version: 66.04
glider: 167
mission: 2
dive: 579
start: 8 26 109 11 48 58
data:
$ID,167
$MISSION,2
$DIVE,579
$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,-20692.541
$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,95
$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
$GPS1,113854,2520.393,12230.341,39,1.3,39,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.7
$GPS2,114838,2520.479,12230.536,12,1.6,12,-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,181.1,71132,-25.0,-13.200
$D_GRID,579
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.00,0.000,2,0.000,0.000,138,2434,2135
$GC,44,-1.50,-121.7,3.0,-2.1,4,117,7.95,0.00,-61.62,0.000,6,0.225,0.000,2090,2435,3990
$GC,458,-1.08,-121.7,121.4,-18.8,75,464,0.45,2.05,0.00,0.000,4,0.167,0.042,2215,3768,3993
$GC,574,-1.08,-121.7,136.9,-14.2,95,580,0.00,1.98,0.00,0.000,6,0.000,0.022,2215,2359,3994
$GC,921,-1.14,-121.7,192.6,-13.6,156,927,0.00,2.17,0.00,0.000,4,0.000,0.044,2205,3764,3996
$GC,1105,-1.14,-121.7,219.0,-13.5,188,1111,0.00,1.90,0.00,0.000,6,0.000,0.023,2205,2414,3996
$GC,1451,-1.20,-121.7,266.6,-14.5,249,1458,0.00,2.10,0.00,0.000,4,0.000,0.045,2205,3765,3995
$GC,1569,-1.20,-121.7,287.8,-18.5,269,1576,0.00,1.88,0.00,0.000,6,0.000,0.024,2204,2450,3995
$GC,1901,-1.30,-121.7,344.6,-15.8,306,1905,0.12,2.03,0.00,0.000,4,0.074,0.045,2142,3761,3995
$GC,2034,-1.09,-121.7,369.9,-19.0,317,2041,0.30,1.83,0.00,0.000,6,0.164,0.024,2224,2490,3995
$GC,2361,-1.28,-121.7,408.3,-11.7,348,2365,0.17,1.98,0.00,0.000,4,0.067,0.047,2141,3753,3994
$GC,2463,-1.10,-121.7,426.4,-17.3,357,2467,0.30,1.80,0.00,0.000,6,0.164,0.025,2222,2503,3993
$GC,2796,-1.29,-121.7,463.3,-9.8,388,2800,0.17,1.98,0.00,0.000,4,0.069,0.048,2150,3760,3992
$GC,2869,-1.15,-121.7,474.2,-15.1,394,2876,0.22,1.77,0.00,0.000,6,0.170,0.025,2208,2533,3991
$GC,3202,-1.32,-121.7,511.9,-11.2,421,3207,0.15,1.92,0.00,0.000,4,0.075,0.048,2142,3757,3990
$GC,3253,-1.20,-121.7,520.1,-15.2,423,3258,0.17,1.77,0.00,0.000,6,0.170,0.025,2187,2518,3989
$STATE,3558,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3558,begin apogee
$GC,3567,-0.27,0.0,562.4,13.0,438,3662,0.98,0.00,91.00,1.047,6,0.144,0.000,2485,2396,3532
$STATE,3662,end apogee,CONTROL_FINISHED_OK
$STATE,3662,begin climb
$GC,3666,1.50,121.7,565.7,0.0,443,3774,1.55,2.25,97.07,1.016,4,0.051,0.045,3061,3750,3035
$GC,4029,0.54,121.7,521.3,24.8,459,4035,1.25,2.05,0.00,0.000,6,0.222,0.023,2758,2332,3032
$GC,4360,0.69,243.3,484.3,4.4,484,4461,0.12,2.38,94.32,0.982,4,0.092,0.049,2806,3750,2539
$GC,4710,0.61,243.3,444.4,13.6,515,4716,0.15,1.98,0.00,0.000,6,0.187,0.025,2779,2387,2533
$GC,5035,0.77,243.3,391.6,20.8,546,5037,0.15,0.00,0.00,0.000,6,0.079,0.000,2838,2386,2530
$GC,5357,0.77,245.3,335.0,13.1,576,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2385,2529
$GC,5689,0.77,245.3,277.1,18.6,617,5695,0.00,2.15,0.00,0.000,4,0.000,0.049,2838,3751,2528
$GC,5894,0.64,245.3,238.7,17.4,653,5900,0.22,1.95,0.00,0.000,6,0.182,0.024,2789,2392,2526
$GC,6241,0.82,256.2,194.6,12.4,714,6256,0.15,2.22,9.10,0.755,4,0.078,0.048,2848,3754,2487
$GC,6303,0.67,256.2,185.2,16.0,724,6309,0.22,1.98,0.00,0.000,6,0.185,0.023,2802,2381,2486
$GC,6649,0.88,301.6,143.2,9.9,785,6693,0.17,2.28,37.10,0.773,4,0.072,0.048,2879,3755,2301
$GC,6718,0.76,301.6,133.8,16.3,796,6725,0.22,1.98,0.00,0.000,6,0.178,0.024,2831,2406,2299
$GC,7066,0.95,314.0,84.5,12.3,857,7085,0.15,2.17,10.48,0.677,4,0.076,0.047,2892,3751,2250
$GC,7340,0.88,314.0,47.2,13.7,905,7347,0.15,1.92,0.00,0.000,6,0.180,0.023,2863,2404,2247
$GC,7688,1.29,444.4,34.6,3.7,966,7796,0.32,2.17,101.00,0.656,4,0.059,0.026,3006,1000,1718
$GC,7867,1.34,444.4,7.9,16.0,996,7873,0.00,2.17,0.00,0.000,6,0.000,0.032,3006,2421,1713
$STATE,7893,end climb,SURFACE_DEPTH_REACHED
$STATE,7894,begin surface coast
$FINISH,1.8,0.997817
$STATE,7912,end surface coast,CONTROL_FINISHED_OK
$STATE,7912,begin surface
$SM_CCo,7932,21.48,0.602,0,0,1594,475.15
$SM_GC,2.40,0.00,0.00,21.48,0.000,0.000,0.602,137,2423,1594,-7.63,1.13,475.15
$IRIDIUM_FIX,2512.73,12228.64,201198,090909
$TT8_MAMPS,0.029146
$HUMID,1826
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,526.1,61.1
$24V_AH,23.5,99.964
$10V_AH,10.7,52.369
$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,23.650,56.900,440.075,21.475,0.000,58.412,126.370,191.777,5.250,0.000,0.000,12.970,1689.955,3962.722,521.054,1673.684,690.441,0.000,1376.764,0.000,1636.442,0.000,30.304,0.000
$DEVICE_MAMPS,225.498,52.923,1046.955,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.049,748.984,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53646,1004
$CAP_FILE_SIZE,94616,0
$CFSIZE,260165632,180604928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,158.5,1
$GPS,260809,140254,2519.212,12230.704,40,1.1,40,-3.6