version: 66.04
glider: 167
mission: 2
dive: 505
start: 8 14 109 17 50 41
data:
$ID,167
$MISSION,2
$DIVE,505
$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,-16267.911
$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,92
$R_STBD_OVSHOOT,53
$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
$GPS1,174336,2512.809,12410.850,25,2.0,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-69.5
$GPS2,175022,2512.751,12410.865,10,2.5,29,-3.8
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,HEADING
$TGT_LATLONG,2509.058,12359.654
$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,2145
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.23,-121.7,0.0,0.0,0,46,0.00,0.00,-26.38,0.000,2,0.000,0.000,141,2427,2251
$GC,50,-1.23,-121.7,3.1,-2.2,5,122,8.02,2.12,-57.92,0.000,4,0.226,0.037,2141,1005,3989
$GC,141,-0.66,-121.7,10.1,-16.1,21,148,0.68,2.03,0.00,0.000,6,0.171,0.025,2325,2383,3989
$GC,488,-0.93,-121.7,45.7,-9.4,82,495,0.20,2.05,0.00,0.000,4,0.061,0.041,2230,3744,3990
$GC,519,-0.98,-121.7,49.1,-11.3,87,525,0.00,1.92,0.00,0.000,6,0.000,0.020,2230,2348,3991
$GC,866,-0.98,-121.7,87.1,-9.4,148,872,0.00,1.88,0.00,0.000,4,0.000,0.022,2230,1018,3991
$GC,895,-0.98,-121.7,90.6,-10.5,153,901,0.00,2.00,0.00,0.000,6,0.000,0.025,2222,2394,3991
$GC,1242,-0.98,-121.7,122.2,-9.7,214,1248,0.00,1.95,0.00,0.000,4,0.000,0.022,2222,1027,3992
$GC,1277,-0.98,-121.7,126.0,-10.6,220,1283,0.00,1.95,0.00,0.000,6,0.000,0.025,2218,2363,3992
$GC,1624,-1.07,-121.7,158.6,-9.9,281,1629,0.00,2.10,0.00,0.000,4,0.000,0.041,2218,3759,3992
$GC,1659,-1.07,-121.7,162.2,-10.0,287,1665,0.00,1.90,0.00,0.000,6,0.000,0.020,2218,2368,3992
$GC,2005,-1.13,-121.7,192.3,-7.5,348,2012,0.10,2.12,0.00,0.000,4,0.083,0.039,2166,3762,3992
$GC,2032,-0.99,-121.7,194.6,-8.9,352,2038,0.20,1.90,0.00,0.000,6,0.155,0.021,2221,2387,3993
$GC,2378,-1.10,-121.7,230.7,-10.5,413,2384,0.00,1.92,0.00,0.000,4,0.000,0.022,2221,1019,3993
$GC,2437,-1.15,-121.7,236.7,-9.8,423,2443,0.12,2.00,0.00,0.000,6,0.078,0.026,2165,2396,3993
$GC,2783,-1.06,-121.7,265.9,-7.4,484,2790,0.15,1.98,0.00,0.000,4,0.163,0.021,2203,1020,3992
$GC,2839,-1.06,-121.7,270.2,-7.7,493,2845,0.00,1.95,0.00,0.000,6,0.000,0.026,2204,2353,3993
$GC,3183,-1.15,-121.7,305.3,-10.8,550,3186,0.00,2.12,0.00,0.000,4,0.000,0.042,2203,3762,3993
$GC,3217,-1.15,-121.7,308.9,-10.9,553,3221,0.00,1.98,0.00,0.000,6,0.000,0.020,2203,2337,3993
$GC,3549,-1.26,-121.7,340.4,-9.1,584,3554,0.17,2.20,0.00,0.000,4,0.064,0.041,2125,3764,3992
$GC,3578,-1.05,-121.7,343.4,-11.0,586,3582,0.28,1.95,0.00,0.000,6,0.164,0.020,2199,2365,3993
$STATE,3756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3756,begin apogee
