version: 66.04
glider: 167
mission: 2
dive: 577
start: 8 26 109 7 19 45
data:
$ID,167
$MISSION,2
$DIVE,577
$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,-20665.721
$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,99
$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
$GPS1,071236,2522.521,12228.789,13,1.5,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-72.1
$GPS2,071926,2522.463,12228.783,15,1.6,15,-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,137.2,75675,-25.0,-13.200
$D_GRID,530
$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,-22.95,0.000,2,0.000,0.000,138,2359,2160
$GC,45,-1.50,-121.7,3.3,-3.3,4,119,7.97,2.03,-57.67,0.000,4,0.229,0.039,2092,1012,3990
$GC,280,-1.12,-121.7,62.6,-23.8,44,287,0.47,2.08,0.00,0.000,6,0.167,0.029,2214,2401,3992
$GC,626,-1.12,-121.7,119.3,-16.5,105,634,0.00,2.08,0.00,0.000,4,0.000,0.044,2205,3754,3996
$GC,770,-1.06,-121.7,143.7,-16.6,130,777,0.12,1.90,0.00,0.000,6,0.164,0.024,2237,2426,3997
$GC,1117,-1.18,-121.7,190.9,-14.3,191,1123,0.12,2.08,0.00,0.000,4,0.075,0.045,2179,3754,3997
$GC,1284,-1.04,-121.7,221.8,-20.3,220,1290,0.22,1.88,0.00,0.000,6,0.160,0.025,2240,2441,3997
$GC,1635,-1.26,-121.7,270.2,-10.9,281,1643,0.17,2.05,0.00,0.000,4,0.065,0.047,2162,3749,3997
$GC,1772,-1.13,-121.7,291.6,-15.7,304,1779,0.20,1.83,0.00,0.000,6,0.164,0.025,2214,2484,3997
$GC,2103,-1.27,-121.7,332.2,-12.7,340,2107,0.12,2.00,0.00,0.000,4,0.079,0.047,2162,3760,3997
$GC,2172,-1.13,-121.7,343.6,-18.6,346,2176,0.20,1.80,0.00,0.000,6,0.166,0.025,2214,2511,3997
$GC,2503,-1.28,-121.7,391.9,-14.2,377,2507,0.12,1.92,0.00,0.000,4,0.078,0.048,2162,3744,3996
$GC,2554,-1.17,-121.7,401.2,-19.6,381,2562,0.15,1.77,0.00,0.000,6,0.169,0.025,2198,2511,3995
$GC,2880,-1.31,-121.7,444.2,-10.5,412,2882,0.12,0.00,0.00,0.000,6,0.079,0.000,2148,2511,3995
$STATE,3141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3141,begin apogee
$GC,3151,-0.27,0.0,487.9,17.4,437,3248,1.12,0.00,91.32,0.992,6,0.162,0.000,2481,2372,3531
$STATE,3248,end apogee,CONTROL_FINISHED_OK
$STATE,3248,begin climb
$GC,3252,1.50,121.7,493.6,0.0,447,3356,1.55,2.25,96.22,0.969,4,0.048,0.044,3063,3751,3034
$GC,3612,0.56,126.1,472.8,12.9,476,3624,1.25,2.05,4.62,0.673,6,0.223,0.025,2763,2336,3016
$GC,3943,0.66,212.5,448.7,6.9,507,4019,0.00,2.33,67.25,0.958,4,0.000,0.048,2763,3753,2664
$GC,4274,0.74,221.1,407.7,12.6,536,4292,0.15,2.00,7.70,0.801,6,0.077,0.025,2826,2377,2630
$GC,4609,0.75,227.6,363.5,12.7,568,4621,0.00,2.17,6.43,0.764,4,0.000,0.048,2826,3744,2603
$GC,4741,0.63,227.6,343.3,15.8,579,4750,0.20,1.98,0.00,0.000,6,0.188,0.024,2785,2372,2602
$GC,5069,0.80,235.7,301.7,12.6,610,5082,0.15,2.10,7.45,0.776,4,0.076,0.028,2848,991,2571
$GC,5253,0.81,242.7,275.2,12.7,641,5267,0.00,2.10,6.82,0.746,6,0.000,0.033,2848,2378,2542
$GC,5607,0.81,242.7,230.5,13.6,703,5613,0.00,2.15,0.00,0.000,4,0.000,0.049,2848,3758,2540
$GC,5870,0.68,242.7,188.7,16.7,749,5878,0.22,1.95,0.00,0.000,6,0.184,0.025,2800,2399,2539
$GC,6221,0.86,256.3,147.1,12.2,810,6239,0.17,2.15,11.12,0.738,4,0.071,0.048,2878,3764,2488
$GC,6388,0.69,256.3,118.8,17.1,839,6395,0.30,1.92,0.00,0.000,6,0.182,0.023,2808,2425,2487
$GC,6735,0.89,303.9,79.7,9.8,900,6782,0.17,2.17,38.25,0.721,4,0.072,0.048,2885,3755,2292
$GC,7040,0.93,332.9,34.3,11.1,953,7071,0.00,1.88,23.17,0.670,6,0.000,0.024,2895,2447,2173
$GC,7412,1.35,487.5,12.1,2.0,1018,7530,0.30,0.00,113.80,0.637,2,0.059,0.000,3017,2446,1566
$STATE,7530,end climb,SURFACE_DEPTH_REACHED
$STATE,7531,begin surface coast
$FINISH,1.8,1.008841
$STATE,7557,end surface coast,CONTROL_FINISHED_OK
$STATE,7557,begin surface
$SM_CCo,7638,0.00,0.000,0,0,1559,483.73
$SM_GC,2.78,7.97,0.00,0.00,0.061,0.000,0.000,138,2446,1559,-7.60,1.78,483.73
$IRIDIUM_FIX,2515.12,12228.64,201198,050535
$TT8_MAMPS,0.029146
$HUMID,1841
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,426.3,85.2
$24V_AH,23.6,99.706
$10V_AH,10.7,52.246
$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,23.600,52.725,474.175,0.000,0.000,30.978,41.199,188.911,3.500,0.000,0.000,15.845,1709.951,3563.700,522.667,1686.037,559.774,0.000,1387.885,0.000,1651.303,0.000,20.688,0.000
$DEVICE_MAMPS,229.333,49.088,991.731,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.103,790.608,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53723,1042
$CAP_FILE_SIZE,91715,0
$CFSIZE,260165632,180715520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,150.8,1
$GPS,260809,092807,2521.480,12229.659,27,1.5,27,-3.6