version: 66.04
glider: 167
mission: 2
dive: 511
start: 8 17 109 10 42 0
data:
$ID,167
$MISSION,2
$DIVE,511
$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,-19175.789
$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,91
$R_STBD_OVSHOOT,41
$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
$GPS1,103437,2457.731,12211.298,39,1.1,39,-3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.0
$GPS2,104138,2457.713,12211.300,14,1.5,14,-3.5
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,98.1,64426,-25.0,-13.200
$D_GRID,844
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,46,0.00,0.00,-28.27,0.000,2,0.000,0.000,140,2361,2272
$GC,50,-1.50,-121.7,3.1,-2.4,5,119,7.82,2.00,-53.58,0.000,4,0.232,0.039,2061,989,3990
$GC,296,-0.88,-121.7,75.2,-33.2,47,303,0.75,2.10,0.00,0.000,6,0.184,0.035,2256,2382,3992
$GC,642,-0.88,-121.7,128.3,-14.3,108,648,0.00,2.10,0.00,0.000,4,0.000,0.046,2247,3753,3995
$GC,832,-0.88,-121.7,158.2,-16.9,141,838,0.00,1.92,0.00,0.000,6,0.000,0.025,2247,2399,3997
$GC,1177,-0.88,-121.7,214.0,-15.2,202,1184,0.00,2.12,0.00,0.000,4,0.000,0.047,2240,3766,3997
$GC,1249,-0.88,-121.7,225.3,-16.9,214,1257,0.00,1.92,0.00,0.000,6,0.000,0.025,2240,2406,3997
$GC,1597,-0.88,-121.7,281.3,-16.8,275,1603,0.00,2.10,0.00,0.000,4,0.000,0.047,2232,3754,3997
$GC,1644,-0.88,-121.7,290.5,-19.5,283,1650,0.00,1.90,0.00,0.000,6,0.000,0.025,2232,2417,3997
$GC,1974,-0.88,-121.7,342.7,-14.5,318,1977,0.00,2.10,0.00,0.000,4,0.000,0.049,2224,3757,3997
$GC,2013,-0.88,-121.7,348.8,-13.7,321,2019,0.12,1.90,0.00,0.000,6,0.172,0.025,2255,2429,3997
$GC,2339,-1.03,-121.7,389.6,-12.5,352,2343,0.12,2.10,0.00,0.000,4,0.080,0.048,2205,3764,3997
$GC,2525,-0.99,-121.7,421.3,-17.9,368,2528,0.00,1.85,0.00,0.000,6,0.000,0.025,2205,2485,3997
$GC,2858,-0.99,-121.7,477.8,-17.0,399,2861,0.00,2.00,0.00,0.000,4,0.000,0.051,2204,3751,3996
$GC,2938,-0.89,-121.7,491.9,-17.8,406,2942,0.15,1.83,0.00,0.000,6,0.167,0.026,2258,2514,3995
$GC,3264,-1.10,-121.7,534.1,-11.9,424,3269,0.20,1.98,0.00,0.000,4,0.071,0.051,2174,3762,3993
$GC,3419,-0.99,-121.7,561.1,-18.7,430,3426,0.20,1.77,0.00,0.000,6,0.176,0.028,2225,2545,3993
$GC,3736,-1.11,-121.7,613.4,-16.6,446,3741,0.12,2.28,0.00,0.000,4,0.085,0.027,2178,997,3992
$GC,3770,-1.11,-121.7,620.2,-19.2,447,3776,0.00,2.33,0.00,0.000,6,0.000,0.037,2178,2515,3992
$GC,4087,-1.04,-121.7,681.8,-21.3,463,4091,0.12,1.95,0.00,0.000,4,0.182,0.053,2204,3751,3990
$GC,4134,-1.04,-121.7,691.5,-19.9,465,4137,0.00,1.77,0.00,0.000,6,0.000,0.028,2205,2548,3989
$STATE,4299,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4299,begin apogee
$GC,4306,-0.27,0.0,719.6,16.9,473,4403,0.85,0.00,93.12,1.182,6,0.160,0.000,2452,2389,3532
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4407,1.50,121.7,725.6,0.0,478,4515,1.62,2.30,98.80,1.145,4,0.075,0.049,3021,3751,3034
$GC,4768,0.77,121.7,683.8,15.8,494,4774,0.90,2.10,0.00,0.000,6,0.204,0.027,2796,2347,3030
