version: 66.04
glider: 167
mission: 2
dive: 510
start: 8 17 109 8 10 31
data:
$ID,167
$MISSION,2
$DIVE,510
$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,-19160.535
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$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,85
$R_STBD_OVSHOOT,70
$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
$GPS1,080540,2458.459,12210.812,9,3.5,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-63.7
$GPS2,081014,2458.320,12210.905,14,2.0,14,-3.5
$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,115.5,65457,-25.0,-13.200
$D_GRID,765
$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,-121.7,0.0,0.0,0,96,0.00,0.00,-77.32,0.000,2,0.000,0.000,136,2383,2332
$GC,100,-1.50,-121.7,3.1,-2.1,13,170,7.72,1.98,-55.00,0.000,4,0.234,0.036,2062,972,3988
$GC,420,-0.89,-121.7,87.9,-30.8,68,426,0.70,2.05,0.00,0.000,6,0.176,0.040,2251,2368,3989
$GC,766,-0.89,-121.7,142.3,-14.3,129,773,0.00,2.10,0.00,0.000,4,0.000,0.048,2243,3760,3991
$GC,982,-0.89,-121.7,176.4,-14.4,167,988,0.00,1.90,0.00,0.000,6,0.000,0.031,2243,2414,3991
$GC,1327,-0.89,-121.7,228.3,-16.5,228,1333,0.00,2.00,0.00,0.000,4,0.000,0.025,2243,1002,3991
$GC,1351,-0.89,-121.7,232.4,-16.7,232,1357,0.00,2.10,0.00,0.000,6,0.000,0.032,2233,2425,3991
$GC,1697,-0.89,-121.7,288.5,-16.0,293,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2425,3989
$GC,2029,-0.89,-121.7,341.9,-15.5,330,2033,0.00,2.03,0.00,0.000,4,0.000,0.048,2225,3750,3987
$GC,2165,-0.89,-121.7,365.4,-17.1,342,2170,0.12,1.90,0.00,0.000,6,0.165,0.027,2256,2422,3985
$GC,2497,-1.06,-121.7,415.9,-15.2,373,2501,0.15,2.08,0.00,0.000,4,0.075,0.048,2192,3753,3982
$GC,2622,-0.95,-121.7,438.2,-17.4,384,2626,0.17,1.90,0.00,0.000,6,0.171,0.027,2238,2434,3981
$GC,2953,-1.07,-121.7,481.7,-14.8,415,2958,0.12,2.08,0.00,0.000,4,0.081,0.051,2188,3758,3979
$GC,3117,-0.98,-121.7,511.9,-19.1,427,3121,0.15,1.85,0.00,0.000,6,0.174,0.027,2225,2480,3977
$GC,3452,-1.07,-121.7,562.3,-14.0,443,3456,0.00,2.00,0.00,0.000,4,0.000,0.051,2221,3756,3973
$GC,3538,-1.15,-121.7,574.8,-13.7,446,3551,0.12,1.85,0.00,0.000,6,0.086,0.027,2172,2469,3972
$STATE,3810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3810,begin apogee
$GC,3818,-0.27,0.0,634.2,25.6,460,3912,0.95,0.00,87.15,1.097,6,0.163,0.000,2451,2379,3532
$STATE,3913,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3917,1.50,121.7,642.2,0.0,465,4025,1.65,2.17,95.45,1.066,4,0.087,0.030,3029,969,3035
$GC,4055,1.01,178.3,640.8,9.1,471,4106,0.60,2.15,44.80,1.041,6,0.193,0.036,2871,2364,2805
$GC,4417,1.10,254.1,611.0,7.7,488,4483,0.00,2.30,59.40,1.053,4,0.000,0.051,2871,3757,2494
$GC,4738,1.06,281.7,587.2,11.2,502,4767,0.00,2.03,22.67,1.016,6,0.000,0.026,2880,2369,2383
$GC,5085,1.16,281.7,535.8,17.0,519,5089,0.10,2.20,0.00,0.000,4,0.095,0.051,2918,3763,2377
$GC,5175,1.06,281.7,517.6,20.0,523,5180,0.17,2.03,0.00,0.000,6,0.181,0.027,2883,2369,2376
$GC,5505,1.17,281.7,462.1,16.3,549,5510,0.10,2.17,0.00,0.000,4,0.094,0.052,2922,3760,2373
$GC,5565,1.07,281.7,450.3,20.4,554,5569,0.17,2.00,0.00,0.000,6,0.179,0.027,2886,2383,2373
$GC,5895,1.17,281.7,399.5,13.8,585,5899,0.00,2.15,0.00,0.000,4,0.000,0.051,2886,3755,2371
$GC,5946,1.17,281.7,390.8,17.4,589,5953,0.00,2.00,0.00,0.000,6,0.000,0.027,2894,2386,2371
$GC,6275,1.27,281.7,335.6,16.7,620,6281,0.17,0.00,0.00,0.000,6,0.080,0.000,2972,2383,2370
$GC,6610,1.16,281.7,265.3,21.8,665,6617,0.17,0.00,0.00,0.000,6,0.176,0.000,2922,2382,2368
$GC,6957,1.21,281.7,205.3,15.7,726,6963,0.00,2.08,0.00,0.000,4,0.000,0.031,2930,973,2368
$GC,7135,1.31,281.7,179.5,15.4,757,7143,0.12,2.12,0.00,0.000,6,0.082,0.035,2980,2381,2367
$GC,7483,1.22,281.7,117.2,16.9,818,7490,0.15,2.15,0.00,0.000,4,0.176,0.050,2943,3758,2367
$GC,7745,1.14,281.7,76.3,13.7,864,7753,0.15,2.00,0.00,0.000,6,0.184,0.026,2914,2375,2366
$GC,8094,1.40,330.9,44.2,9.6,925,8137,0.20,2.20,36.53,0.695,4,0.071,0.049,2999,3752,2182
$GC,8296,1.44,409.2,15.0,7.5,960,8362,0.00,2.00,60.70,0.655,6,0.000,0.025,3010,2363,1862
$STATE,8464,end climb,SURFACE_DEPTH_REACHED
$STATE,8464,begin surface coast
$FINISH,1.7,1.010459
$STATE,8497,end surface coast,CONTROL_FINISHED_OK
$STATE,8497,begin surface
$SM_CCo,8517,46.90,0.633,0,0,1594,475.15
$SM_GC,3.29,0.00,0.00,46.90,0.000,0.000,0.633,139,2361,1594,-7.52,-0.62,475.15
$IRIDIUM_FIX,2448.93,12212.42,111198,080826
$TT8_MAMPS,0.029146
$HUMID,2062
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.50
$XPDR_PINGS,84
$ALTIM_BOTTOM_PING,603.2,51.9
$24V_AH,23.6,89.537
$10V_AH,10.7,47.390
$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,21.825,61.600,406.700,46.900,0.000,0.000,0.000,0.000,25.750,0.000,0.000,14.930,1681.365,4447.366,559.537,1720.299,229.539,0.000,1445.410,0.000,1674.826,0.000,35.257,0.000
$DEVICE_MAMPS,233.935,88.205,1096.810,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.993,742.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53736,995
$CAP_FILE_SIZE,102524,0
$CFSIZE,260165632,185069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,246.6,1
$GPS,170809,103437,2457.731,12211.298,39,1.1,39,-3.5