version: 66.04
glider: 167
mission: 2
dive: 574
start: 8 26 109 1 1 10
data:
$ID,167
$MISSION,2
$DIVE,574
$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,-20597.148
$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,86
$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
$GPS1,005436,2523.262,12230.091,40,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-69.9
$GPS2,010050,2523.150,12230.123,13,1.2,13,-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,321.4,9229,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.50,-121.7,0.0,0.0,0,50,0.00,0.00,-27.98,0.000,2,0.000,0.000,138,2404,2297
$GC,54,-1.50,-121.7,3.4,-2.7,5,120,7.90,2.10,-49.88,0.000,4,0.227,0.052,2082,3768,3989
$GC,205,-0.49,-121.7,44.2,-46.2,30,212,1.20,2.00,0.00,0.000,6,0.182,0.021,2415,2359,3990
$GC,552,-1.21,-121.7,72.0,-1.3,91,560,0.55,2.17,0.00,0.000,4,0.045,0.044,2179,3757,3992
$GC,698,-0.99,-121.7,99.4,-21.6,116,704,0.28,1.95,0.00,0.000,6,0.156,0.023,2256,2374,3993
$GC,1045,-1.18,-121.7,138.3,-9.3,177,1052,0.15,2.15,0.00,0.000,4,0.066,0.044,2191,3761,3995
$GC,1157,-1.08,-121.7,156.6,-18.3,196,1163,0.15,1.92,0.00,0.000,6,0.158,0.023,2230,2396,3995
$GC,1505,-1.22,-121.7,212.2,-14.9,257,1511,0.12,2.12,0.00,0.000,4,0.074,0.044,2175,3764,3995
$GC,1684,-1.10,-121.7,246.4,-17.4,288,1691,0.17,1.92,0.00,0.000,6,0.158,0.023,2222,2411,3995
$GC,2032,-1.27,-121.7,295.5,-13.8,349,2038,0.15,2.10,0.00,0.000,4,0.069,0.044,2154,3761,3996
$GC,2216,-1.11,-121.7,328.8,-18.4,368,2221,0.20,1.90,0.00,0.000,6,0.154,0.025,2224,2461,3995
$GC,2548,-1.32,-121.7,371.3,-11.0,399,2553,0.20,2.03,0.00,0.000,4,0.066,0.048,2138,3759,3995
$GC,2701,-1.15,-121.7,397.0,-17.9,412,2706,0.25,1.83,0.00,0.000,6,0.163,0.025,2205,2487,3995
$GC,3034,-1.32,-121.7,437.3,-11.0,443,3038,0.15,2.00,0.00,0.000,4,0.071,0.047,2140,3763,3993
$GC,3107,-1.19,-121.7,449.0,-16.7,449,3113,0.20,1.83,0.00,0.000,6,0.165,0.024,2192,2489,3993
$STATE,3238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3238,begin apogee
$GC,3247,-0.27,0.0,465.2,10.5,462,3347,0.93,0.00,90.30,0.963,6,0.140,0.000,2485,2378,3533
$STATE,3347,end apogee,CONTROL_FINISHED_OK
$STATE,3347,begin climb
$GC,3351,1.50,121.7,467.8,0.0,472,3456,1.55,2.22,95.43,0.940,4,0.048,0.044,3069,3754,3034
$GC,3513,0.55,127.5,467.5,12.8,485,3526,1.27,2.08,5.97,0.718,6,0.221,0.023,2761,2341,3012
$GC,3845,0.70,247.6,443.3,4.5,516,3944,0.12,2.12,92.32,0.934,4,0.089,0.028,2816,990,2522
$GC,4042,0.87,249.8,421.7,13.0,533,4049,0.12,2.10,0.00,0.000,6,0.081,0.031,2868,2363,2517
$GC,4370,0.80,249.8,373.4,15.0,564,4375,0.12,2.17,0.00,0.000,4,0.180,0.047,2838,3759,2514
$GC,4595,0.69,249.8,334.9,17.7,583,4602,0.17,2.03,0.00,0.000,6,0.185,0.025,2802,2363,2512
$GC,4926,0.82,249.8,287.4,15.7,621,4933,0.12,2.20,0.00,0.000,4,0.084,0.048,2854,3760,2510
$GC,5097,0.68,249.8,254.7,19.4,651,5105,0.25,2.00,0.00,0.000,6,0.183,0.025,2799,2368,2509
$GC,5446,0.87,283.0,211.9,10.8,712,5481,0.17,2.25,26.98,0.809,4,0.071,0.048,2878,3753,2377
$GC,5594,0.74,283.0,185.1,19.8,737,5600,0.25,1.95,0.00,0.000,6,0.177,0.025,2822,2406,2374
$GC,5941,0.89,283.0,129.8,14.3,798,5947,0.12,2.08,0.00,0.000,4,0.085,0.028,2883,992,2373
$GC,6081,0.96,287.1,109.4,12.9,822,6094,0.00,2.10,4.12,0.527,6,0.000,0.033,2882,2385,2361
$GC,6435,0.99,311.1,62.3,11.5,884,6460,0.00,2.20,20.05,0.692,4,0.000,0.048,2883,3754,2262
$GC,6716,1.13,377.6,28.3,8.4,933,6774,0.15,1.98,51.45,0.664,6,0.077,0.024,2953,2373,1992
$STATE,6925,end climb,SURFACE_DEPTH_REACHED
$STATE,6925,begin surface coast
$FINISH,1.8,1.008379
$STATE,6962,end surface coast,CONTROL_FINISHED_OK
$STATE,6962,begin surface
$SM_CCo,6982,72.53,0.632,0,0,1594,475.15
$SM_GC,2.58,0.00,0.00,72.53,0.000,0.000,0.632,140,2371,1594,-7.63,-0.34,475.15
$IRIDIUM_FIX,2512.73,12231.93,191198,232352
$TT8_MAMPS,0.029913
$HUMID,1816
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.2,74.4
$24V_AH,23.7,99.333
$10V_AH,10.7,52.066
$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,24.750,57.575,386.625,72.525,0.000,24.928,38.549,165.352,3.000,0.000,0.000,13.909,1631.261,3149.475,528.991,1584.701,533.553,0.000,1337.441,0.000,1551.097,0.000,27.537,0.000
$DEVICE_MAMPS,227.032,65.195,962.585,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.884,750.714,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50688,976
$CAP_FILE_SIZE,89860,0
$CFSIZE,260165632,180883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,268.6,1
$GPS,260809,030007,2523.760,12229.137,41,1.1,41,-3.7