version: 66.04
glider: 167
mission: 2
dive: 561
start: 8 24 109 19 51 51
data:
$ID,167
$MISSION,2
$DIVE,561
$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,-20342.973
$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,65
$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
$GPS1,194455,2521.683,12235.127,39,1.5,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.8
$GPS2,195131,2521.967,12235.272,11,1.1,17,-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,306.4,18079,-25.0,-13.200
$D_GRID,582
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.50,-121.7,0.0,0.0,0,50,0.00,0.00,-28.90,0.000,2,0.000,0.000,139,2395,2319
$GC,54,-1.50,-121.7,3.4,-2.8,5,119,8.12,2.15,-47.38,0.000,4,0.233,0.049,2086,3763,3990
$GC,219,-0.63,-121.7,49.8,-37.7,33,226,1.05,2.03,0.00,0.000,6,0.190,0.021,2368,2345,3992
$GC,568,-0.99,-121.7,100.8,-8.2,94,574,0.28,1.92,0.00,0.000,4,0.060,0.025,2248,1007,3994
$GC,655,-0.99,-121.7,113.5,-16.0,109,661,0.00,2.08,0.00,0.000,6,0.000,0.032,2242,2389,3995
$GC,1000,-0.88,-121.7,178.6,-18.2,170,1007,0.17,2.10,0.00,0.000,4,0.170,0.043,2285,3755,3997
$GC,1224,-1.00,-121.7,213.7,-16.0,209,1230,0.00,1.92,0.00,0.000,6,0.000,0.025,2285,2400,3997
$GC,1572,-1.19,-121.7,262.2,-13.0,270,1579,0.20,2.12,0.00,0.000,4,0.064,0.045,2192,3760,3998
$GC,1654,-1.00,-121.7,276.9,-19.0,284,1661,0.22,1.92,0.00,0.000,6,0.162,0.025,2254,2418,3997
$GC,1995,-1.08,-121.7,326.4,-12.5,328,1999,0.00,2.05,0.00,0.000,4,0.000,0.026,2254,1002,3997
$GC,2042,-1.21,-121.7,332.4,-12.8,332,2047,0.20,2.15,0.00,0.000,6,0.067,0.033,2178,2426,3997
$GC,2375,-1.00,-121.7,392.4,-18.4,363,2379,0.25,2.08,0.00,0.000,4,0.186,0.046,2239,3763,3997
$GC,2482,-1.00,-121.7,408.5,-14.2,372,2486,0.00,1.92,0.00,0.000,6,0.000,0.025,2239,2423,3997
$GC,2813,-1.08,-121.7,455.5,-13.8,403,2817,0.00,2.10,0.00,0.000,4,0.000,0.049,2234,3754,3997
$GC,3040,-1.08,-121.7,489.3,-14.5,423,3044,0.00,1.90,0.00,0.000,6,0.000,0.028,2234,2470,3995
$GC,3364,-1.16,-121.7,537.6,-14.9,442,3367,0.00,2.05,0.00,0.000,4,0.000,0.052,2232,3760,3994
$GC,3471,-1.16,-121.7,555.4,-16.4,446,3476,0.00,1.88,0.00,0.000,6,0.000,0.028,2232,2472,3993
$STATE,3660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3660,begin apogee
$GC,3669,-0.27,0.0,584.0,14.8,456,3765,0.88,0.00,92.62,1.073,6,0.163,0.000,2485,2380,3532
$STATE,3766,end apogee,CONTROL_FINISHED_OK
$STATE,3766,begin climb
$GC,3769,1.50,121.7,589.2,0.0,461,3876,1.65,2.25,97.95,1.047,4,0.069,0.029,3073,966,3035
$GC,4130,0.87,155.1,573.6,10.8,477,4163,0.82,2.15,27.02,1.014,6,0.212,0.034,2865,2374,2899
$GC,4490,0.87,225.0,541.5,8.1,495,4554,0.00,2.20,55.90,1.029,4,0.000,0.029,2872,963,2613
$GC,4661,0.95,251.4,522.6,11.3,502,4689,0.00,2.17,21.38,0.980,6,0.000,0.031,2871,2378,2506
$GC,5007,0.98,272.2,482.6,11.7,526,5030,0.00,2.25,17.62,0.965,4,0.000,0.051,2872,3754,2421
$GC,5081,0.93,272.2,472.0,13.9,532,5087,0.00,2.08,0.00,0.000,6,0.000,0.025,2882,2354,2419
$GC,5411,0.94,283.2,430.0,12.4,563,5425,0.00,2.25,10.00,0.894,4,0.000,0.050,2882,3752,2377
$GC,5539,0.89,283.2,411.5,14.3,574,5547,0.00,2.03,0.00,0.000,6,0.000,0.025,2885,2385,2375
$GC,5870,0.89,283.2,367.2,13.5,605,5873,0.00,2.10,0.00,0.000,4,0.000,0.032,2885,970,2373
$GC,5910,1.00,283.2,360.6,14.2,608,5916,0.00,2.15,0.00,0.000,6,0.000,0.032,2885,2386,2373
$GC,6241,1.00,283.2,309.4,15.7,639,6244,0.00,2.12,0.00,0.000,4,0.000,0.031,2886,969,2372
$GC,6388,1.12,283.2,287.0,15.2,660,6395,0.15,2.15,0.00,0.000,6,0.077,0.032,2946,2388,2371
$GC,6735,1.00,283.2,226.8,18.3,721,6742,0.17,2.15,0.00,0.000,4,0.177,0.048,2896,3762,2371
$GC,6998,1.00,283.2,182.4,16.3,767,7004,0.00,2.03,0.00,0.000,6,0.000,0.025,2905,2360,2370
$GC,7344,1.05,283.2,121.9,17.2,828,7350,0.00,2.20,0.00,0.000,4,0.000,0.048,2906,3753,2369
$GC,7481,1.05,283.2,102.1,14.5,852,7487,0.00,1.98,0.00,0.000,6,0.000,0.025,2914,2397,2369
$GC,7827,1.18,317.1,62.0,10.7,913,7859,0.12,2.17,26.48,0.709,4,0.081,0.029,2973,976,2239
$GC,8115,1.31,379.2,28.6,8.7,963,8172,0.00,2.10,48.83,0.673,6,0.000,0.031,2973,2371,1984
$STATE,8383,end climb,SURFACE_DEPTH_REACHED
$STATE,8383,begin surface coast
$FINISH,1.9,1.007968
$STATE,8412,end surface coast,CONTROL_FINISHED_OK
$STATE,8412,begin surface
$SM_CCo,8434,71.35,0.638,0,0,1594,475.15
$SM_GC,2.55,0.00,0.00,71.35,0.000,0.000,0.638,138,2375,1594,-7.63,-0.23,475.15
$IRIDIUM_FIX,2512.73,12237.24,181198,171745
$TT8_MAMPS,0.029146
$HUMID,1805
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.4,140.4
$24V_AH,23.5,97.681
$10V_AH,10.6,51.286
$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,22.025,70.950,397.800,71.350,0.000,25.344,35.130,183.850,4.000,0.000,0.000,17.121,1738.982,4306.305,542.314,1744.526,567.784,0.000,1428.438,0.000,1707.179,0.000,25.849,0.000
$DEVICE_MAMPS,233.168,84.370,1073.033,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.121,756.404,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53716,1016
$CAP_FILE_SIZE,97392,0
$CFSIZE,260165632,181551104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250,127.7,1
$GPS,240809,221501,2521.712,12235.802,42,1.3,42,-3.7