version: 66.04
glider: 167
mission: 2
dive: 632
start: 9 3 109 20 23 52
data:
$ID,167
$MISSION,2
$DIVE,632
$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,-2
$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,-21793.305
$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,82
$R_STBD_OVSHOOT,42
$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
$GPS1,201706,2532.026,12307.291,31,1.2,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-59.8
$GPS2,202332,2532.165,12307.471,16,2.0,16,-3.8
$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,263.3,32574,-25.0,-13.200
$D_GRID,693
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-34.00,0.000,2,0.000,0.000,137,2416,2441
$GC,57,-1.50,-121.7,3.5,-3.6,6,116,8.15,2.08,-43.80,0.000,4,0.234,0.053,2082,3760,3989
$GC,288,-0.73,-121.7,88.0,-35.6,46,295,0.93,1.98,0.00,0.000,6,0.174,0.021,2340,2359,3991
$GC,637,-1.21,-121.7,121.1,-9.9,107,644,0.38,2.17,0.00,0.000,4,0.050,0.044,2178,3757,3995
$GC,789,-0.95,-121.7,155.7,-23.4,133,796,0.32,1.90,0.00,0.000,6,0.155,0.022,2270,2399,3996
$GC,1137,-1.17,-121.7,197.6,-11.0,194,1144,0.17,2.10,0.00,0.000,4,0.064,0.044,2189,3751,3996
$GC,1221,-1.00,-121.7,212.6,-21.3,208,1228,0.22,1.88,0.00,0.000,6,0.156,0.022,2251,2412,3996
$GC,1574,-1.24,-121.7,266.3,-12.1,269,1580,0.17,2.10,0.00,0.000,4,0.065,0.044,2168,3764,3996
$GC,1709,-1.04,-121.7,291.6,-21.2,292,1717,0.28,1.88,0.00,0.000,6,0.156,0.021,2244,2427,3996
$GC,2045,-1.27,-121.7,335.3,-11.5,327,2050,0.20,2.08,0.00,0.000,4,0.064,0.044,2153,3760,3997
$GC,2203,-1.07,-121.7,367.2,-19.4,340,2211,0.28,1.83,0.00,0.000,6,0.155,0.021,2229,2459,3996
$GC,2529,-1.27,-121.7,410.6,-13.8,371,2534,0.17,2.03,0.00,0.000,4,0.067,0.044,2152,3759,3996
$GC,2698,-1.06,-121.7,443.1,-20.7,385,2705,0.30,1.80,0.00,0.000,6,0.160,0.022,2235,2487,3995
$GC,3025,-1.34,-121.7,480.5,-11.4,416,3029,0.22,2.00,0.00,0.000,4,0.066,0.046,2140,3763,3994
$GC,3133,-1.20,-121.7,500.7,-18.5,425,3139,0.20,1.77,0.00,0.000,6,0.160,0.022,2192,2508,3993
$GC,3450,-1.33,-121.7,546.4,-14.6,441,3452,0.12,0.00,0.00,0.000,6,0.078,0.000,2143,2508,3992
$GC,3760,-1.33,-121.7,598.9,-16.8,456,3765,0.00,1.98,0.00,0.000,4,0.000,0.049,2139,3764,3990
$GC,3986,-1.20,-121.7,638.6,-17.0,466,3990,0.20,1.80,0.00,0.000,6,0.163,0.025,2192,2518,3988
$GC,4323,-1.38,-121.7,680.3,-12.4,482,4324,0.17,0.00,0.00,0.000,6,0.072,0.000,2126,2518,3986
$STATE,4357,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4357,begin apogee
$GC,4367,-0.27,0.0,686.6,13.7,484,4463,1.27,0.00,92.20,1.159,6,0.164,0.000,2489,2391,3532
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4467,1.50,121.7,691.2,0.0,489,4574,1.58,2.22,99.72,1.123,4,0.045,0.044,3072,3753,3035
$GC,4735,0.55,121.7,678.5,16.1,501,4741,1.27,2.05,0.00,0.000,6,0.219,0.021,2763,2347,3032
