version: 66.04
glider: 167
mission: 2
dive: 576
start: 8 26 109 5 12 52
data:
$ID,167
$MISSION,2
$DIVE,576
$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,-20649.248
$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,39
$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
$GPS1,050530,2523.203,12228.540,11,2.0,21,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-70.6
$GPS2,051234,2523.096,12228.454,16,99.0,35,-3.7
$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,114.8,76971,-25.0,-13.200
$D_GRID,508
$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,-121.7,0.0,0.0,0,39,0.00,0.00,-20.33,0.000,2,0.000,0.000,137,2405,2094
$GC,43,-1.50,-121.7,3.1,-2.6,3,117,8.05,2.12,-61.25,0.000,4,0.232,0.038,2091,997,3989
$GC,208,-0.85,-121.7,43.0,-38.1,30,215,0.77,2.10,0.00,0.000,6,0.174,0.032,2299,2392,3992
$GC,556,-1.14,-121.7,82.1,-11.7,91,563,0.20,2.10,0.00,0.000,4,0.063,0.044,2206,3754,3995
$GC,638,-1.06,-121.7,96.2,-18.4,105,645,0.12,1.95,0.00,0.000,6,0.163,0.022,2237,2372,3995
$GC,985,-1.20,-121.7,148.2,-14.1,166,992,0.12,2.15,0.00,0.000,4,0.074,0.044,2179,3754,3996
$GC,1143,-1.04,-121.7,180.7,-22.2,193,1151,0.17,1.90,0.00,0.000,6,0.158,0.024,2244,2452,3996
$GC,1493,-1.29,-121.7,224.3,-8.4,254,1501,0.20,2.03,0.00,0.000,4,0.064,0.045,2152,3753,3997
$GC,1618,-1.09,-121.7,246.8,-21.6,275,1624,0.20,1.83,0.00,0.000,6,0.153,0.025,2225,2495,3997
$GC,1966,-1.27,-121.7,294.0,-13.8,336,1972,0.15,1.98,0.00,0.000,4,0.072,0.047,2163,3757,3997
$GC,2086,-1.11,-121.7,316.4,-18.7,349,2094,0.22,1.75,0.00,0.000,6,0.166,0.025,2222,2541,3997
$GC,2412,-1.30,-121.7,362.3,-13.6,380,2414,0.17,0.00,0.00,0.000,6,0.067,0.000,2151,2540,3996
$GC,2731,-1.24,-121.7,419.3,-17.7,410,2735,0.12,1.92,0.00,0.000,4,0.179,0.048,2178,3762,3995
$GC,2766,-1.24,-121.7,425.7,-18.0,413,2770,0.00,1.77,0.00,0.000,6,0.000,0.025,2178,2535,3995
$STATE,3066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3066,begin apogee
$GC,3075,-0.27,0.0,469.1,13.1,441,3174,1.00,0.00,90.90,0.977,6,0.150,0.000,2483,2398,3531
$STATE,3175,end apogee,CONTROL_FINISHED_OK
$STATE,3175,begin climb
$GC,3178,1.50,121.7,474.3,0.0,451,3285,1.55,2.25,95.68,0.956,4,0.052,0.026,3071,960,3034
$GC,3485,0.74,121.7,458.5,13.9,477,3492,0.98,2.15,0.00,0.000,6,0.212,0.033,2823,2376,3031
$GC,3813,0.66,195.5,430.5,7.8,508,3878,0.00,2.25,56.30,0.945,4,0.000,0.049,2823,3744,2734
$GC,4008,0.49,195.5,405.8,14.9,525,4015,0.32,2.08,0.00,0.000,6,0.183,0.024,2744,2331,2732
$GC,4335,0.79,257.4,377.0,8.7,556,4389,0.25,2.08,48.62,0.920,4,0.068,0.029,2850,986,2481
$GC,4493,0.84,257.4,355.5,14.2,570,4499,0.00,2.10,0.00,0.000,6,0.000,0.032,2850,2354,2477
$GC,4823,0.84,257.4,303.0,17.3,601,4826,0.00,2.20,0.00,0.000,4,0.000,0.050,2850,3758,2473
$GC,4910,0.72,257.4,286.3,18.0,614,4916,0.20,2.03,0.00,0.000,6,0.186,0.024,2809,2359,2472
$GC,5255,0.83,257.4,237.8,13.6,675,5262,0.12,2.03,0.00,0.000,4,0.086,0.028,2868,979,2472
$GC,5387,0.84,264.1,219.6,12.7,698,5400,0.00,2.08,4.97,0.650,6,0.000,0.032,2869,2349,2455
$GC,5741,0.85,271.3,171.7,12.7,760,5754,0.00,2.28,7.20,0.707,4,0.000,0.048,2868,3763,2426
$GC,5910,0.70,271.3,145.4,16.3,789,5917,0.25,2.05,0.00,0.000,6,0.183,0.024,2813,2342,2425
$GC,6258,0.90,295.7,100.1,11.4,850,6282,0.17,0.00,20.70,0.736,6,0.075,0.000,2891,2338,2326
$GC,6622,0.90,295.7,50.0,13.4,914,6628,0.00,2.25,0.00,0.000,4,0.000,0.048,2891,3764,2322
$GC,6884,0.90,365.6,11.4,8.1,960,6947,0.00,2.00,54.20,0.665,6,0.000,0.023,2902,2362,2038
$STATE,6974,end climb,SURFACE_DEPTH_REACHED
$STATE,6974,begin surface coast
$FINISH,1.8,1.007151
$STATE,7012,end surface coast,CONTROL_FINISHED_OK
$STATE,7012,begin surface
$SM_CCo,7032,81.65,0.643,0,0,1594,475.15
$SM_GC,2.60,0.00,0.00,81.65,0.000,0.000,0.643,138,2359,1594,-7.63,-0.65,475.15
$IRIDIUM_FIX,2517.50,12226.62,201198,030313
$TT8_MAMPS,0.029146
$HUMID,1849
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.4,41.9
$24V_AH,23.6,99.579
$10V_AH,10.6,52.184
$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,23.000,53.525,378.575,81.650,0.000,28.860,32.811,193.963,3.250,0.000,0.000,36.595,1625.739,3229.597,537.986,1589.422,552.415,0.000,1336.538,0.000,1536.696,0.000,22.249,0.000
$DEVICE_MAMPS,232.401,49.855,977.158,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.121,744.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50623,982
$CAP_FILE_SIZE,88047,0
$CFSIZE,260165632,180776960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,224.0,1
$GPS,260809,071236,2522.521,12228.789,13,1.5,29,-3.6