version: 66.04
glider: 167
mission: 2
dive: 580
start: 8 26 109 14 10 10
data:
$ID,167
$MISSION,2
$DIVE,580
$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,-20708.975
$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
$GPS1,140254,2519.212,12230.704,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-70.8
$GPS2,140950,2519.117,12230.804,15,1.6,15,-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,159.5,68636,-25.0,-13.200
$D_GRID,638
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-29.10,0.000,2,0.000,0.000,138,2424,2324
$GC,51,-1.50,-121.7,3.3,-3.0,5,116,8.12,2.10,-49.90,0.000,4,0.233,0.036,2094,995,3989
$GC,152,-0.79,-121.7,24.4,-40.2,22,159,0.85,2.12,0.00,0.000,6,0.177,0.035,2320,2391,3990
$GC,499,-1.14,-121.7,79.5,-15.3,83,506,0.25,2.12,0.00,0.000,4,0.059,0.044,2206,3770,3992
$GC,762,-1.14,-121.7,129.6,-13.1,129,768,0.00,1.92,0.00,0.000,6,0.000,0.022,2205,2394,3994
$GC,1107,-1.14,-121.7,183.4,-16.7,190,1113,0.00,2.12,0.00,0.000,4,0.000,0.045,2205,3764,3995
$GC,1183,-1.14,-121.7,195.9,-16.0,203,1189,0.00,1.85,0.00,0.000,6,0.000,0.023,2205,2450,3995
$GC,1533,-1.22,-121.7,250.0,-15.7,264,1540,0.00,2.05,0.00,0.000,4,0.000,0.045,2205,3767,3995
$GC,1654,-1.22,-121.7,272.5,-19.1,285,1660,0.00,1.83,0.00,0.000,6,0.000,0.024,2204,2487,3995
$GC,1993,-1.34,-121.7,320.3,-13.0,332,1997,0.15,2.00,0.00,0.000,4,0.067,0.046,2137,3766,3995
$GC,2131,-1.15,-121.7,346.9,-19.6,344,2136,0.20,1.83,0.00,0.000,6,0.160,0.024,2208,2513,3995
$GC,2463,-1.34,-121.7,393.1,-14.9,375,2467,0.17,1.95,0.00,0.000,4,0.070,0.046,2138,3761,3995
$GC,2547,-1.18,-121.7,411.0,-23.0,382,2553,0.22,1.75,0.00,0.000,6,0.161,0.024,2198,2535,3995
$GC,2874,-1.33,-121.7,461.1,-9.9,413,2878,0.15,1.92,0.00,0.000,4,0.074,0.048,2138,3757,3993
$GC,3056,-1.22,-121.7,490.5,-18.0,429,3060,0.12,1.73,0.00,0.000,6,0.163,0.025,2176,2586,3993
$GC,3382,-1.34,-121.7,532.2,-12.2,448,3386,0.00,1.85,0.00,0.000,4,0.000,0.048,2169,3766,3991
$GC,3524,-1.34,-121.7,553.8,-15.8,454,3528,0.00,1.67,0.00,0.000,6,0.000,0.026,2169,2614,3990
$GC,3852,-1.44,-121.7,599.0,-14.9,470,3857,0.15,2.33,0.00,0.000,4,0.076,0.024,2110,1024,3987
$GC,3885,-1.44,-121.7,603.2,-12.6,471,3891,0.00,2.38,0.00,0.000,6,0.000,0.037,2109,2572,3987
$STATE,3930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3930,begin apogee
$GC,3940,-0.27,0.0,610.4,15.2,474,4036,1.30,0.00,92.10,1.097,6,0.163,0.000,2485,2408,3532
$STATE,4036,end apogee,CONTROL_FINISHED_OK
$STATE,4036,begin climb
$GC,4040,1.50,121.7,613.6,0.0,479,4148,1.55,2.25,97.93,1.068,4,0.049,0.046,3062,3760,3034
$GC,4402,0.55,121.7,583.4,18.5,495,4408,1.27,2.08,0.00,0.000,6,0.230,0.024,2760,2355,3031
