version: 66.04
glider: 167
mission: 2
dive: 573
start: 8 25 109 22 54 52
data:
$ID,167
$MISSION,2
$DIVE,573
$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,-20582.611
$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,74
$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
$GPS1,224850,2523.168,12229.943,12,1.9,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.6
$GPS2,225432,2523.119,12229.991,14,1.3,14,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,328.1,9047,-25.0,-13.200
$D_GRID,464
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,48,0.00,0.00,-29.15,0.000,2,0.000,0.000,135,2399,2187
$GC,52,-1.50,-121.7,3.2,-2.0,5,126,8.00,2.15,-57.85,0.000,4,0.228,0.054,2081,3753,3990
$GC,193,-0.55,-121.7,36.7,-40.1,28,200,1.15,2.00,0.00,0.000,6,0.188,0.021,2394,2356,3991
$GC,541,-1.15,-121.7,81.5,-7.0,89,549,0.45,2.20,0.00,0.000,4,0.048,0.044,2193,3766,3992
$GC,614,-0.83,-121.7,93.5,-20.2,101,622,0.40,1.98,0.00,0.000,6,0.158,0.022,2309,2364,3993
$GC,963,-1.22,-121.7,129.9,-12.3,162,970,0.30,2.17,0.00,0.000,4,0.053,0.044,2176,3764,3995
$GC,1132,-1.07,-121.7,154.9,-13.8,191,1138,0.22,1.90,0.00,0.000,6,0.152,0.023,2238,2415,3996
$GC,1480,-1.21,-121.7,199.8,-12.8,252,1487,0.15,2.08,0.00,0.000,4,0.067,0.044,2174,3756,3996
$GC,1507,-1.21,-121.7,203.9,-15.2,256,1513,0.00,1.88,0.00,0.000,6,0.000,0.022,2174,2420,3996
$GC,1854,-1.13,-121.7,264.9,-18.4,317,1861,0.15,2.08,0.00,0.000,4,0.166,0.044,2205,3754,3996
$GC,1941,-1.13,-121.7,279.1,-15.3,332,1947,0.00,1.85,0.00,0.000,6,0.000,0.024,2205,2442,3997
$GC,2281,-1.21,-121.7,328.4,-15.3,376,2285,0.00,2.05,0.00,0.000,4,0.000,0.047,2205,3757,3997
$GC,2542,-1.32,-121.7,367.3,-14.1,399,2546,0.15,1.83,0.00,0.000,6,0.071,0.025,2143,2491,3996
$GC,2873,-1.20,-121.7,429.7,-19.2,430,2878,0.17,2.00,0.00,0.000,4,0.166,0.047,2188,3764,3996
$GC,2937,-1.26,-121.7,440.1,-15.1,435,2943,0.00,1.83,0.00,0.000,6,0.000,0.024,2188,2491,3996
$STATE,3100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3100,begin apogee
$GC,3108,-0.27,0.0,464.9,16.4,451,3205,0.95,0.00,91.30,0.953,6,0.144,0.000,2484,2392,3531
$STATE,3206,end apogee,CONTROL_FINISHED_OK
$STATE,3206,begin climb
$GC,3209,1.50,121.7,471.4,0.0,461,3312,1.55,2.15,95.65,0.935,4,0.051,0.025,3072,973,3034
$GC,3569,0.76,126.9,453.2,12.8,492,3580,0.95,2.12,5.15,0.685,6,0.210,0.035,2829,2371,3014
$GC,3901,0.71,210.2,427.0,7.2,523,3970,0.00,2.15,64.35,0.928,4,0.000,0.028,2837,967,2674
$GC,4225,0.74,236.6,391.1,11.3,551,4254,0.00,2.10,21.27,0.884,6,0.000,0.033,2836,2350,2566
$GC,4572,0.75,247.5,346.9,12.4,584,4586,0.00,2.25,9.10,0.798,4,0.000,0.048,2837,3760,2523
$GC,4721,0.58,247.5,323.8,19.3,597,4725,0.28,2.03,0.00,0.000,6,0.176,0.023,2772,2369,2520
$GC,5058,0.82,250.0,271.0,13.0,644,5064,0.17,0.00,0.00,0.000,6,0.074,0.000,2847,2365,2518
$GC,5404,0.82,250.0,214.9,16.6,705,5410,0.00,2.17,0.00,0.000,4,0.000,0.048,2848,3755,2517
$GC,5611,0.73,251.5,185.5,13.1,741,5620,0.15,2.03,3.97,0.548,6,0.185,0.024,2820,2350,2505
$GC,5961,0.87,251.5,138.2,15.2,802,5968,0.12,2.00,0.00,0.000,4,0.084,0.027,2883,983,2504
$GC,6071,0.87,251.5,121.6,14.3,821,6078,0.00,2.05,0.00,0.000,6,0.000,0.031,2883,2348,2504
$GC,6421,1.02,371.8,87.0,4.5,882,6519,0.00,2.10,92.45,0.715,4,0.000,0.027,2889,982,2016
$GC,6775,1.31,387.8,39.8,12.0,944,6795,0.32,2.15,12.68,0.624,6,0.056,0.031,3016,2401,1950
$STATE,6996,end climb,SURFACE_DEPTH_REACHED
$STATE,6996,begin surface coast
$FINISH,1.8,1.002523
$STATE,7015,end surface coast,CONTROL_FINISHED_OK
$STATE,7015,begin surface
$SM_CCo,7037,65.22,0.630,0,0,1594,475.15
$SM_GC,3.09,0.00,0.00,65.22,0.000,0.000,0.630,139,2404,1594,-7.63,0.59,475.15
$IRIDIUM_FIX,2512.73,12230.65,191198,212145
$TT8_MAMPS,0.029146
$HUMID,1806
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.7,80.9
$24V_AH,23.7,99.212
$10V_AH,10.7,52.007
$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,23.525,53.325,395.925,65.225,0.000,23.090,36.873,140.640,3.250,0.000,0.000,14.416,1639.988,3158.611,527.546,1630.219,490.387,0.000,1353.409,0.000,1593.455,0.000,23.645,0.000
$DEVICE_MAMPS,227.799,85.137,953.381,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.214,766.950,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50501,986
$CAP_FILE_SIZE,88002,0
$CFSIZE,260165632,180936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,154.9,1
$GPS,260809,005436,2523.262,12230.091,40,0.9,40,-3.7