version: 66.04
glider: 167
mission: 2
dive: 570
start: 8 25 109 16 56 46
data:
$ID,167
$MISSION,2
$DIVE,570
$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,-20516.797
$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,63
$R_STBD_OVSHOOT,43
$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
$GPS1,165036,2523.504,12230.102,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.6
$GPS2,165626,2523.443,12230.070,12,1.4,12,-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,323.1,8959,-25.0,-13.200
$D_GRID,464
$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,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.83,0.000,2,0.000,0.000,136,2401,2125
$GC,44,-1.50,-121.7,3.1,-1.5,4,119,8.12,2.08,-60.53,0.000,4,0.232,0.051,2086,3758,3990
$GC,291,-0.94,-121.7,83.4,-26.6,46,298,0.65,2.03,0.00,0.000,6,0.165,0.022,2272,2334,3992
$GC,639,-1.09,-121.7,132.0,-13.0,107,646,0.15,2.22,0.00,0.000,4,0.068,0.044,2205,3763,3996
$GC,833,-0.96,-121.7,167.2,-17.8,141,840,0.22,1.95,0.00,0.000,6,0.157,0.024,2267,2391,3996
$GC,1180,-1.15,-121.7,204.7,-12.0,202,1186,0.17,2.12,0.00,0.000,4,0.067,0.044,2193,3754,3997
$GC,1338,-0.96,-121.7,231.9,-20.1,229,1345,0.28,1.92,0.00,0.000,6,0.153,0.024,2271,2403,3997
$GC,1689,-1.20,-121.7,273.5,-13.1,290,1695,0.20,2.12,0.00,0.000,4,0.064,0.045,2179,3763,3996
$GC,1765,-1.00,-121.7,289.7,-22.9,303,1771,0.28,1.92,0.00,0.000,6,0.163,0.024,2254,2422,3997
$GC,2095,-1.20,-121.7,347.6,-16.2,338,2099,0.17,2.08,0.00,0.000,4,0.066,0.047,2179,3751,3996
$GC,2217,-1.07,-121.7,375.3,-23.5,348,2225,0.20,1.92,0.00,0.000,6,0.161,0.025,2232,2412,3996
$GC,2543,-1.24,-121.7,431.3,-14.0,379,2548,0.15,2.10,0.00,0.000,4,0.074,0.046,2166,3749,3995
$GC,2634,-1.07,-121.7,448.2,-21.3,386,2641,0.25,1.88,0.00,0.000,6,0.163,0.024,2233,2441,3995
$STATE,2713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2714,begin apogee
$GC,2721,-0.27,0.0,464.5,19.2,394,2818,0.80,0.00,91.50,0.969,6,0.143,0.000,2484,2442,3531
$STATE,2819,end apogee,CONTROL_FINISHED_OK
$STATE,2819,begin climb
$GC,2822,1.50,121.7,472.5,0.0,404,2929,1.55,2.28,96.00,0.949,4,0.050,0.026,3072,986,3035
$GC,3026,0.78,145.6,470.4,11.5,421,3054,0.95,2.12,19.65,0.900,6,0.218,0.033,2836,2377,2937
$GC,3373,0.70,212.9,443.6,8.3,454,3435,0.12,2.28,52.55,0.940,4,0.206,0.049,2807,3752,2664
$GC,3476,0.63,238.6,433.9,11.3,463,3505,0.12,2.05,21.50,0.890,6,0.192,0.025,2786,2367,2558
$GC,3824,0.82,274.9,396.6,10.6,496,3856,0.17,0.00,29.00,0.905,6,0.075,0.000,2854,2365,2410
$GC,4172,0.82,274.9,347.7,14.7,529,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2365,2406
$GC,4490,0.82,274.9,298.2,17.8,559,4496,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3748,2404
$GC,4640,0.70,274.9,268.0,21.6,585,4647,0.20,2.05,0.00,0.000,6,0.187,0.025,2812,2351,2403
$GC,4987,0.84,281.3,217.4,12.7,646,5000,0.12,2.22,5.60,0.673,4,0.086,0.047,2863,3753,2383
$GC,5148,0.72,281.3,188.4,18.1,674,5155,0.22,2.05,0.00,0.000,6,0.184,0.025,2814,2355,2382
$GC,5494,0.86,281.3,141.0,15.9,735,5500,0.12,0.00,0.00,0.000,6,0.087,0.000,2866,2352,2381
$GC,5842,0.86,281.3,86.2,15.4,796,5849,0.00,2.20,0.00,0.000,4,0.000,0.048,2865,3753,2381
$GC,5924,0.74,281.3,73.7,14.4,810,5931,0.20,2.03,0.00,0.000,6,0.182,0.025,2824,2356,2381
$GC,6271,1.09,353.8,31.4,7.9,871,6334,0.28,2.12,56.10,0.687,4,0.063,0.030,2939,987,2088
$GC,6383,1.15,359.8,19.4,12.8,889,6395,0.00,2.10,5.70,0.541,6,0.000,0.031,2939,2362,2065
$STATE,6562,end climb,SURFACE_DEPTH_REACHED
$STATE,6562,begin surface coast
$FINISH,1.9,1.008932
$STATE,6608,end surface coast,CONTROL_FINISHED_OK
$STATE,6608,begin surface
$SM_CCo,6629,86.88,0.648,0,0,1594,475.15
$SM_GC,2.84,0.00,0.00,86.88,0.000,0.000,0.648,137,2365,1594,-7.63,-0.54,475.15
$IRIDIUM_FIX,2512.73,12231.93,191198,141430
$TT8_MAMPS,0.029146
$HUMID,1838
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.5,72.3
$24V_AH,23.6,98.835
$10V_AH,10.6,51.835
$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,23.525,50.025,377.600,86.875,0.000,31.050,32.634,145.769,3.000,0.000,0.000,12.638,1541.414,3044.894,544.365,1451.765,485.113,0.000,1288.879,0.000,1423.701,0.000,23.231,0.000
$DEVICE_MAMPS,231.634,51.389,969.488,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.442,709.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47509,929
$CAP_FILE_SIZE,83852,0
$CFSIZE,260165632,181092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,205.4,1
$GPS,250809,184952,2523.542,12229.251,8,2.2,27,-3.7