version: 66.04
glider: 167
mission: 2
dive: 553
start: 8 23 109 22 48 38
data:
$ID,167
$MISSION,2
$DIVE,553
$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,-20112.316
$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,84
$R_STBD_OVSHOOT,42
$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
$GPS1,223837,2519.486,12236.683,34,1.2,34,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.4
$GPS2,224819,2519.486,12236.940,17,1.2,34,-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,314.8,22433,-25.0,-13.200
$D_GRID,637
$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,-121.7,0.0,0.0,0,51,0.00,0.00,-32.75,0.000,2,0.000,0.000,136,2396,2404
$GC,55,-1.50,-121.7,3.4,-2.3,5,121,8.07,2.15,-48.50,0.000,4,0.232,0.053,2081,3758,3990
$GC,204,-0.59,-121.7,44.8,-38.9,30,211,1.15,1.98,0.00,0.000,6,0.196,0.021,2385,2389,3992
$GC,553,-0.96,-121.7,95.5,-16.3,91,561,0.28,2.15,0.00,0.000,4,0.059,0.044,2262,3765,3992
$GC,591,-0.96,-121.7,102.9,-21.1,97,597,0.00,1.98,0.00,0.000,6,0.000,0.022,2262,2362,3993
$GC,937,-0.96,-121.7,154.6,-9.5,158,943,0.00,2.17,0.00,0.000,4,0.000,0.045,2261,3759,3994
$GC,1109,-0.96,-121.7,181.4,-15.8,188,1115,0.00,1.85,0.00,0.000,6,0.000,0.022,2261,2441,3996
$GC,1456,-0.96,-121.7,245.4,-17.8,249,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2440,3996
$GC,1805,-1.08,-121.7,301.8,-13.6,310,1809,0.00,2.05,0.00,0.000,4,0.000,0.047,2257,3758,3996
$GC,1977,-1.17,-121.7,326.9,-14.3,325,1982,0.15,1.88,0.00,0.000,6,0.072,0.025,2194,2441,3996
$GC,2309,-1.06,-121.7,388.9,-18.9,356,2314,0.17,2.05,0.00,0.000,4,0.163,0.044,2233,3753,3996
$GC,2404,-1.06,-121.7,406.1,-17.4,364,2410,0.00,1.85,0.00,0.000,6,0.000,0.025,2233,2464,3996
$GC,2731,-1.12,-121.7,451.8,-12.5,395,2734,0.00,2.03,0.00,0.000,4,0.000,0.048,2231,3753,3995
$GC,2770,-1.12,-121.7,457.6,-13.9,398,2776,0.00,1.80,0.00,0.000,6,0.000,0.025,2231,2494,3995
$GC,3105,-1.18,-121.7,504.1,-14.5,429,3109,0.00,2.15,0.00,0.000,4,0.000,0.027,2231,1017,3993
$GC,3145,-1.31,-121.7,510.1,-14.3,430,3152,0.20,2.22,0.00,0.000,6,0.072,0.035,2157,2477,3993
$GC,3462,-1.10,-121.7,563.6,-16.3,446,3466,0.22,1.98,0.00,0.000,4,0.184,0.046,2210,3760,3991
$GC,3542,-1.10,-121.7,575.7,-14.2,449,3548,0.00,1.80,0.00,0.000,6,0.000,0.027,2210,2518,3991
$GC,3859,-1.10,-121.7,614.6,-12.5,465,3862,0.00,1.95,0.00,0.000,4,0.000,0.051,2207,3749,3989
$GC,3922,-1.10,-121.7,623.0,-13.2,467,3929,0.00,1.77,0.00,0.000,6,0.000,0.028,2207,2530,3988
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4057,-0.27,0.0,639.7,12.8,474,4153,0.95,0.00,92.38,1.119,6,0.160,0.000,2485,2412,3532
$STATE,4154,end apogee,CONTROL_FINISHED_OK
