version: 66.04
glider: 167
mission: 2
dive: 549
start: 8 23 109 12 4 22
data:
$ID,167
$MISSION,2
$DIVE,549
$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,-20014.973
$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,72
$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
$GPS1,115804,2518.917,12237.387,17,99.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-68.4
$GPS2,120402,2518.905,12237.645,12,1.4,12,-3.6
$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,339.7,23976,-25.0,-13.200
$D_GRID,678
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-29.58,0.000,2,0.000,0.000,138,2361,2303
$GC,51,-1.50,-121.7,3.0,-1.5,5,124,8.20,2.22,-58.03,0.000,4,0.238,0.052,2082,3758,3989
$GC,138,-0.62,-121.7,12.7,-29.2,19,145,1.10,2.03,0.00,0.000,6,0.194,0.021,2373,2360,3991
$GC,486,-0.96,-121.7,56.4,-6.2,80,493,0.25,1.98,0.00,0.000,4,0.062,0.025,2265,996,3992
$GC,546,-0.86,-121.7,65.2,-17.1,90,552,0.15,2.10,0.00,0.000,6,0.171,0.031,2299,2391,3993
$GC,892,-0.99,-121.7,116.9,-14.7,151,899,0.12,2.10,0.00,0.000,4,0.077,0.044,2239,3757,3996
$GC,923,-0.99,-121.7,121.9,-17.0,156,930,0.00,2.00,0.00,0.000,6,0.000,0.022,2239,2338,3996
$GC,1272,-0.92,-121.7,181.5,-19.7,217,1278,0.15,2.22,0.00,0.000,4,0.166,0.044,2275,3760,3997
$GC,1365,-0.98,-121.7,197.8,-16.4,233,1371,0.00,1.95,0.00,0.000,6,0.000,0.024,2275,2381,3997
$GC,1711,-1.08,-121.7,244.8,-13.4,294,1718,0.12,2.17,0.00,0.000,4,0.077,0.045,2218,3768,3998
$GC,1858,-0.97,-121.7,268.6,-15.6,319,1865,0.17,1.98,0.00,0.000,6,0.164,0.025,2264,2392,3998
$GC,2200,-1.11,-121.7,312.5,-14.3,372,2205,0.12,2.15,0.00,0.000,4,0.078,0.045,2205,3765,3997
$GC,2313,-0.99,-121.7,333.7,-19.5,381,2320,0.20,1.95,0.00,0.000,6,0.160,0.024,2260,2397,3997
$GC,2639,-1.13,-121.7,373.9,-10.1,412,2644,0.12,2.03,0.00,0.000,4,0.080,0.024,2208,1006,3998
$GC,2674,-1.13,-121.7,377.8,-11.8,415,2678,0.00,2.15,0.00,0.000,6,0.000,0.032,2207,2419,3997
$GC,3005,-1.13,-121.7,421.4,-13.7,446,3009,0.00,2.08,0.00,0.000,4,0.000,0.048,2205,3753,3997
$GC,3078,-1.04,-121.7,432.6,-15.3,452,3086,0.15,1.90,0.00,0.000,6,0.165,0.025,2244,2430,3997
$GC,3404,-1.18,-121.7,472.8,-13.7,483,3409,0.12,2.10,0.00,0.000,4,0.081,0.049,2192,3758,3996
$GC,3468,-1.13,-121.7,482.3,-14.2,488,3471,0.00,1.92,0.00,0.000,6,0.000,0.025,2192,2422,3996
$GC,3805,-1.07,-121.7,540.1,-16.8,509,3809,0.15,2.12,0.00,0.000,4,0.169,0.047,2222,3764,3994
$GC,3962,-1.12,-121.7,564.3,-14.5,516,3965,0.00,1.90,0.00,0.000,6,0.000,0.025,2222,2448,3993
$GC,4291,-1.18,-121.7,612.6,-15.3,532,4295,0.00,2.08,0.00,0.000,4,0.000,0.051,2221,3755,3991
$GC,4393,-1.24,-121.7,628.0,-15.3,536,4398,0.12,1.88,0.00,0.000,6,0.083,0.028,2171,2473,3991
