version: 66.04
glider: 167
mission: 2
dive: 554
start: 8 24 109 1 28 57
data:
$ID,167
$MISSION,2
$DIVE,554
$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,-20129.791
$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,78
$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
$GPS1,012237,2519.877,12236.442,7,1.6,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.5
$GPS2,012837,2519.742,12236.558,11,1.6,16,-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,308.0,21647,-25.0,-13.200
$D_GRID,607
$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,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.35,0.000,2,0.000,0.000,138,2372,2149
$GC,46,-1.50,-121.7,3.0,-1.8,4,125,8.30,2.17,-64.28,0.000,4,0.242,0.051,2086,3774,3988
$GC,163,-0.54,-121.7,22.3,-39.2,23,170,1.20,2.03,0.00,0.000,6,0.203,0.022,2397,2357,3989
$GC,511,-0.99,-121.7,47.3,-4.5,84,517,0.35,2.20,0.00,0.000,4,0.053,0.045,2247,3762,3992
$GC,632,-0.57,-121.7,66.7,-26.6,105,638,0.52,1.98,0.00,0.000,6,0.166,0.023,2396,2370,3992
$GC,979,-1.11,-121.7,107.1,-7.0,166,987,0.43,2.17,0.00,0.000,4,0.051,0.044,2207,3766,3993
$GC,1045,-0.78,-121.7,116.3,-16.5,177,1051,0.43,1.95,0.00,0.000,6,0.164,0.022,2329,2387,3994
$GC,1393,-1.11,-121.7,151.3,-10.1,238,1400,0.28,0.00,0.00,0.000,6,0.058,0.000,2209,2386,3995
$GC,1740,-0.93,-121.7,215.6,-16.4,299,1746,0.20,0.00,0.00,0.000,6,0.173,0.000,2268,2386,3995
$GC,2087,-1.09,-121.7,252.6,-10.6,360,2093,0.12,2.15,0.00,0.000,4,0.079,0.047,2208,3757,3995
$GC,2304,-0.95,-121.7,288.5,-16.4,398,2312,0.22,1.92,0.00,0.000,6,0.161,0.025,2270,2410,3995
$GC,2639,-1.10,-121.7,328.3,-12.7,437,2644,0.12,2.12,0.00,0.000,4,0.076,0.046,2207,3766,3995
$GC,2736,-0.96,-121.7,345.7,-18.8,445,2740,0.22,1.92,0.00,0.000,6,0.163,0.024,2269,2425,3995
$GC,3067,-1.15,-121.7,391.1,-12.9,476,3071,0.17,2.10,0.00,0.000,4,0.068,0.046,2192,3764,3995
$GC,3128,-1.02,-121.7,401.8,-18.1,481,3135,0.22,1.92,0.00,0.000,6,0.166,0.024,2253,2420,3995
$GC,3455,-1.17,-121.7,451.2,-15.2,512,3460,0.15,2.12,0.00,0.000,4,0.073,0.047,2193,3767,3994
$GC,3545,-1.03,-121.7,468.0,-19.2,519,3551,0.20,1.90,0.00,0.000,6,0.168,0.024,2245,2443,3994
$GC,3868,-1.17,-121.7,511.2,-13.1,546,3873,0.12,2.08,0.00,0.000,4,0.081,0.049,2193,3754,3993
$GC,3962,-1.04,-121.7,525.8,-15.9,550,3967,0.20,1.88,0.00,0.000,6,0.168,0.026,2245,2463,3992
$GC,4300,-1.16,-121.7,569.9,-13.0,566,4304,0.12,2.05,0.00,0.000,4,0.082,0.049,2192,3757,3991
$GC,4362,-1.06,-121.7,580.3,-16.0,568,4368,0.17,1.88,0.00,0.000,6,0.170,0.025,2238,2461,3990
$STATE,4572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4572,begin apogee
$GC,4581,-0.27,0.0,608.7,13.0,579,4677,0.82,0.00,92.45,1.104,6,0.150,0.000,2486,2460,3532
