version: 66.04
glider: 167
mission: 2
dive: 546
start: 8 23 109 4 2 29
data:
$ID,167
$MISSION,2
$DIVE,546
$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,-19969.498
$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,68
$R_STBD_OVSHOOT,37
$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
$GPS1,035524,2518.188,12238.470,24,1.8,42,-3.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.0
$GPS2,040208,2518.106,12238.204,15,2.0,15,-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,332.5,25512,-25.0,-13.200
$D_GRID,699
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.52,0.000,2,0.000,0.000,137,2385,2103
$GC,44,-1.50,-121.7,3.0,-1.6,4,126,8.27,2.25,-67.10,0.000,4,0.239,0.056,2078,3765,3989
$GC,281,-0.65,-121.7,64.4,-34.5,44,289,1.05,2.05,0.00,0.000,6,0.188,0.023,2360,2341,3992
$GC,630,-1.04,-121.7,104.1,-8.5,105,637,0.28,2.25,0.00,0.000,4,0.059,0.046,2235,3767,3995
$GC,661,-1.04,-121.7,107.2,-10.8,110,667,0.00,2.00,0.00,0.000,6,0.000,0.024,2235,2372,3995
$GC,1007,-0.94,-121.7,159.5,-17.5,171,1013,0.15,2.20,0.00,0.000,4,0.170,0.047,2274,3764,3996
$GC,1170,-1.00,-121.7,185.9,-15.3,199,1176,0.00,1.92,0.00,0.000,6,0.000,0.025,2275,2416,3997
$GC,1519,-1.12,-121.7,231.9,-11.8,260,1526,0.15,2.12,0.00,0.000,4,0.071,0.047,2205,3766,3997
$GC,1635,-0.97,-121.7,251.8,-14.8,280,1643,0.22,1.90,0.00,0.000,6,0.167,0.024,2265,2437,3997
$GC,1984,-1.08,-121.7,282.3,-7.0,341,1990,0.00,2.08,0.00,0.000,4,0.000,0.048,2261,3757,3997
$GC,2072,-1.14,-121.7,289.9,-10.1,356,2079,0.15,1.90,0.00,0.000,6,0.077,0.025,2201,2432,3997
$GC,2405,-1.06,-121.7,342.1,-18.7,393,2410,0.12,2.10,0.00,0.000,4,0.167,0.048,2224,3758,3997
$GC,2598,-1.02,-121.7,373.5,-17.5,409,2604,0.00,1.88,0.00,0.000,6,0.000,0.025,2224,2455,3997
$GC,2923,-1.02,-121.7,433.5,-18.4,440,2927,0.00,2.08,0.00,0.000,4,0.000,0.051,2221,3763,3997
$GC,2980,-1.02,-121.7,444.0,-19.1,445,2985,0.12,1.90,0.00,0.000,6,0.171,0.026,2251,2458,3997
$GC,3313,-1.17,-121.7,500.2,-16.2,476,3315,0.15,0.00,0.00,0.000,6,0.077,0.000,2192,2458,3995
$GC,3621,-1.11,-121.7,559.0,-18.9,491,3625,0.12,2.08,0.00,0.000,4,0.180,0.051,2218,3758,3994
$GC,3740,-1.11,-121.7,581.1,-18.7,496,3743,0.00,1.88,0.00,0.000,6,0.000,0.027,2218,2473,3994
$GC,4062,-1.17,-121.7,638.1,-18.3,512,4066,0.00,2.05,0.00,0.000,4,0.000,0.053,2217,3754,3992
$GC,4248,-1.17,-121.7,672.6,-18.7,520,4252,0.00,1.88,0.00,0.000,6,0.000,0.028,2217,2477,3990
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4424,-0.27,0.0,700.4,16.3,528,4521,0.93,0.00,94.22,1.180,6,0.160,0.000,2487,2390,3532
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4526,1.50,121.7,709.7,0.0,533,4637,1.60,2.30,100.50,1.147,4,0.063,0.030,3069,957,3034
$GC,4684,0.96,241.2,721.1,4.5,540,4790,0.73,2.20,97.22,1.135,6,0.217,0.035,2892,2368,2548
$GC,5101,0.99,264.6,659.8,11.5,560,5125,0.00,2.28,19.30,1.068,4,0.000,0.052,2891,3757,2453