$GC,3765,-0.27,0.0,360.1,9.4,603,3861,0.75,0.00,88.45,0.847,6,0.124,0.000,2449,2364,3531
$STATE,3861,end apogee,CONTROL_FINISHED_OK
$STATE,3861,begin climb
$GC,3865,1.23,121.7,366.9,0.0,613,3968,1.35,2.25,92.88,0.832,4,0.069,0.040,2937,3753,3034
$GC,4222,0.58,235.3,364.2,3.7,645,4315,0.77,1.95,85.15,0.833,6,0.193,0.018,2738,2359,2573
$GC,4641,0.92,325.3,344.6,5.0,685,4716,0.25,2.08,68.65,0.825,4,0.061,0.026,2852,1013,2204
$GC,4846,0.94,339.9,327.6,9.2,703,4864,0.00,1.98,12.38,0.743,6,0.000,0.025,2851,2344,2145
$GC,5186,0.96,355.9,294.5,9.1,740,5204,0.00,2.22,13.50,0.747,4,0.000,0.041,2851,3760,2080
$GC,5356,0.91,367.1,278.1,9.4,769,5373,0.00,1.98,10.27,0.716,6,0.000,0.021,2854,2389,2034
$GC,5713,1.02,368.7,243.6,9.9,832,5719,0.00,2.05,0.00,0.000,4,0.000,0.026,2855,971,2031
$GC,5828,1.12,369.3,232.3,10.0,852,5835,0.15,2.03,0.00,0.000,6,0.074,0.026,2916,2350,2030
$GC,6174,0.98,369.3,194.2,11.4,913,6181,0.17,2.03,0.00,0.000,4,0.156,0.024,2868,966,2029
$GC,6246,1.10,406.0,187.9,8.0,925,6284,0.00,2.12,30.83,0.743,6,0.000,0.025,2869,2415,1877
$GC,6626,1.27,406.0,154.0,10.2,992,6632,0.20,2.12,0.00,0.000,4,0.067,0.025,2965,967,1873
$GC,6772,1.04,414.9,137.4,9.5,1017,6786,0.30,2.05,8.18,0.629,6,0.165,0.025,2881,2358,1840
$GC,7128,1.25,418.8,104.4,9.8,1079,7140,0.17,2.08,4.47,0.499,4,0.071,0.026,2968,975,1823
$GC,7228,1.06,418.8,92.4,11.9,1096,7234,0.28,1.98,0.00,0.000,6,0.160,0.025,2891,2328,1823
$GC,7574,1.31,473.3,60.7,7.0,1157,7624,0.17,2.03,43.42,0.650,4,0.068,0.025,2980,970,1601
$GC,7676,1.31,473.3,50.7,10.7,1175,7682,0.00,1.95,0.00,0.000,6,0.000,0.024,2980,2290,1598
$GC,8021,1.31,473.6,9.8,10.0,1236,8027,0.00,2.20,0.00,0.000,4,0.000,0.042,2980,3740,1595
$STATE,8089,end climb,SURFACE_DEPTH_REACHED
$STATE,8089,begin surface coast
$FINISH,1.7,1.021763
$STATE,8116,end surface coast,CONTROL_FINISHED_OK
$STATE,8116,begin surface
$SM_CCo,8199,0.00,0.000,0,0,1592,475.88
$SM_GC,2.73,7.55,0.00,0.00,0.053,0.000,0.000,141,2348,1592,-7.50,-0.99,475.88
$IRIDIUM_FIX,2505.59,12445.47,081198,151511
$TT8_MAMPS,0.028379
$HUMID,1694
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.0,88.508
$10V_AH,10.8,46.906
$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,22.050,77.100,458.175,0.000,0.000,24.381,39.023,179.808,1.750,0.000,0.000,30.753,1887.032,3661.678,527.489,1959.500,562.186,0.000,1525.086,0.000,1916.178,0.000,12.701,0.000
$DEVICE_MAMPS,226.265,42.185,846.768,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,835.012,1002.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66323,1253
$CAP_FILE_SIZE,108483,0
$CFSIZE,260165632,185241600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140809,200836,2512.497,12411.108,39,1.1,39,-3.8