.6,840,6375,0.25,2.03,0.00,0.000,6,0.181,0.024,2809,2371,2416
$GC,6716,1.04,345.1,44.5,7.9,901,6781,0.25,2.15,56.50,0.690,4,0.065,0.029,2924,967,2123
$GC,6941,1.17,362.3,22.4,12.0,940,6960,0.00,2.17,13.98,0.627,6,0.000,0.032,2924,2398,2054
$STATE,7107,end climb,SURFACE_DEPTH_REACHED
$STATE,7107,begin surface coast
$FINISH,1.7,0.997581
$STATE,7134,end surface coast,CONTROL_FINISHED_OK
$STATE,7134,begin surface
$SM_CCo,7155,84.82,0.637,0,0,1594,475.15
$SM_GC,2.90,0.00,0.00,84.82,0.000,0.000,0.637,136,2401,1594,-7.64,0.51,475.15
$IRIDIUM_FIX,2512.73,12233.94,191198,121202
$TT8_MAMPS,0.029146
$HUMID,1812
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.3,70.8
$24V_AH,23.6,98.712
$10V_AH,10.7,51.780
$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,21.550,45.525,377.075,84.825,0.000,30.293,33.328,152.514,3.500,0.000,0.000,15.387,1621.848,3388.167,529.908,1560.690,501.117,0.000,1324.013,0.000,1528.087,0.000,22.348,0.000
$DEVICE_MAMPS,233.168,65.195,1000.168,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.814,751.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50719,974
$CAP_FILE_SIZE,83555,0
$CFSIZE,260165632,181137408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,249.5,1
$GPS,250809,165036,2523.504,12230.102,28,1.2,28,-3.7