version: 66.04
glider: 167
mission: 2
dive: 583
start: 8 26 109 22 34 25
data:
$ID,167
$MISSION,2
$DIVE,583
$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,-20772.584
$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,91
$R_STBD_OVSHOOT,34
$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
$GPS1,222337,2515.597,12231.676,37,1.3,37,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.2
$GPS2,223406,2515.839,12231.930,13,1.3,29,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,168.4,62316,-25.0,-13.200
$D_GRID,875
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.25,0.000,2,0.000,0.000,137,2371,2170
$GC,45,-1.50,-121.7,3.1,-2.5,4,120,8.05,2.25,-61.30,0.000,4,0.230,0.052,2081,3771,3989
$GC,293,-0.85,-121.7,72.7,-27.8,46,300,0.80,2.00,0.00,0.000,6,0.169,0.022,2306,2367,3992
$GC,641,-1.17,-121.7,113.3,-11.4,107,647,0.25,2.17,0.00,0.000,4,0.059,0.044,2192,3760,3995
$GC,822,-1.03,-121.7,148.7,-18.4,138,829,0.20,1.92,0.00,0.000,6,0.160,0.024,2246,2416,3995
$GC,1169,-1.17,-121.7,194.1,-15.2,199,1175,0.12,2.10,0.00,0.000,4,0.077,0.045,2192,3761,3995
$GC,1245,-1.08,-121.7,207.6,-18.9,212,1251,0.15,1.98,0.00,0.000,6,0.163,0.023,2231,2368,3995
$GC,1596,-1.22,-121.7,252.1,-12.4,273,1603,0.12,2.17,0.00,0.000,4,0.074,0.045,2178,3760,3995
$GC,1859,-1.10,-121.7,299.3,-18.4,319,1867,0.17,1.90,0.00,0.000,6,0.161,0.025,2223,2435,3995
$GC,2187,-1.27,-121.7,344.8,-14.3,350,2192,0.15,2.10,0.00,0.000,4,0.071,0.047,2162,3773,3995
$GC,2331,-1.13,-121.7,371.8,-19.7,362,2335,0.20,1.88,0.00,0.000,6,0.162,0.025,2214,2469,3995
$GC,2662,-1.27,-121.7,417.0,-13.7,393,2666,0.12,2.03,0.00,0.000,4,0.079,0.048,2162,3758,3994
$GC,2720,-1.15,-121.7,426.8,-18.5,398,2724,0.17,1.83,0.00,0.000,6,0.165,0.025,2207,2494,3994
$GC,3051,-1.31,-121.7,470.1,-11.3,429,3055,0.15,2.00,0.00,0.000,4,0.074,0.048,2146,3762,3993
$GC,3311,-1.17,-121.7,518.4,-18.7,448,3316,0.15,1.80,0.00,0.000,6,0.168,0.026,2198,2544,3991
$GC,3637,-1.31,-121.7,558.3,-11.7,464,3641,0.12,1.92,0.00,0.000,4,0.080,0.050,2149,3760,3990
$GC,3729,-1.19,-121.7,574.4,-18.1,468,3734,0.17,1.77,0.00,0.000,6,0.173,0.026,2193,2542,3990
$GC,4065,-1.34,-121.7,624.1,-14.7,484,4076,0.12,1.92,0.00,0.000,4,0.081,0.049,2139,3757,3987
$GC,4217,-1.21,-121.7,652.3,-19.9,490,4221,0.12,1.75,0.00,0.000,6,0.166,0.025,2190,2576,3986
$GC,4539,-1.36,-121.7,693.5,-14.6,506,4544,0.15,1.88,0.00,0.000,4,0.077,0.048,2124,3764,3984
$GC,4659,-1.18,-121.7,718.2,-21.1,511,4664,0.20,1.75,0.00,0.000,6,0.173,0.025,2195,2589,3983
$STATE,4715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4715,begin apogee
$GC,4724,-0.27,0.0,728.3,16.5,514,4822,0.98,0.00,92.68,1.187,6,0.147,0.000,2489,2389,3532