$GC,4726,0.55,182.8,554.5,8.8,511,4779,0.00,2.30,48.00,1.052,4,0.000,0.051,2760,3754,2785
$GC,4970,0.56,196.1,521.6,12.2,522,4987,0.00,2.08,11.25,0.948,6,0.000,0.025,2769,2339,2731
$GC,5304,0.73,247.4,490.5,9.5,542,5352,0.12,2.35,41.38,1.018,4,0.088,0.050,2818,3751,2522
$GC,5507,0.61,247.4,461.3,14.6,560,5511,0.20,2.00,0.00,0.000,6,0.186,0.025,2778,2390,2518
$GC,5832,0.76,247.4,415.7,16.1,590,5837,0.15,2.17,0.00,0.000,4,0.081,0.048,2836,3761,2515
$GC,5936,0.62,247.4,394.1,22.3,599,5940,0.25,2.00,0.00,0.000,6,0.184,0.025,2780,2389,2515
$GC,6262,0.77,248.4,344.7,13.1,629,6267,0.15,2.17,0.00,0.000,4,0.081,0.048,2838,3763,2514
$GC,6413,0.63,248.4,322.0,14.9,642,6417,0.25,1.98,0.00,0.000,6,0.185,0.025,2783,2393,2512
$GC,6743,0.78,248.4,289.7,14.0,680,6751,0.15,2.08,0.00,0.000,4,0.079,0.028,2848,985,2511
$GC,6787,0.78,248.4,282.8,16.6,687,6795,0.00,2.15,0.00,0.000,6,0.000,0.034,2848,2396,2511
$GC,7134,0.78,248.4,225.0,14.2,748,7141,0.00,2.15,0.00,0.000,4,0.000,0.050,2848,3764,2510
$GC,7334,0.64,248.4,193.9,14.6,783,7341,0.25,1.92,0.00,0.000,6,0.188,0.025,2791,2447,2510
$GC,7681,0.81,248.4,152.9,14.9,844,7689,0.15,2.15,0.00,0.000,4,0.078,0.028,2854,993,2509
$GC,7737,0.89,248.4,144.6,15.4,853,7743,0.00,2.20,0.00,0.000,6,0.000,0.034,2854,2442,2509
$GC,8082,0.89,248.4,95.9,15.3,914,8088,0.00,2.17,0.00,0.000,4,0.000,0.028,2855,987,2509
$GC,8108,0.95,248.4,92.4,14.5,918,8113,0.00,2.17,0.00,0.000,6,0.000,0.032,2855,2427,2509
$GC,8455,1.13,345.7,56.9,6.1,979,8532,0.20,0.00,74.72,0.709,6,0.071,0.000,2941,2428,2122
$GC,8876,1.32,442.2,15.2,6.2,1052,8959,0.17,2.22,74.65,0.648,4,0.068,0.028,3021,987,1727
$STATE,8991,end climb,SURFACE_DEPTH_REACHED
$STATE,8991,begin surface coast
$FINISH,1.9,1.000378
$STATE,9015,end surface coast,CONTROL_FINISHED_OK
$STATE,9015,begin surface
$SM_CCo,9038,23.62,0.618,0,0,1595,475.15
$SM_GC,2.74,0.00,0.00,23.62,0.000,0.000,0.618,138,2401,1595,-7.63,0.51,475.15
$IRIDIUM_FIX,2512.73,12228.64,201198,111107
$TT8_MAMPS,0.029146
$HUMID,1879
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.7,131.6
$24V_AH,23.4,100.099
$10V_AH,10.6,52.436
$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,24.425,78.550,440.025,23.625,0.000,29.642,43.349,195.253,3.750,0.000,0.000,15.806,1847.944,4601.341,527.254,1889.011,612.586,0.000,1489.243,0.000,1843.683,0.000,25.830,0.000
$DEVICE_MAMPS,233.168,50.622,1096.810,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.166,809.215,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56964,1076
$CAP_FILE_SIZE,106934,0
$CFSIZE,260165632,180535296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,272.4,1
$GPS,260809,164236,2518.285,12230.633,40,1.1,40,-3.6