$STATE,4154,begin climb
$GC,4157,1.50,121.7,642.9,0.0,479,4268,1.60,2.22,98.30,1.088,4,0.064,0.028,3068,962,3035
$GC,4522,0.86,121.7,612.2,13.8,495,4527,0.82,2.15,0.00,0.000,6,0.212,0.033,2859,2372,3032
$GC,4845,0.85,218.9,587.5,6.1,511,4930,0.00,2.22,77.07,1.074,4,0.000,0.029,2867,958,2638
$GC,5184,0.95,231.2,548.3,12.3,526,5201,0.00,2.15,10.55,0.947,6,0.000,0.034,2867,2360,2589
$GC,5511,0.95,231.2,504.5,13.6,542,5514,0.00,2.10,0.00,0.000,4,0.000,0.029,2872,964,2585
$GC,5678,1.07,253.1,484.2,11.6,554,5701,0.15,2.10,17.80,0.989,6,0.081,0.033,2930,2345,2500
$GC,6022,0.95,253.1,431.0,15.5,586,6026,0.17,2.08,0.00,0.000,4,0.178,0.028,2893,961,2495
$GC,6041,0.89,253.1,428.2,15.5,587,6045,0.00,2.12,0.00,0.000,6,0.000,0.033,2894,2351,2495
$GC,6374,0.89,253.1,377.2,17.3,618,6378,0.00,2.20,0.00,0.000,4,0.000,0.049,2894,3761,2495
$GC,6634,0.77,253.1,331.6,18.5,641,6639,0.28,2.12,0.00,0.000,6,0.179,0.025,2830,2316,2493
$GC,6965,1.00,253.1,287.8,13.5,679,6972,0.17,0.00,0.00,0.000,6,0.076,0.000,2906,2313,2491
$GC,7311,1.00,253.1,239.7,15.1,740,7317,0.00,2.30,0.00,0.000,4,0.000,0.050,2906,3763,2491
$GC,7421,0.88,253.1,223.0,15.3,759,7429,0.17,2.08,0.00,0.000,6,0.183,0.025,2868,2355,2490
$GC,7771,1.03,257.1,168.6,12.9,820,7777,0.12,2.22,0.00,0.000,4,0.084,0.049,2917,3758,2490
$GC,7989,0.94,306.9,146.3,9.6,858,8038,0.17,2.05,42.00,0.792,6,0.183,0.025,2881,2366,2280
$GC,8382,1.20,345.0,96.1,10.4,926,8420,0.20,2.30,30.50,0.734,4,0.072,0.048,2966,3764,2124
$GC,8463,1.04,345.0,84.6,16.1,939,8470,0.22,2.03,0.00,0.000,6,0.182,0.025,2919,2385,2121
$GC,8811,1.26,345.0,39.0,14.6,1000,8817,0.17,2.17,0.00,0.000,4,0.070,0.045,2995,3767,2118
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9046,begin surface coast
$FINISH,1.9,1.001666
$STATE,9064,end surface coast,CONTROL_FINISHED_OK
$STATE,9064,begin surface
$SM_CCo,9088,97.15,0.654,0,0,1595,475.15
$SM_GC,2.70,0.00,0.00,97.15,0.000,0.000,0.654,138,2372,1595,-7.63,-0.28,475.15
$IRIDIUM_FIX,2512.73,12233.94,171198,222250
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,23.4,96.573
$10V_AH,10.6,50.765
$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,23.325,74.600,368.600,97.150,0.000,52.524,72.822,225.204,4.750,0.000,0.000,34.428,1817.005,4835.442,559.252,1869.170,682.124,0.000,1492.027,0.000,1809.531,0.000,38.625,0.000
$DEVICE_MAMPS,232.401,55.224,1119.053,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.111,772.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56861,1045
$CAP_FILE_SIZE,105092,0
$CFSIZE,260165632,181997568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,145.7,1
$GPS,240809,012237,2519.877,12236.442,7,1.6,12,-3.7