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4681,1.50,121.7,612.6,0.0,584,4789,1.62,2.28,98.35,1.071,4,0.067,0.028,3072,991,3035
$GC,5044,0.84,121.7,584.1,14.0,600,5049,0.88,2.12,0.00,0.000,6,0.216,0.033,2853,2385,3031
$GC,5366,0.80,185.8,555.0,8.5,616,5421,0.00,2.17,50.28,1.049,4,0.000,0.028,2860,990,2773
$GC,5677,0.80,185.8,513.6,15.2,630,5681,0.00,2.10,0.00,0.000,6,0.000,0.035,2860,2353,2769
$GC,6010,0.80,185.8,466.9,13.7,656,6014,0.00,2.03,0.00,0.000,4,0.000,0.031,2868,995,2767
$GC,6269,0.82,204.6,435.6,11.8,679,6291,0.00,2.10,15.43,0.963,6,0.000,0.036,2868,2366,2696
$GC,6611,0.85,227.0,398.7,11.6,711,6636,0.00,2.15,19.20,0.956,4,0.000,0.034,2869,995,2605
$GC,6796,0.94,227.0,374.3,13.5,727,6802,0.00,2.08,0.00,0.000,6,0.000,0.035,2869,2346,2603
$GC,7125,0.94,227.0,329.9,13.9,758,7129,0.00,2.22,0.00,0.000,4,0.000,0.049,2869,3767,2601
$GC,7263,0.85,227.0,307.7,16.0,770,7267,0.00,2.08,0.00,0.000,6,0.000,0.026,2878,2369,2601
$GC,7604,0.85,227.0,255.6,14.7,826,7611,0.00,2.08,0.00,0.000,4,0.000,0.031,2885,966,2599
$GC,7642,0.85,227.0,250.7,13.2,832,7649,0.12,2.12,0.00,0.000,6,0.181,0.031,2855,2375,2599
$GC,7989,1.00,277.2,215.4,9.6,893,8036,0.15,2.22,39.17,0.855,4,0.075,0.051,2913,3739,2400
$GC,8089,0.85,277.2,202.2,14.5,910,8097,0.25,2.05,0.00,0.000,6,0.185,0.025,2858,2354,2397
$GC,8438,1.01,278.1,164.6,13.1,971,8444,0.12,2.22,0.00,0.000,4,0.084,0.049,2907,3748,2395
$GC,8689,0.92,278.1,124.8,13.4,1015,8695,0.15,1.98,0.00,0.000,6,0.184,0.025,2879,2387,2394
$GC,9036,1.06,278.1,82.6,14.2,1076,9043,0.12,2.15,0.00,0.000,4,0.085,0.048,2929,3748,2394
$GC,9260,0.99,341.4,50.0,8.6,1115,9318,0.15,1.92,49.92,0.711,6,0.186,0.025,2901,2412,2138
$GC,9661,1.41,423.4,13.1,7.2,1185,9732,0.35,2.17,63.70,0.659,4,0.058,0.045,3039,3760,1803
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,1.8,1.021652
$STATE,9762,end surface coast,CONTROL_FINISHED_OK
$STATE,9762,begin surface
$SM_CCo,9785,38.38,0.640,0,0,1594,475.15
$SM_GC,3.20,0.00,0.00,38.38,0.000,0.000,0.640,136,2397,1594,-7.64,0.42,475.15
$IRIDIUM_FIX,2510.35,12239.24,171198,222200
$TT8_MAMPS,0.029146
$HUMID,1838
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.4,96.706
$10V_AH,10.6,50.837
$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,26.575,78.875,428.500,38.375,0.000,26.208,32.065,150.961,4.750,0.000,0.000,16.848,2055.268,4929.300,553.204,2083.783,560.288,0.000,1594.843,0.000,2033.568,0.000,32.330,0.000
$DEVICE_MAMPS,241.605,50.622,1104.480,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,812.736,906.439,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63270,1202
$CAP_FILE_SIZE,115134,0
$CFSIZE,260165632,181919744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,189.1,1
$GPS,240809,041406,2520.069,12235.872,37,1.4,42,-3.7