version: 66.04
glider: 167
mission: 2
dive: 581
start: 8 26 109 16 53 10
data:
$ID,167
$MISSION,2
$DIVE,581
$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,-20723.814
$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,88
$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
$GPS1,164236,2518.285,12230.633,40,1.1,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-71.7
$GPS2,165250,2518.150,12230.539,14,1.4,14,-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,142.0,67178,-25.0,-13.200
$D_GRID,679
$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,-21.85,0.000,2,0.000,0.000,138,2401,2138
$GC,44,-1.50,-121.7,3.1,-1.9,4,119,8.00,2.15,-58.22,0.000,4,0.225,0.054,2083,3757,3990
$GC,173,-0.58,-121.7,36.2,-41.4,25,180,1.10,1.98,0.00,0.000,6,0.179,0.021,2386,2367,3992
$GC,521,-1.26,-121.7,67.8,-7.8,86,528,0.52,2.17,0.00,0.000,4,0.048,0.044,2165,3761,3994
$GC,784,-1.08,-121.7,116.9,-20.1,132,792,0.25,1.90,0.00,0.000,6,0.154,0.023,2234,2419,3996
$GC,1135,-1.23,-121.7,165.8,-11.2,193,1141,0.15,2.08,0.00,0.000,4,0.071,0.044,2166,3754,3997
$GC,1250,-1.07,-121.7,189.2,-18.8,213,1257,0.25,1.85,0.00,0.000,6,0.157,0.024,2235,2450,3997
$GC,1603,-1.31,-121.7,235.1,-10.0,274,1610,0.20,2.03,0.00,0.000,4,0.064,0.044,2140,3753,3997
$GC,1751,-1.09,-121.7,264.5,-21.5,299,1757,0.32,1.75,0.00,0.000,6,0.158,0.024,2230,2523,3997
$GC,2098,-1.32,-121.7,313.1,-13.7,352,2102,0.20,1.92,0.00,0.000,4,0.063,0.046,2140,3754,3997
$GC,2182,-1.15,-121.7,328.7,-18.1,359,2189,0.25,1.73,0.00,0.000,6,0.160,0.023,2207,2541,3997
$GC,2509,-1.33,-121.7,370.1,-13.3,390,2514,0.17,2.22,0.00,0.000,4,0.069,0.022,2130,1002,3997
$GC,2527,-1.43,-121.7,372.8,-13.8,391,2531,0.00,2.33,0.00,0.000,6,0.000,0.032,2124,2536,3996
$GC,2855,-1.29,-121.7,434.4,-19.2,421,2859,0.15,1.90,0.00,0.000,4,0.181,0.047,2154,3764,3995
$GC,3114,-1.29,-121.7,479.5,-14.3,444,3118,0.00,1.73,0.00,0.000,6,0.000,0.026,2154,2573,3993
$GC,3444,-1.29,-121.7,530.4,-16.3,466,3448,0.00,1.88,0.00,0.000,4,0.000,0.049,2153,3745,3992
$GC,3618,-1.29,-121.7,561.7,-15.5,473,3624,0.00,1.67,0.00,0.000,6,0.000,0.025,2153,2584,3991
$GC,3936,-1.35,-121.7,609.1,-15.0,489,3940,0.00,1.85,0.00,0.000,4,0.000,0.051,2152,3757,3989
$STATE,3962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3962,begin apogee
$GC,3972,-0.27,0.0,613.8,15.1,490,4068,1.10,0.00,92.12,1.103,6,0.155,0.000,2483,2351,3532
$STATE,4069,end apogee,CONTROL_FINISHED_OK
$STATE,4069,begin climb
$GC,4073,1.50,121.7,618.9,0.0,495,4181,1.58,2.12,98.10,1.075,4,0.053,0.028,3073,992,3035
$GC,4408,0.72,121.7,597.6,15.4,510,4414,1.02,2.10,0.00,0.000,6,0.221,0.035,2818,2365,3031
$GC,4738,0.62,196.5,568.8,7.8,526,4803,0.15,2.20,58.62,1.063,4,0.207,0.028,2789,986,2729
$GC,5058,0.74,212.0,534.2,12.1,540,5077,0.00,2.15,13.45,0.979,6,0.000,0.033,2789,2389,2667
$GC,5389,0.82,221.4,492.6,12.5,558,5404,0.15,2.20,8.68,0.918,4,0.081,0.051,2847,3751,2628
$GC,5640,0.59,221.4,448.6,15.8,580,5648,0.32,1.95,0.00,0.000,6,0.192,0.026,2773,2415,2625
$GC,5967,0.74,241.6,409.8,11.7,611,5991,0.15,2.20,16.58,0.963,4,0.082,0.048,2829,3754,2546
$GC,6121,0.61,241.6,386.8,15.7,624,6129,0.22,1.98,0.00,0.000,6,0.189,0.026,2781,2405,2543
$GC,6447,0.81,285.7,350.0,10.0,655,6492,0.17,2.20,35.95,0.948,4,0.076,0.029,2864,983,2367
$GC,6586,0.81,285.7,329.8,16.2,667,6590,0.00,2.22,0.00,0.000,6,0.000,0.035,2864,2421,2363
$GC,6921,0.81,285.7,269.8,17.2,712,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2422,2360
$GC,7268,0.81,285.7,212.3,19.4,773,7274,0.00,2.10,0.00,0.000,4,0.000,0.052,2864,3754,2359
$GC,7362,0.69,285.7,192.8,20.3,789,7369,0.25,1.98,0.00,0.000,6,0.181,0.025,2808,2390,2359
$GC,7709,0.93,316.1,149.6,11.0,850,7740,0.17,2.20,24.15,0.789,4,0.074,0.048,2884,3761,2241
$GC,7923,0.79,316.1,116.3,18.3,887,7930,0.22,1.95,0.00,0.000,6,0.181,0.025,2836,2419,2237
$GC,8271,1.11,343.0,65.1,11.2,948,8296,0.25,0.00,21.88,0.709,6,0.064,0.000,2941,2415,2133
$GC,8636,1.13,354.0,26.7,12.4,1012,8650,0.00,2.20,9.50,0.621,4,0.000,0.048,2941,3764,2088
$GC,8658,1.13,357.7,23.7,12.9,1015,8671,0.00,1.92,4.93,0.509,6,0.000,0.023,2950,2424,2073
$STATE,8867,end climb,SURFACE_DEPTH_REACHED
$STATE,8867,begin surface coast
$FINISH,1.8,1.021144
$STATE,8914,end surface coast,CONTROL_FINISHED_OK
$STATE,8914,begin surface
$SM_CCo,8934,88.40,0.640,0,0,1595,475.15
$SM_GC,2.97,0.00,0.00,88.40,0.000,0.000,0.640,135,2421,1595,-7.64,1.07,475.15
$IRIDIUM_FIX,2510.35,12230.65,201198,161652
$TT8_MAMPS,0.029146
$HUMID,1811
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,527.1,111.6
$24V_AH,23.4,100.243
$10V_AH,10.6,52.506
$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,25.200,68.850,383.950,88.400,0.000,59.352,147.227,197.944,3.750,0.000,0.000,14.211,1837.514,4611.880,554.185,1880.140,749.073,0.000,1499.501,0.000,1843.490,0.000,27.447,0.000
$DEVICE_MAMPS,225.498,54.457,1102.946,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.194,799.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56832,1060
$CAP_FILE_SIZE,105759,0
$CFSIZE,260165632,180482048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,211.6,1
$GPS,260809,192455,2517.198,12230.593,40,1.4,40,-3.6