version: 66.04
glider: 167
mission: 2
dive: 575
start: 8 26 109 3 7 9
data:
$ID,167
$MISSION,2
$DIVE,575
$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,-20612.027
$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,97
$R_STBD_OVSHOOT,39
$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
$GPS1,030007,2523.760,12229.137,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.2
$GPS2,030649,2523.675,12229.068,14,1.3,14,-3.7
$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,132.3,77545,-25.0,-13.200
$D_GRID,501
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.15,0.000,2,0.000,0.000,140,2371,2172
$GC,45,-1.50,-121.7,3.1,-2.6,4,117,7.82,2.05,-57.78,0.000,4,0.224,0.038,2092,1009,3989
$GC,166,-0.91,-121.7,26.4,-39.8,24,173,0.73,2.10,0.00,0.000,6,0.172,0.035,2285,2392,3991
$GC,513,-1.17,-121.7,87.1,-13.4,85,520,0.20,2.03,0.00,0.000,4,0.062,0.023,2195,994,3993
$GC,698,-1.17,-121.7,116.7,-15.4,117,705,0.00,2.15,0.00,0.000,6,0.000,0.032,2192,2432,3994
$GC,1045,-1.17,-121.7,179.5,-17.5,178,1051,0.00,2.05,0.00,0.000,4,0.000,0.046,2192,3768,3996
$GC,1228,-1.10,-121.7,213.1,-17.3,210,1234,0.12,1.88,0.00,0.000,6,0.165,0.024,2223,2449,3996
$GC,1578,-1.26,-121.7,258.4,-12.8,271,1586,0.15,2.05,0.00,0.000,4,0.070,0.045,2159,3767,3997
$GC,1746,-1.09,-121.7,292.0,-20.3,300,1752,0.25,1.80,0.00,0.000,6,0.163,0.025,2227,2508,3997
$GC,2075,-1.25,-121.7,335.2,-12.3,335,2079,0.15,1.95,0.00,0.000,4,0.073,0.047,2162,3756,3997
$GC,2194,-1.11,-121.7,355.3,-17.0,345,2200,0.22,1.75,0.00,0.000,6,0.166,0.025,2222,2536,3996
$GC,2520,-1.30,-121.7,394.0,-11.8,376,2525,0.17,1.92,0.00,0.000,4,0.067,0.048,2149,3761,3995
$GC,2563,-1.13,-121.7,400.3,-17.8,379,2571,0.22,1.75,0.00,0.000,6,0.170,0.025,2208,2545,3995
$GC,2889,-1.31,-121.7,440.8,-11.8,410,2893,0.15,1.90,0.00,0.000,4,0.075,0.048,2142,3755,3993
$GC,2976,-1.15,-121.7,454.9,-17.7,417,2982,0.25,1.70,0.00,0.000,6,0.175,0.025,2207,2576,3992
$STATE,3022,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3022,begin apogee
$GC,3030,-0.27,0.0,462.2,14.1,422,3128,0.88,0.00,90.72,0.966,6,0.140,0.000,2484,2392,3532
$STATE,3128,end apogee,CONTROL_FINISHED_OK
$STATE,3128,begin climb
$GC,3132,1.50,121.7,466.6,0.0,432,3235,1.55,2.22,95.65,0.944,4,0.047,0.044,3067,3762,3034
$GC,3490,0.55,121.7,438.4,15.0,464,3497,1.27,2.08,0.00,0.000,6,0.222,0.022,2758,2326,3031
$GC,3816,0.71,209.9,411.1,6.8,495,3893,0.15,2.38,67.40,0.928,4,0.086,0.048,2816,3757,2675
$GC,3969,0.60,209.9,390.8,17.3,508,3976,0.20,2.05,0.00,0.000,6,0.190,0.024,2776,2355,2672
$GC,4295,0.80,240.3,350.8,11.0,539,4329,0.17,2.10,24.05,0.880,4,0.075,0.028,2851,986,2550
$GC,4399,0.80,240.3,335.8,16.0,548,4403,0.00,2.10,0.00,0.000,6,0.000,0.032,2852,2357,2548
$GC,4731,0.80,240.3,279.6,17.2,589,4737,0.00,2.17,0.00,0.000,4,0.000,0.049,2852,3754,2546
$GC,4819,0.64,240.3,264.0,17.9,604,4826,0.28,2.00,0.00,0.000,6,0.185,0.025,2789,2365,2544
$GC,5166,0.81,240.3,219.1,13.5,665,5172,0.15,0.00,0.00,0.000,6,0.078,0.000,2848,2363,2542
$GC,5510,0.81,240.3,164.7,14.2,726,5516,0.00,2.20,0.00,0.000,4,0.000,0.048,2848,3760,2542
$GC,5665,0.68,240.3,140.8,16.7,753,5671,0.20,2.00,0.00,0.000,6,0.183,0.025,2807,2366,2541
$GC,6012,0.85,240.3,95.8,14.0,814,6018,0.12,2.00,0.00,0.000,4,0.084,0.026,2866,995,2541
$GC,6275,0.87,261.2,60.1,11.7,860,6299,0.00,2.08,15.52,0.692,6,0.000,0.033,2866,2370,2465
$GC,6639,1.10,371.1,30.1,5.2,924,6734,0.17,2.22,84.50,0.672,4,0.072,0.047,2942,3755,2016
$GC,6836,1.12,389.8,8.6,11.8,958,6856,0.00,1.95,15.07,0.614,6,0.000,0.022,2951,2408,1941
$STATE,6905,end climb,SURFACE_DEPTH_REACHED
$STATE,6905,begin surface coast
$FINISH,1.9,1.003153
$STATE,6955,end surface coast,CONTROL_FINISHED_OK
$STATE,6955,begin surface
$SM_CCo,6975,63.70,0.634,0,0,1594,475.15
$SM_GC,3.63,0.00,0.00,63.70,0.000,0.000,0.634,137,2405,1594,-7.64,0.65,475.15
$IRIDIUM_FIX,2512.73,12230.65,201198,010144
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.8,36.4
$24V_AH,23.7,99.455
$10V_AH,10.7,52.125
$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,23.300,56.825,392.925,63.700,0.000,30.115,33.518,192.770,4.000,0.000,0.000,14.250,1614.489,3168.745,534.154,1568.032,554.886,0.000,1337.079,0.000,1534.061,0.000,28.122,0.000
$DEVICE_MAMPS,223.964,49.088,965.653,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.717,749.941,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50564,978
$CAP_FILE_SIZE,88702,0
$CFSIZE,260165632,180830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,268.9,1
$GPS,260809,050530,2523.203,12228.540,11,2.0,21,-3.7