version: 66.04
glider: 167
mission: 2
dive: 633
start: 9 3 109 23 18 36
data:
$ID,167
$MISSION,2
$DIVE,633
$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,-21810.145
$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,83
$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
$GPS1,231136,2533.593,12305.769,40,1.1,45,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-61.2
$GPS2,231813,2533.738,12305.854,10,1.0,16,-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,252.5,28893,-25.0,-13.200
$D_GRID,671
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.70,0.000,2,0.000,0.000,139,2371,2232
$GC,48,-1.50,-121.7,3.2,-2.9,4,117,8.12,2.20,-55.67,0.000,4,0.232,0.053,2086,3757,3990
$GC,357,-0.89,-121.7,107.9,-26.1,57,365,0.73,1.98,0.00,0.000,6,0.166,0.021,2290,2352,3993
$GC,707,-1.20,-121.7,150.9,-11.6,118,713,0.25,2.17,0.00,0.000,4,0.057,0.044,2179,3751,3996
$GC,854,-0.94,-121.7,180.7,-23.0,143,861,0.32,1.90,0.00,0.000,6,0.158,0.023,2270,2407,3997
$GC,1202,-1.19,-121.7,224.9,-10.4,204,1210,0.17,2.10,0.00,0.000,4,0.065,0.044,2190,3758,3997
$GC,1403,-1.10,-121.7,261.3,-18.3,239,1409,0.12,1.88,0.00,0.000,6,0.162,0.022,2222,2423,3997
$GC,1747,-1.22,-121.7,317.8,-16.0,290,1750,0.00,2.08,0.00,0.000,4,0.000,0.045,2218,3756,3997
$GC,1829,-1.32,-121.7,329.9,-15.3,297,1833,0.17,1.85,0.00,0.000,6,0.064,0.023,2144,2447,3997
$GC,2160,-1.20,-121.7,392.9,-18.6,328,2165,0.17,2.05,0.00,0.000,4,0.164,0.044,2182,3760,3997
$GC,2299,-1.20,-121.7,415.3,-14.8,340,2303,0.00,1.83,0.00,0.000,6,0.000,0.024,2182,2482,3997
$GC,2631,-1.28,-121.7,461.1,-13.9,371,2634,0.00,2.12,0.00,0.000,4,0.000,0.024,2182,1012,3996
$GC,2668,-1.40,-121.7,466.3,-14.6,374,2673,0.15,2.20,0.00,0.000,6,0.074,0.032,2122,2462,3996
$GC,3004,-1.29,-121.7,526.7,-17.6,398,3008,0.15,2.00,0.00,0.000,4,0.176,0.047,2152,3749,3994
$GC,3234,-1.24,-121.7,567.1,-17.1,408,3238,0.00,1.80,0.00,0.000,6,0.000,0.025,2152,2497,3992
$GC,3562,-1.24,-121.7,615.2,-15.1,424,3565,0.00,1.98,0.00,0.000,4,0.000,0.048,2149,3749,3990
$GC,3677,-1.17,-121.7,634.4,-16.9,429,3682,0.20,1.77,0.00,0.000,6,0.160,0.025,2202,2517,3989
$STATE,3946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3946,begin apogee
$GC,3954,-0.27,0.0,672.8,13.4,442,4050,0.93,0.00,92.30,1.154,6,0.141,0.000,2485,2396,3532
$STATE,4051,end apogee,CONTROL_FINISHED_OK
$STATE,4051,begin climb
$GC,4056,1.50,121.7,677.3,0.0,447,4164,1.55,2.20,99.18,1.120,4,0.048,0.026,3073,966,3035
$GC,4418,0.78,140.1,657.0,11.9,463,4440,0.95,2.15,15.38,1.044,6,0.222,0.032,2838,2379,2960
$GC,4766,0.64,168.8,619.8,11.1,480,4796,0.17,2.20,23.85,1.080,4,0.199,0.028,2797,969,2843
$GC,5023,0.69,210.4,592.4,10.2,491,5063,0.00,2.10,33.85,1.082,6,0.000,0.032,2797,2341,2673
$GC,5391,0.75,213.0,546.4,13.0,509,5395,0.00,2.22,0.00,0.000,4,0.000,0.049,2798,3761,2668
$GC,5632,0.69,213.0,511.6,13.8,519,5638,0.00,2.05,0.00,0.000,6,0.000,0.025,2808,2348,2667
$GC,5956,0.69,213.0,469.4,14.3,545,5960,0.00,2.00,0.00,0.000,4,0.000,0.028,2813,991,2665
$GC,6217,0.80,234.8,437.9,11.6,568,6242,0.00,2.08,19.45,1.002,6,0.000,0.032,2813,2351,2573
$GC,6570,0.88,236.8,391.6,13.1,601,6574,0.15,2.05,0.00,0.000,4,0.074,0.027,2882,994,2570
$GC,6701,0.83,236.8,373.5,13.6,612,6707,0.15,2.08,0.00,0.000,6,0.183,0.032,2846,2350,2568
$GC,7027,0.83,236.8,327.3,14.4,643,7031,0.00,2.20,0.00,0.000,4,0.000,0.049,2846,3757,2567
$GC,7170,0.70,236.8,304.0,17.5,655,7176,0.20,2.03,0.00,0.000,6,0.186,0.024,2804,2353,2566
$GC,7515,0.88,260.3,261.3,11.5,714,7539,0.17,0.00,19.95,0.884,6,0.075,0.000,2880,2350,2469
$GC,7879,0.88,260.3,205.4,17.2,778,7886,0.00,2.00,0.00,0.000,4,0.000,0.028,2888,993,2466
$GC,7984,0.88,260.3,187.4,18.0,796,7990,0.00,2.12,0.00,0.000,6,0.000,0.031,2888,2393,2465
$GC,8330,0.83,260.3,132.6,14.7,857,8337,0.15,2.12,0.00,0.000,4,0.184,0.046,2850,3753,2465
$GC,8594,0.83,297.0,96.2,10.5,903,8629,0.00,1.95,29.67,0.749,6,0.000,0.024,2854,2410,2321
$GC,8973,1.20,414.0,62.2,4.7,969,9074,0.28,2.22,90.85,0.700,4,0.064,0.026,2980,971,1842
$GC,9161,1.32,414.0,38.0,16.0,1001,9167,0.00,2.30,0.00,0.000,6,0.000,0.031,2979,2458,1836
$STATE,9403,end climb,SURFACE_DEPTH_REACHED
$STATE,9403,begin surface coast
$FINISH,1.9,1.021597
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9448,44.55,0.630,0,0,1595,475.15
$SM_GC,3.40,0.00,0.00,44.55,0.000,0.000,0.630,139,2461,1595,-7.63,2.21,475.15
$IRIDIUM_FIX,2522.28,12308.94,281198,202023
$TT8_MAMPS,0.029146
$HUMID,1855
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.4,108.778
$10V_AH,10.6,56.764
$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,23.100,70.075,424.475,44.550,0.000,27.542,33.059,172.196,5.000,0.000,0.000,16.211,1831.381,4988.286,520.484,1937.821,610.416,0.000,1494.907,0.000,1894.671,0.000,32.738,0.000
$DEVICE_MAMPS,232.401,52.923,1153.568,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.785,757.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56787,1048
$CAP_FILE_SIZE,106176,0
$CFSIZE,260165632,176611328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225,340.4,1
$GPS,040909,015804,2534.773,12304.308,12,3.6,31,-3.8