version: 66.04
glider: 167
mission: 2
dive: 504
start: 8 14 109 15 26 28
data:
$ID,167
$MISSION,2
$DIVE,504
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,250
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16236.531
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$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,68
$R_STBD_OVSHOOT,49
$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
$GPS1,151830,2512.969,12410.406,40,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-66.1
$GPS2,152608,2512.976,12410.400,14,1.9,14,-3.8
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,HEADING
$TGT_LATLONG,2509.282,12359.189
$TGT_RADIUS,1852.000
$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,253.8,20000,-20.0,-10.000
$D_GRID,2201
$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,-1.23,-121.7,0.0,0.0,0,60,0.00,0.00,-41.70,0.000,2,0.000,0.000,142,2409,2150
$GC,65,-1.23,-121.7,3.0,-1.3,8,142,8.23,2.17,-63.03,0.000,4,0.232,0.037,2144,977,3989
$GC,166,-0.67,-121.7,11.0,-16.7,26,173,0.68,2.10,0.00,0.000,6,0.174,0.028,2323,2380,3990
$GC,513,-1.02,-121.7,48.5,-10.3,87,519,0.28,2.10,0.00,0.000,4,0.056,0.043,2194,3750,3992
$GC,549,-0.81,-121.7,52.9,-13.7,93,556,0.30,1.98,0.00,0.000,6,0.163,0.021,2278,2347,3991
$GC,897,-1.04,-121.7,86.3,-8.7,154,903,0.17,1.90,0.00,0.000,4,0.065,0.023,2196,1012,3992
$GC,935,-0.97,-121.7,89.9,-9.9,160,942,0.15,2.03,0.00,0.000,6,0.148,0.026,2233,2392,3992
$GC,1282,-1.06,-121.7,124.5,-10.2,221,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2392,3994
$GC,1626,-1.20,-121.7,157.0,-10.5,282,1632,0.17,2.00,0.00,0.000,4,0.069,0.021,2152,1003,3994
$GC,1652,-1.14,-121.7,159.9,-11.6,286,1658,0.00,2.00,0.00,0.000,6,0.000,0.025,2149,2370,3994
$GC,1998,-0.98,-121.7,200.5,-10.3,347,2004,0.25,0.00,0.00,0.000,6,0.152,0.000,2225,2370,3995
$GC,2344,-1.13,-121.7,232.6,-9.5,408,2351,0.12,1.98,0.00,0.000,4,0.074,0.022,2174,1000,3995
$GC,2392,-1.03,-121.7,237.8,-11.0,416,2398,0.17,2.00,0.00,0.000,6,0.153,0.026,2213,2370,3995
$GC,2739,-1.16,-121.7,270.1,-9.7,477,2745,0.12,1.98,0.00,0.000,4,0.074,0.021,2162,997,3995
$GC,2769,-1.08,-121.7,273.4,-10.6,482,2776,0.15,2.00,0.00,0.000,6,0.153,0.025,2193,2365,3996
$GC,3117,-1.14,-121.7,306.6,-9.8,538,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2364,3995
$GC,3438,-1.21,-121.7,339.2,-10.7,568,3443,0.12,1.98,0.00,0.000,4,0.076,0.023,2143,1005,3995
$GC,3467,-1.09,-121.7,343.1,-12.2,570,3473,0.20,1.98,0.00,0.000,6,0.153,0.027,2194,2343,3995
$STATE,3629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3629,begin apogee
$GC,3637,-0.27,0.0,360.7,10.5,586,3733,0.77,0.00,89.07,0.853,6,0.129,0.000,2448,2343,3531
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3738,1.23,121.7,368.8,0.0,596,3836,1.35,0.00,93.10,0.838,6,0.071,0.000,2935,2344,3034
$GC,4153,0.76,236.1,367.9,3.7,635,4247,0.47,2.08,86.32,0.840,4,0.182,0.028,2801,999,2568
$GC,4343,0.85,308.9,356.6,6.0,652,4404,0.00,2.03,56.17,0.820,6,0.000,0.027,2801,2349,2272
$GC,4732,1.07,332.9,324.9,8.7,689,4757,0.22,2.20,19.25,0.782,4,0.061,0.042,2899,3742,2173
$GC,4833,0.76,332.9,313.1,12.7,698,4838,0.43,2.00,0.00,0.000,6,0.163,0.020,2788,2344,2171
$GC,5169,1.12,381.8,283.5,7.3,745,5214,0.28,2.08,38.33,0.794,4,0.060,0.027,2912,988,1973
$GC,5309,1.01,381.8,269.5,10.7,769,5316,0.15,2.00,0.00,0.000,6,0.160,0.025,2873,2330,1971
$GC,5655,1.10,381.8,233.5,10.4,830,5661,0.00,1.98,0.00,0.000,4,0.000,0.026,2873,992,1967
$GC,5741,1.19,385.6,224.6,9.8,845,5748,0.15,2.05,0.00,0.000,6,0.074,0.025,2934,2384,1967
$GC,6087,1.05,385.6,183.6,11.9,906,6094,0.17,2.05,0.00,0.000,4,0.160,0.025,2884,991,1965
$GC,6245,1.07,396.5,168.4,9.4,933,6262,0.00,2.12,11.95,0.686,6,0.000,0.026,2885,2427,1915
$GC,6602,1.20,413.6,139.9,9.1,996,6625,0.12,2.05,14.80,0.683,4,0.076,0.044,2937,3737,1845
$GC,6773,0.97,413.6,119.3,12.7,1026,6779,0.30,1.83,0.00,0.000,6,0.163,0.020,2860,2430,1842
$GC,7119,1.30,428.0,86.7,9.2,1087,7138,0.25,2.15,12.52,0.637,4,0.063,0.025,2980,995,1786
$GC,7333,1.15,441.6,64.5,9.3,1124,7353,0.25,2.10,12.35,0.615,6,0.164,0.026,2912,2422,1730
$GC,7695,1.37,475.6,32.3,8.1,1187,7728,0.17,2.03,26.95,0.616,4,0.067,0.041,2994,3750,1593
$GC,7765,1.17,476.2,25.7,10.0,1199,7772,0.30,1.85,0.00,0.000,6,0.158,0.020,2920,2428,1591
$STATE,8045,end climb,SURFACE_DEPTH_REACHED
$STATE,8045,begin surface coast
$FINISH,1.8,1.004378
$STATE,8086,end surface coast,CONTROL_FINISHED_OK
$STATE,8086,begin surface
$SM_CCo,8166,0.00,0.000,0,0,1588,476.86
$SM_GC,2.75,7.47,0.00,0.00,0.058,0.000,0.000,141,2427,1588,-7.50,1.24,476.86
$IRIDIUM_FIX,2505.59,12409.16,081198,101014
$TT8_MAMPS,0.028379
$HUMID,1666
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,24.0,88.391
$10V_AH,10.8,46.836
$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,24.000,60.750,460.825,0.000,0.000,31.314,38.202,213.739,2.250,0.000,0.000,14.948,1873.552,3678.622,528.112,1916.744,607.114,0.000,1513.237,0.000,1892.317,0.000,12.703,0.000
$DEVICE_MAMPS,231.634,43.719,852.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,836.704,1009.017,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66298,1256
$CAP_FILE_SIZE,107206,0
$CFSIZE,260165632,185298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140809,174336,2512.809,12410.850,25,2.0,25,-3.8