$GC,5091,0.86,193.5,656.8,8.0,510,5155,0.00,2.33,56.62,1.124,4,0.000,0.051,2796,3749,2742
$GC,5360,0.96,193.5,618.8,15.0,522,5365,0.15,2.05,0.00,0.000,6,0.083,0.028,2859,2376,2737
$GC,5693,0.96,193.5,559.8,15.7,538,5697,0.00,2.20,0.00,0.000,4,0.000,0.053,2860,3749,2734
$GC,5846,0.93,217.2,535.1,11.5,544,5873,0.00,1.95,19.77,1.043,6,0.000,0.028,2868,2420,2645
$GC,6185,0.93,217.2,485.8,19.4,564,6189,0.00,2.17,0.00,0.000,4,0.000,0.032,2868,965,2642
$GC,6362,1.04,217.2,457.7,14.4,579,6368,0.00,2.22,0.00,0.000,6,0.000,0.035,2868,2422,2641
$GC,6690,1.13,236.8,414.7,11.8,610,6714,0.12,2.12,16.05,0.972,4,0.088,0.054,2917,3754,2566
$GC,6728,1.02,236.8,409.6,13.5,613,6732,0.20,1.95,0.00,0.000,6,0.189,0.028,2876,2431,2565
$GC,7059,1.09,236.8,368.1,14.2,644,7062,0.00,2.12,0.00,0.000,4,0.000,0.052,2876,3759,2563
$GC,7109,1.09,236.8,360.1,15.9,648,7115,0.00,1.92,0.00,0.000,6,0.000,0.028,2884,2447,2562
$GC,7439,1.14,236.8,313.3,14.2,679,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2445,2561
$GC,7780,1.19,236.8,265.0,14.3,732,7787,0.12,2.20,0.00,0.000,4,0.087,0.030,2941,966,2561
$GC,7984,1.19,236.8,233.7,14.8,768,7990,0.00,2.28,0.00,0.000,6,0.000,0.035,2941,2456,2561
$GC,8330,1.11,236.8,182.5,13.6,829,8337,0.15,2.05,0.00,0.000,4,0.181,0.049,2903,3764,2560
$GC,8477,1.06,253.2,163.8,12.0,854,8498,0.00,1.90,13.52,0.783,6,0.000,0.028,2912,2455,2498
$GC,8837,1.06,253.2,118.1,15.5,917,8845,0.00,2.20,0.00,0.000,4,0.000,0.030,2920,968,2496
$GC,8925,1.16,253.2,105.8,14.0,932,8931,0.00,2.28,0.00,0.000,6,0.000,0.033,2920,2462,2496
$GC,9271,1.29,297.3,64.5,10.0,993,9313,0.12,2.03,35.45,0.724,4,0.081,0.049,2972,3757,2319
$GC,9398,1.19,307.4,50.2,12.5,1014,9412,0.20,1.92,9.38,0.641,6,0.173,0.026,2931,2441,2277
$GC,9755,1.53,392.6,19.0,7.0,1076,9826,0.25,2.30,65.65,0.662,4,0.067,0.031,3040,969,1930
$STATE,9926,end climb,SURFACE_DEPTH_REACHED
$STATE,9926,begin surface coast
$FINISH,1.8,1.010847
$STATE,9956,end surface coast,CONTROL_FINISHED_OK
$STATE,9956,begin surface
$SM_CCo,9978,60.22,0.634,0,0,1594,475.15
$SM_GC,3.23,0.00,0.00,60.22,0.000,0.000,0.634,138,2388,1594,-7.52,0.14,475.15
$IRIDIUM_FIX,2451.31,12210.40,111198,080807
$TT8_MAMPS,0.029146
$HUMID,1997
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.3,115.8
$24V_AH,23.6,89.677
$10V_AH,10.7,47.460
$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,22.375,87.025,408.375,60.225,0.000,27.950,31.468,186.349,5.000,0.000,0.000,14.627,1915.605,5412.722,555.488,1951.148,627.367,0.000,1548.092,0.000,1910.147,0.000,34.135,0.000
$DEVICE_MAMPS,231.634,54.457,1181.947,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,750.869,819.328,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59962,1111
$CAP_FILE_SIZE,111170,0
$CFSIZE,260165632,185008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,215.2,1
$GPS,170809,133037,2456.454,12211.827,36,0.9,36,-3.5