version: 66.04
glider: 167
mission: 2
dive: 626
start: 9 3 109 1 22 22
data:
$ID,167
$MISSION,2
$DIVE,626
$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,-21660.164
$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,43
$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
$GPS1,011437,2523.940,12309.034,38,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-64.1
$GPS2,012201,2524.169,12309.142,13,1.6,30,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$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,271.2,43365,-25.0,-13.200
$D_GRID,731
$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,17,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.88,0.000,2,0.000,0.000,138,2419,2163
$GC,46,-1.50,-121.7,3.0,-1.3,4,125,7.97,2.08,-63.08,0.000,4,0.226,0.051,2081,3766,3989
$GC,370,-0.80,-121.7,116.4,-34.1,60,377,0.85,1.98,0.00,0.000,6,0.171,0.021,2318,2350,3992
$GC,720,-1.24,-121.7,157.0,-7.6,121,727,0.35,2.17,0.00,0.000,4,0.054,0.043,2166,3750,3996
$GC,868,-0.94,-121.7,184.4,-21.2,146,874,0.40,1.88,0.00,0.000,6,0.163,0.021,2278,2408,3996
$GC,1220,-1.30,-121.7,225.3,-9.4,207,1228,0.30,2.10,0.00,0.000,4,0.056,0.043,2149,3760,3997
$GC,1292,-1.04,-121.7,239.3,-21.4,219,1300,0.32,1.88,0.00,0.000,6,0.163,0.021,2237,2418,3997
$GC,1642,-1.22,-121.7,285.2,-13.3,280,1648,0.15,2.08,0.00,0.000,4,0.067,0.044,2177,3750,3997
$GC,1819,-1.08,-121.7,319.9,-18.7,302,1826,0.20,1.85,0.00,0.000,6,0.161,0.022,2229,2433,3997
$GC,2149,-1.31,-121.7,359.5,-10.0,333,2153,0.20,2.08,0.00,0.000,4,0.064,0.044,2139,3764,3997
$GC,2227,-1.11,-121.7,373.6,-20.7,339,2235,0.30,1.83,0.00,0.000,6,0.163,0.021,2221,2464,3997
$GC,2555,-1.35,-121.7,411.9,-9.7,370,2560,0.20,2.03,0.00,0.000,4,0.064,0.045,2137,3758,3996
$GC,2731,-1.22,-121.7,438.0,-16.6,385,2735,0.17,1.80,0.00,0.000,6,0.166,0.022,2181,2489,3995
$GC,3063,-1.33,-121.7,480.5,-14.8,416,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2489,3993
$GC,3376,-1.46,-121.7,525.0,-16.1,438,3380,0.17,2.00,0.00,0.000,4,0.073,0.047,2106,3759,3991
$GC,3496,-1.25,-121.7,553.9,-24.0,443,3501,0.25,1.80,0.00,0.000,6,0.173,0.022,2172,2498,3990
$GC,3828,-1.34,-121.7,605.3,-12.1,459,3832,0.00,1.95,0.00,0.000,4,0.000,0.046,2166,3749,3987
$GC,3902,-1.34,-121.7,617.1,-14.9,462,3906,0.00,1.77,0.00,0.000,6,0.000,0.025,2166,2511,3986
$STATE,4000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4000,begin apogee
$GC,4009,-0.27,0.0,633.9,17.3,467,4104,1.10,0.00,91.72,1.120,6,0.156,0.000,2487,2379,3532
$STATE,4105,end apogee,CONTROL_FINISHED_OK
$STATE,4105,begin climb
$GC,4109,1.50,121.7,638.2,0.0,472,4217,1.55,2.28,98.70,1.085,4,0.048,0.045,3063,3762,3035