$GC,5064,0.66,210.7,652.4,6.7,517,5140,0.00,2.10,71.00,1.115,4,0.000,0.027,2771,977,2672
$GC,5282,0.87,212.9,628.8,13.0,526,5287,0.25,2.12,0.00,0.000,6,0.067,0.031,2867,2361,2667
$GC,5604,0.71,212.9,574.2,17.6,542,5609,0.17,2.20,0.00,0.000,4,0.186,0.048,2818,3763,2664
$GC,5785,0.58,212.9,541.0,18.4,550,5789,0.20,2.05,0.00,0.000,6,0.188,0.025,2773,2352,2662
$GC,6107,0.73,217.9,499.4,12.8,566,6119,0.12,2.03,5.05,0.805,4,0.082,0.028,2829,980,2645
$GC,6172,0.73,217.9,489.8,15.4,571,6178,0.00,2.10,0.00,0.000,6,0.000,0.032,2829,2358,2644
$GC,6500,0.73,217.9,440.3,14.2,602,6504,0.00,2.08,0.00,0.000,4,0.000,0.030,2829,982,2643
$GC,6698,0.79,226.4,415.2,12.6,619,6712,0.00,2.08,8.70,0.910,6,0.000,0.032,2829,2338,2607
$GC,7039,0.79,226.4,368.4,13.7,651,7042,0.00,2.22,0.00,0.000,4,0.000,0.048,2829,3762,2605
$GC,7255,0.69,226.4,336.0,14.3,670,7259,0.15,2.08,0.00,0.000,6,0.189,0.025,2802,2337,2605
$GC,7582,0.82,233.7,298.1,12.7,701,7595,0.12,2.25,6.25,0.775,4,0.082,0.047,2853,3757,2581
$GC,7637,0.66,233.7,289.3,17.8,710,7643,0.25,2.05,0.00,0.000,6,0.183,0.022,2798,2337,2580
$GC,7985,0.85,255.9,245.0,11.6,771,8010,0.15,2.25,18.60,0.851,4,0.075,0.046,2858,3756,2489
$GC,8040,0.73,255.9,237.4,15.9,780,8048,0.20,2.03,0.00,0.000,6,0.183,0.023,2818,2356,2488
$GC,8390,0.91,282.4,197.9,11.3,841,8420,0.17,2.25,22.75,0.811,4,0.071,0.048,2893,3754,2380
$GC,8576,0.73,282.4,164.2,20.6,873,8583,0.32,2.00,0.00,0.000,6,0.180,0.023,2814,2374,2378
$GC,8923,0.95,282.4,118.0,14.9,934,8929,0.17,0.00,0.00,0.000,6,0.074,0.000,2890,2370,2377
$GC,9270,1.04,356.0,79.9,7.9,995,9334,0.00,2.10,57.88,0.714,4,0.000,0.027,2898,984,2078
$GC,9591,1.36,415.3,51.5,8.9,1051,9645,0.32,2.10,46.47,0.669,6,0.057,0.030,3022,2369,1838
$STATE,9890,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,1.9,1.001068
$STATE,9908,end surface coast,CONTROL_FINISHED_OK
$STATE,9908,begin surface
$SM_CCo,9931,43.95,0.624,0,0,1594,475.15
$SM_GC,3.06,0.00,0.00,43.95,0.000,0.000,0.624,139,2372,1594,-7.63,-0.31,475.15
$IRIDIUM_FIX,2522.28,12308.94,281198,171751
$TT8_MAMPS,0.029146
$HUMID,1820
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,675.1,35.8
$24V_AH,23.4,108.638
$10V_AH,10.6,56.696
$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,27.075,73.800,428.625,43.950,0.000,25.504,42.083,160.356,6.250,0.000,0.000,16.690,1930.274,5301.092,555.660,1948.904,620.697,0.000,1532.181,0.000,1907.228,0.000,40.158,0.000
$DEVICE_MAMPS,233.935,52.923,1158.937,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.519,804.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60103,1107
$CAP_FILE_SIZE,112964,0
$CFSIZE,260165632,176660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,343.7,1
$GPS,030909,231136,2533.593,12305.769,40,1.1,45,-3.8