$GC,5161,0.90,264.6,651.2,15.3,562,5167,0.00,2.08,0.00,0.000,6,0.000,0.026,2899,2386,2451
$GC,5478,0.93,295.7,614.0,10.9,578,5511,0.00,2.30,26.77,1.084,4,0.000,0.051,2898,3758,2325
$GC,5631,0.85,295.7,592.6,16.1,584,5638,0.20,2.08,0.00,0.000,6,0.185,0.026,2857,2377,2322
$GC,5947,1.00,295.7,551.3,13.6,600,5952,0.12,2.10,0.00,0.000,4,0.082,0.030,2913,970,2320
$GC,6011,1.06,295.7,542.0,15.9,603,6015,0.00,2.17,0.00,0.000,6,0.000,0.033,2912,2388,2319
$GC,6335,1.08,314.4,495.7,11.8,620,6358,0.00,2.17,15.57,1.012,4,0.000,0.032,2912,972,2249
$GC,6417,1.15,314.4,485.4,13.7,627,6422,0.12,2.17,0.00,0.000,6,0.086,0.033,2962,2384,2247
$GC,6743,1.02,314.4,432.7,16.6,657,6748,0.20,2.17,0.00,0.000,4,0.186,0.050,2906,3764,2244
$GC,6852,0.95,314.4,413.6,18.7,666,6858,0.00,2.08,0.00,0.000,6,0.000,0.028,2913,2370,2244
$GC,7180,0.95,314.4,351.5,20.0,697,7183,0.00,2.10,0.00,0.000,4,0.000,0.034,2914,962,2243
$GC,7226,1.07,314.4,341.7,19.6,701,7230,0.00,2.15,0.00,0.000,6,0.000,0.032,2914,2374,2243
$GC,7560,1.07,314.4,276.5,15.9,743,7566,0.00,2.17,0.00,0.000,4,0.000,0.051,2914,3763,2243
$GC,7693,1.02,314.4,255.0,15.8,766,7699,0.00,2.05,0.00,0.000,6,0.000,0.026,2922,2376,2242
$GC,8038,1.02,314.4,199.4,21.3,827,8044,0.00,2.20,0.00,0.000,4,0.000,0.051,2924,3754,2242
$GC,8159,1.02,314.4,175.6,18.7,848,8165,0.00,2.00,0.00,0.000,6,0.000,0.026,2932,2389,2242
$GC,8504,1.02,314.4,127.7,13.4,909,8511,0.00,2.10,0.00,0.000,4,0.000,0.031,2941,967,2242
$GC,8604,1.09,314.4,114.3,14.2,926,8610,0.00,2.15,0.00,0.000,6,0.000,0.031,2941,2392,2241
$GC,8950,1.16,314.4,74.5,13.6,987,8956,0.00,2.12,0.00,0.000,4,0.000,0.030,2948,969,2241
$GC,9093,1.29,314.4,55.5,13.9,1012,9099,0.12,2.10,0.00,0.000,6,0.081,0.032,2996,2362,2241
$GC,9440,1.37,379.0,13.5,8.5,1073,9499,0.00,2.22,50.35,0.670,4,0.000,0.044,2995,3754,1984
$GC,9547,1.38,390.9,3.4,12.3,1091,9555,0.00,2.10,3.20,0.371,2,0.000,0.025,3006,2334,1967
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9555,begin surface coast
$FINISH,1.8,1.008426
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9576,begin surface
$SM_CCo,9597,69.57,0.647,0,0,1594,475.15
$SM_GC,2.89,0.00,0.00,69.57,0.000,0.000,0.647,141,2332,1594,-7.62,-1.44,475.15
$IRIDIUM_FIX,2510.35,12244.54,171198,000033
$TT8_MAMPS,0.029146
$HUMID,1759
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.4,95.587
$10V_AH,10.6,50.303
$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,22.675,88.125,407.150,69.575,0.000,24.957,32.813,181.497,5.500,0.000,0.000,17.960,1892.064,5119.861,575.516,1885.838,591.548,0.000,1541.130,0.000,1837.463,0.000,38.994,0.000
$DEVICE_MAMPS,238.537,84.370,1180.413,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,742.292,808.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60104,1096
$CAP_FILE_SIZE,110844,0
$CFSIZE,260165632,182390784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,190.6,1
$GPS,230809,064500,2518.465,12237.505,42,1.1,42,-3.6