version: 66.04
glider: 167
mission: 2
dive: 578
start: 8 26 109 9 34 52
data:
$ID,167
$MISSION,2
$DIVE,578
$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,-20678.943
$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,93
$R_STBD_OVSHOOT,41
$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
$GPS1,092807,2521.480,12229.659,27,1.5,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.3
$GPS2,093432,2521.606,12229.576,12,1.6,12,-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,164.4,73686,-25.0,-13.200
$D_GRID,558
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.40,0.000,2,0.000,0.000,139,2445,2267
$GC,50,-1.50,-121.7,3.5,-3.2,5,115,7.90,0.00,-50.65,0.000,6,0.225,0.000,2095,2446,3990
$GC,455,-1.06,-121.7,117.3,-25.6,76,461,0.45,2.05,0.00,0.000,4,0.166,0.045,2221,3759,3994
$GC,491,-0.96,-121.7,125.1,-19.6,82,498,0.17,1.98,0.00,0.000,6,0.153,0.022,2268,2364,3995
$GC,838,-1.20,-121.7,167.3,-10.0,143,846,0.20,2.17,0.00,0.000,4,0.062,0.044,2178,3763,3996
$GC,1003,-1.01,-121.7,195.5,-19.3,171,1011,0.28,1.92,0.00,0.000,6,0.159,0.024,2255,2407,3997
$GC,1351,-1.24,-121.7,243.4,-13.8,232,1358,0.17,2.10,0.00,0.000,4,0.062,0.044,2175,3753,3997
$GC,1456,-1.13,-121.7,262.3,-17.4,250,1462,0.15,1.90,0.00,0.000,6,0.165,0.023,2213,2417,3997
$GC,1801,-1.23,-121.7,306.0,-12.3,307,1805,0.00,2.10,0.00,0.000,4,0.000,0.053,2207,3764,3997
$GC,1963,-1.28,-121.7,332.5,-17.2,321,1968,0.12,1.92,0.00,0.000,6,0.078,0.024,2155,2417,3997
$GC,2297,-1.17,-121.7,403.0,-22.8,352,2301,0.17,2.10,0.00,0.000,4,0.166,0.044,2192,3757,3996
$GC,2397,-1.17,-121.7,423.1,-17.4,360,2403,0.00,1.85,0.00,0.000,6,0.000,0.023,2192,2462,3995
$GC,2723,-1.26,-121.7,476.2,-16.4,391,2727,0.00,2.03,0.00,0.000,4,0.000,0.049,2192,3757,3994
$GC,2804,-1.32,-121.7,489.4,-15.4,398,2808,0.12,1.83,0.00,0.000,6,0.080,0.025,2140,2491,3994
$STATE,2939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2939,begin apogee
$GC,2949,-0.27,0.0,512.3,17.2,408,3044,1.17,0.00,91.45,0.996,6,0.158,0.000,2485,2373,3532
$STATE,3044,end apogee,CONTROL_FINISHED_OK
$STATE,3044,begin climb
$GC,3048,1.50,121.7,518.0,0.0,413,3152,1.55,2.25,96.10,0.974,4,0.050,0.044,3064,3757,3034
$GC,3406,0.51,121.7,496.3,13.9,428,3413,1.30,2.03,0.00,0.000,6,0.225,0.022,2752,2355,3031
$GC,3732,0.66,244.0,480.5,4.3,459,3833,0.12,2.15,94.20,0.969,4,0.090,0.028,2800,992,2536
$GC,4089,0.82,244.0,442.6,13.8,490,4096,0.12,2.10,0.00,0.000,6,0.081,0.033,2853,2371,2530
$GC,4416,0.82,244.0,387.7,19.0,521,4420,0.00,2.05,0.00,0.000,4,0.000,0.028,2858,987,2528
$GC,4523,0.82,244.0,367.4,18.2,530,4529,0.00,2.15,0.00,0.000,6,0.000,0.032,2858,2413,2527
$GC,4853,0.76,244.0,305.0,17.7,561,4859,0.12,0.00,0.00,0.000,6,0.180,0.000,2828,2413,2525
$GC,5196,0.76,244.0,253.2,16.3,619,5203,0.00,2.10,0.00,0.000,4,0.000,0.048,2829,3763,2524
$GC,5322,0.69,244.0,229.4,19.8,641,5329,0.12,2.00,0.00,0.000,6,0.190,0.025,2805,2371,2523
$GC,5669,0.81,244.0,179.6,13.4,702,5675,0.10,2.17,0.00,0.000,4,0.089,0.047,2845,3751,2522
$GC,5816,0.68,244.0,154.8,17.4,727,5824,0.20,1.98,0.00,0.000,6,0.186,0.024,2804,2376,2522
$GC,6165,0.92,286.8,116.0,10.1,788,6206,0.17,2.25,32.25,0.749,4,0.073,0.049,2882,3750,2361
$GC,6462,0.84,286.8,82.4,13.2,840,6469,0.15,1.95,0.00,0.000,6,0.182,0.025,2854,2391,2356
$GC,6808,1.11,393.2,59.3,5.5,901,6897,0.20,2.17,81.45,0.683,4,0.071,0.027,2944,986,1928
$GC,7031,1.24,393.2,35.0,15.5,939,7039,0.10,2.20,0.00,0.000,6,0.087,0.030,2984,2433,1922
$STATE,7252,end climb,SURFACE_DEPTH_REACHED
$STATE,7252,begin surface coast
$FINISH,1.7,0.999260
$STATE,7281,end surface coast,CONTROL_FINISHED_OK
$STATE,7282,begin surface
$SM_CCo,7302,60.45,0.623,0,0,1595,475.15
$SM_GC,2.63,0.00,0.00,60.45,0.000,0.000,0.623,138,2434,1595,-7.63,1.44,475.15
$IRIDIUM_FIX,2512.73,12228.64,201198,070753
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,425.8,108.1
$24V_AH,23.6,99.829
$10V_AH,10.7,52.306
$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,22.850,53.575,395.450,60.450,0.000,26.011,32.813,159.487,3.750,0.000,0.000,12.597,1653.159,3394.478,520.041,1646.928,532.072,0.000,1354.054,0.000,1612.259,0.000,23.745,0.000
$DEVICE_MAMPS,225.498,62.127,996.333,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,661.737,747.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50651,983
$CAP_FILE_SIZE,89534,0
$CFSIZE,260165632,180674560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,134.1,1
$GPS,260809,113854,2520.393,12230.341,39,1.3,39,-3.6