version: 66.04
glider: 167
mission: 2
dive: 562
start: 8 24 109 22 21 28
data:
$ID,167
$MISSION,2
$DIVE,562
$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,-20360.455
$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,72
$R_STBD_OVSHOOT,44
$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
$GPS1,221501,2521.712,12235.802,42,1.3,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.7
$GPS2,222108,2521.814,12236.009,16,1.1,16,-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,310.7,19337,-25.0,-13.200
$D_GRID,597
$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,-1.50,-121.7,0.0,0.0,0,38,0.00,0.00,-20.17,0.000,2,0.000,0.000,138,2375,2086
$GC,42,-1.50,-121.7,3.0,-1.2,3,122,8.18,2.15,-63.17,0.000,4,0.236,0.053,2086,3763,3989
$GC,170,-0.57,-121.7,31.5,-47.4,24,177,1.12,2.03,0.00,0.000,6,0.187,0.021,2391,2350,3991
$GC,517,-0.93,-121.7,75.3,-9.4,85,525,0.28,2.20,0.00,0.000,4,0.057,0.044,2271,3756,3993
$GC,550,-0.93,-121.7,79.9,-15.5,90,556,0.00,1.98,0.00,0.000,6,0.000,0.022,2271,2356,3993
$GC,896,-0.93,-121.7,142.3,-14.8,151,902,0.00,1.92,0.00,0.000,4,0.000,0.025,2271,1012,3995
$GC,948,-0.93,-121.7,150.5,-14.5,160,954,0.00,2.08,0.00,0.000,6,0.000,0.030,2262,2406,3995
$GC,1295,-0.93,-121.7,206.7,-17.3,221,1302,0.00,2.08,0.00,0.000,4,0.000,0.046,2261,3756,3996
$GC,1360,-0.93,-121.7,217.6,-15.8,232,1366,0.00,1.92,0.00,0.000,6,0.000,0.024,2261,2393,3996
$GC,1706,-0.93,-121.7,274.9,-17.4,293,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2392,3996
$GC,2041,-1.03,-121.7,328.3,-14.4,336,2045,0.00,2.12,0.00,0.000,4,0.000,0.045,2261,3756,3996
$GC,2166,-1.14,-121.7,347.6,-14.5,347,2170,0.15,1.92,0.00,0.000,6,0.074,0.023,2198,2407,3996
$GC,2498,-1.00,-121.7,404.7,-16.2,378,2502,0.20,2.03,0.00,0.000,4,0.163,0.024,2256,1020,3996
$GC,2521,-1.00,-121.7,408.4,-15.0,380,2525,0.00,2.12,0.00,0.000,6,0.000,0.033,2257,2419,3996
$GC,2853,-1.12,-121.7,445.6,-10.8,411,2857,0.12,2.08,0.00,0.000,4,0.080,0.048,2205,3754,3995
$GC,2954,-0.99,-121.7,461.6,-17.4,419,2960,0.20,1.92,0.00,0.000,6,0.163,0.025,2259,2415,3995
$GC,3279,-1.13,-121.7,505.2,-12.6,448,3283,0.12,2.12,0.00,0.000,4,0.078,0.048,2205,3763,3994
$GC,3374,-1.01,-121.7,521.4,-18.2,452,3378,0.17,1.92,0.00,0.000,6,0.170,0.025,2251,2428,3993
$GC,3700,-1.15,-121.7,564.7,-12.8,468,3704,0.12,2.08,0.00,0.000,4,0.081,0.048,2193,3757,3992
$GC,3768,-1.04,-121.7,576.7,-17.7,471,3772,0.20,1.92,0.00,0.000,6,0.168,0.025,2246,2429,3991
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3921,-0.27,0.0,597.9,13.8,478,4016,0.80,0.00,92.40,1.078,6,0.146,0.000,2489,2429,3532
$STATE,4017,end apogee,CONTROL_FINISHED_OK
$STATE,4017,begin climb
$GC,4021,1.50,121.7,601.7,0.0,483,4129,1.58,2.28,97.60,1.052,4,0.064,0.028,3068,976,3035
$GC,4383,0.87,137.0,579.8,12.1,499,4403,0.80,2.12,13.07,0.963,6,0.212,0.034,2865,2371,2972
$GC,4735,0.82,201.1,549.6,8.6,516,4792,0.00,2.17,50.45,1.032,4,0.000,0.029,2869,995,2711
$GC,5034,0.82,201.1,510.0,14.0,529,5038,0.00,2.08,0.00,0.000,6,0.000,0.032,2869,2354,2707
$GC,5367,0.83,203.3,464.3,13.0,557,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2354,2704
$GC,5693,0.83,203.3,413.3,15.9,588,5696,0.00,2.20,0.00,0.000,4,0.000,0.051,2869,3760,2704
$GC,5740,0.68,203.3,405.5,17.2,592,5745,0.30,2.08,0.00,0.000,6,0.183,0.025,2799,2344,2703
$GC,6072,0.95,253.8,370.9,9.5,623,6119,0.20,2.33,40.95,0.946,4,0.071,0.048,2885,3755,2496
$GC,6337,0.85,253.8,322.6,20.5,646,6343,0.17,2.05,0.00,0.000,6,0.183,0.025,2851,2371,2492
$GC,6673,1.05,339.2,284.3,7.0,692,6749,0.17,2.28,67.80,0.883,4,0.072,0.049,2926,3751,2147
$GC,6853,0.98,339.2,255.9,21.2,723,6860,0.12,2.03,0.00,0.000,6,0.192,0.025,2900,2385,2142
$GC,7199,1.06,339.2,185.0,17.3,784,7205,0.00,2.17,0.00,0.000,4,0.000,0.047,2899,3757,2139
$GC,7218,1.12,339.2,181.4,16.7,787,7224,0.00,2.00,0.00,0.000,6,0.000,0.025,2909,2400,2139
$GC,7565,1.23,339.2,124.8,15.3,848,7571,0.17,2.12,0.00,0.000,4,0.072,0.028,2993,958,2137
$GC,7607,1.17,339.2,118.3,15.1,855,7613,0.15,2.20,0.00,0.000,6,0.186,0.031,2958,2419,2137
$GC,7953,1.17,339.2,68.9,22.5,916,7959,0.00,2.17,0.00,0.000,4,0.000,0.028,2966,959,2136
$GC,8215,1.32,362.1,27.5,11.5,962,8240,0.12,2.15,17.40,0.661,6,0.084,0.031,3016,2391,2054
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,1.8,1.001977
$STATE,8470,end surface coast,CONTROL_FINISHED_OK
$STATE,8470,begin surface
$SM_CCo,8491,84.85,0.644,0,0,1594,475.15
$SM_GC,3.00,0.00,0.00,84.85,0.000,0.000,0.644,138,2395,1594,-7.63,0.31,475.15
$IRIDIUM_FIX,2512.73,12233.94,181198,191957
$TT8_MAMPS,0.029146
$HUMID,1797
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.9,71.5
$24V_AH,22.4,97.815
$10V_AH,10.6,51.349
$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,23.250,71.025,379.675,84.850,0.000,24.897,36.478,154.603,4.500,0.000,0.000,16.853,1736.388,4351.676,548.630,1765.036,540.603,0.000,1445.534,0.000,1721.143,0.000,30.683,0.000
$DEVICE_MAMPS,236.236,52.923,1078.402,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.807,746.057,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53747,1007
$CAP_FILE_SIZE,99865,0
$CFSIZE,260165632,181489664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,128.2,1
$GPS,250809,004534,2522.348,12235.671,7,99.0,26,-3.7