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4701,-0.27,0.0,678.1,17.0,551,4799,1.12,0.00,93.65,1.164,6,0.170,0.000,2490,2383,3531
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4803,1.50,121.7,680.9,0.0,556,4911,1.60,2.28,99.45,1.127,4,0.068,0.029,3067,957,3035
$GC,5165,0.88,132.6,652.9,12.4,572,5183,0.80,2.17,9.68,0.982,6,0.213,0.035,2865,2371,2991
$GC,5494,0.81,179.9,620.1,9.8,588,5539,0.00,2.28,38.60,1.099,4,0.000,0.051,2865,3750,2798
$GC,5759,0.63,179.9,584.1,14.7,600,5764,0.32,2.05,0.00,0.000,6,0.183,0.026,2786,2360,2793
$GC,6088,0.90,236.3,554.5,9.1,616,6137,0.25,0.00,45.90,1.077,6,0.070,0.000,2882,2356,2567
$GC,6436,0.90,236.3,506.2,14.0,633,6440,0.00,2.25,0.00,0.000,4,0.000,0.051,2882,3763,2561
$GC,6495,0.78,236.3,497.0,16.6,636,6500,0.22,2.05,0.00,0.000,6,0.185,0.025,2831,2383,2561
$GC,6826,0.94,236.3,447.0,16.0,667,6830,0.15,2.17,0.00,0.000,4,0.077,0.049,2890,3751,2559
$GC,7086,0.81,236.3,392.4,20.4,690,7091,0.22,2.00,0.00,0.000,6,0.183,0.027,2841,2398,2558
$GC,7413,0.99,265.9,351.6,11.1,720,7442,0.17,2.25,23.35,0.951,4,0.077,0.050,2915,3760,2446
$GC,7482,0.82,265.9,340.3,18.2,725,7489,0.30,2.08,0.00,0.000,6,0.183,0.026,2846,2372,2444
$GC,7812,0.99,271.1,294.1,12.8,760,7826,0.15,2.12,5.20,0.730,4,0.079,0.031,2913,974,2425
$GC,8047,1.06,271.1,258.1,15.7,801,8053,0.00,2.15,0.00,0.000,6,0.000,0.035,2913,2378,2424
$GC,8393,1.10,300.8,216.5,11.0,862,8423,0.00,2.28,25.20,0.861,4,0.000,0.052,2913,3764,2305
$GC,8628,1.01,300.8,168.1,23.6,903,8634,0.00,2.05,0.00,0.000,6,0.000,0.026,2924,2373,2301
$GC,8974,1.01,300.8,111.1,14.4,964,8981,0.00,2.20,0.00,0.000,4,0.000,0.051,2924,3753,2300
$GC,9237,1.06,378.2,69.7,7.6,1010,9302,0.00,1.98,60.53,0.742,6,0.000,0.025,2934,2398,1989
$GC,9646,1.36,413.6,18.6,10.6,1081,9681,0.20,2.15,28.20,0.676,4,0.066,0.030,3026,972,1843
$STATE,9758,end climb,SURFACE_DEPTH_REACHED
$STATE,9758,begin surface coast
$FINISH,1.9,1.009635
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9806,46.00,0.663,0,0,1595,475.15
$SM_GC,3.23,0.00,0.00,46.00,0.000,0.000,0.663,138,2392,1595,-7.63,0.25,475.15
$IRIDIUM_FIX,2510.35,12239.24,171198,090911
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.4,96.006
$10V_AH,10.6,50.497
$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,24.700,83.775,429.750,46.000,0.000,27.979,32.529,155.010,5.500,0.000,0.000,13.012,1910.874,5250.427,572.138,1922.060,554.356,0.000,1539.481,0.000,1882.444,0.000,34.380,0.000
$DEVICE_MAMPS,237.770,85.904,1164.306,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,748.541,800.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59989,1105
$CAP_FILE_SIZE,111341,0
$CFSIZE,260165632,182218752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,257.5,1
$GPS,230809,145000,2519.740,12236.402,38,1.4,43,-3.7