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4826,1.50,121.7,732.7,0.0,519,4934,1.55,2.28,100.40,1.153,4,0.051,0.048,3061,3765,3035
$GC,5188,2.10,300.2,734.0,0.3,535,5347,0.55,2.10,144.48,1.156,6,0.067,0.025,3263,2350,2308
$GC,5652,1.16,300.2,638.6,44.3,558,5658,1.23,2.05,0.00,0.000,4,0.234,0.028,2970,970,2299
$GC,5744,0.89,300.2,612.7,25.9,562,5749,0.38,2.12,0.00,0.000,6,0.193,0.036,2872,2353,2298
$GC,6066,0.81,300.2,550.6,18.5,578,6071,0.12,2.22,0.00,0.000,4,0.193,0.051,2842,3761,2297
$GC,6145,0.70,300.2,535.3,19.9,581,6151,0.15,2.10,0.00,0.000,6,0.189,0.025,2814,2325,2296
$GC,6468,0.78,300.2,481.7,17.0,602,6472,0.00,2.28,0.00,0.000,4,0.000,0.049,2814,3761,2295
$GC,6537,0.70,300.2,466.7,22.1,608,6541,0.00,2.08,0.00,0.000,6,0.000,0.025,2816,2356,2294
$GC,6873,0.79,300.2,405.7,18.3,639,6877,0.00,2.22,0.00,0.000,4,0.000,0.050,2816,3751,2293
$GC,7055,0.79,300.2,369.1,19.7,655,7059,0.00,2.03,0.00,0.000,6,0.000,0.025,2816,2379,2292
$GC,7390,0.88,300.2,313.8,15.8,686,7395,0.15,2.10,0.00,0.000,4,0.078,0.031,2882,972,2291
$GC,7417,0.88,300.2,308.9,16.9,688,7421,0.00,2.15,0.00,0.000,6,0.000,0.033,2882,2380,2291
$GC,7760,0.81,300.2,247.5,17.8,745,7767,0.15,2.17,0.00,0.000,4,0.183,0.048,2844,3764,2291
$GC,7825,0.75,300.2,236.6,17.2,756,7831,0.00,2.05,0.00,0.000,6,0.000,0.025,2853,2353,2291
$GC,8171,0.75,300.2,181.1,16.4,817,8178,0.12,2.22,0.00,0.000,4,0.186,0.048,2824,3754,2290
$GC,8435,0.75,300.2,138.8,16.1,863,8441,0.00,1.92,0.00,0.000,6,0.000,0.026,2827,2425,2290
$GC,8781,0.91,300.2,89.5,15.8,924,8788,0.12,2.12,0.00,0.000,4,0.084,0.029,2882,988,2290
$GC,8927,1.15,346.8,70.0,9.8,949,8970,0.20,2.15,34.65,0.724,6,0.071,0.031,2963,2414,2117
$GC,9315,1.06,353.1,20.9,12.7,1016,9326,0.17,0.00,6.10,0.567,6,0.176,0.000,2914,2414,2091
$STATE,9488,end climb,SURFACE_DEPTH_REACHED
$STATE,9488,begin surface coast
$FINISH,1.7,1.020811
$STATE,9528,end surface coast,CONTROL_FINISHED_OK
$STATE,9528,begin surface
$SM_CCo,9548,93.10,0.647,0,0,1595,475.15
$SM_GC,3.04,0.00,0.00,93.10,0.000,0.000,0.647,137,2415,1595,-7.64,0.90,475.15
$IRIDIUM_FIX,2507.97,12229.37,201198,191938
$TT8_MAMPS,0.029146
$HUMID,1796
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,125.4
$24V_AH,23.3,100.547
$10V_AH,10.6,52.646
$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,25.300,77.725,378.300,93.100,0.000,93.324,92.819,149.436,4.750,0.000,0.000,30.089,1865.601,5235.231,551.229,1917.521,697.084,0.000,1512.024,0.000,1853.714,0.000,34.188,0.000
$DEVICE_MAMPS,233.935,52.156,1187.316,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,713.856,774.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56886,1054
$CAP_FILE_SIZE,111198,0
$CFSIZE,260165632,180355072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,129.6,1
$GPS,270809,011622,2514.374,12232.650,11,2.5,30,-3.6