$GC,4342,0.59,121.7,633.9,13.9,482,4348,1.20,2.05,0.00,0.000,6,0.225,0.022,2778,2351,3032
$GC,4661,0.61,205.5,607.7,7.1,497,4733,0.00,2.12,66.15,1.078,4,0.000,0.028,2786,996,2693
$GC,4932,0.82,281.0,579.5,7.7,509,5000,0.17,2.08,61.25,1.055,6,0.073,0.033,2855,2348,2385
$GC,5323,0.82,281.0,515.8,16.2,528,5326,0.00,2.22,0.00,0.000,4,0.000,0.050,2855,3761,2378
$GC,5396,0.66,281.0,502.2,19.4,531,5401,0.28,2.05,0.00,0.000,6,0.179,0.026,2792,2369,2378
$GC,5729,0.82,281.0,454.3,14.8,561,5733,0.15,2.08,0.00,0.000,4,0.077,0.029,2855,980,2375
$GC,5768,0.82,281.0,447.3,16.8,564,5775,0.00,2.12,0.00,0.000,6,0.000,0.032,2856,2368,2375
$GC,6100,0.82,281.0,392.7,15.7,595,6104,0.00,2.17,0.00,0.000,4,0.000,0.049,2855,3758,2372
$GC,6219,0.69,281.0,369.4,19.0,605,6225,0.22,2.03,0.00,0.000,6,0.179,0.025,2807,2372,2372
$GC,6545,0.85,293.7,323.2,12.3,636,6557,0.15,0.00,9.32,0.860,6,0.080,0.000,2867,2367,2334
$GC,6886,0.85,293.7,270.0,15.9,684,6892,0.00,2.20,0.00,0.000,4,0.000,0.048,2867,3759,2331
$GC,6956,0.71,293.7,257.1,20.3,696,6962,0.22,2.03,0.00,0.000,6,0.183,0.024,2813,2378,2331
$GC,7303,0.89,293.7,207.1,15.9,757,7310,0.15,2.08,0.00,0.000,4,0.079,0.028,2884,969,2329
$GC,7385,0.94,293.7,192.8,17.3,771,7392,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,2374,2329
$GC,7733,0.94,293.7,131.7,18.5,832,7739,0.00,2.15,0.00,0.000,4,0.000,0.047,2884,3760,2329
$GC,7782,0.80,293.7,122.2,20.7,840,7789,0.20,2.03,0.00,0.000,6,0.178,0.022,2841,2348,2329
$GC,8130,1.07,353.0,88.8,8.9,901,8183,0.20,2.10,46.85,0.719,4,0.068,0.027,2934,986,2090
$GC,8440,1.33,432.5,50.0,7.4,955,8511,0.20,2.08,62.10,0.669,6,0.068,0.030,3013,2355,1769
$STATE,8751,end climb,SURFACE_DEPTH_REACHED
$STATE,8751,begin surface coast
$FINISH,1.9,1.015196
$STATE,8770,end surface coast,CONTROL_FINISHED_OK
$STATE,8770,begin surface
$SM_CCo,8792,32.55,0.562,2,0,1594,475.15
$SM_GC,3.34,0.00,0.00,32.55,0.000,0.000,0.562,137,2357,1594,-7.64,-0.74,475.15
$IRIDIUM_FIX,2510.35,12329.51,271198,212112
$TT8_MAMPS,0.029146
$HUMID,1812
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,600.9,55.5
$24V_AH,23.4,107.743
$10V_AH,10.6,56.252
$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,25.475,69.325,436.100,32.550,0.000,31.256,35.158,185.166,5.500,0.000,0.000,33.790,1755.351,4567.610,543.648,1783.924,620.716,0.000,1450.793,0.000,1724.526,0.000,32.304,0.000
$DEVICE_MAMPS,226.265,51.389,1119.820,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.729,729.233,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53757,1013
$CAP_FILE_SIZE,103521,0
$CFSIZE,260165632,177061888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.348, 49.1,1
$GPS,030909,035033,2525.516,12309.332,12,1.9,12,-3.7