version: 66.04
glider: 167
mission: 2
dive: 634
start: 9 4 109 2 4 39
data:
$ID,167
$MISSION,2
$DIVE,634
$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,-21826.129
$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
$GPS1,015804,2534.773,12304.308,12,3.6,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-61.7
$GPS2,020419,2534.930,12304.357,10,1.0,15,-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,254.4,25740,-25.0,-13.200
$D_GRID,645
$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,-23.33,0.000,2,0.000,0.000,139,2461,2164
$GC,46,-1.50,-121.7,3.0,-1.8,4,118,8.15,2.00,-57.45,0.000,4,0.235,0.054,2082,3763,3989
$GC,163,-0.30,-121.7,29.7,-54.6,23,170,1.52,2.00,0.00,0.000,6,0.207,0.020,2472,2337,3990
$GC,512,-1.50,-121.7,75.3,-9.1,84,519,1.05,1.90,0.00,0.000,4,0.086,0.022,2098,1012,3992
$GC,583,-1.10,-121.7,89.7,-25.4,96,589,0.47,2.10,0.00,0.000,6,0.173,0.031,2225,2409,3993
$GC,930,-1.10,-121.7,143.8,-15.6,157,937,0.00,2.05,0.00,0.000,4,0.000,0.043,2217,3757,3996
$GC,1025,-1.01,-121.7,161.0,-19.1,173,1033,0.15,1.90,0.00,0.000,6,0.163,0.021,2255,2403,3997
$GC,1376,-1.19,-121.7,212.9,-13.1,234,1382,0.17,2.10,0.00,0.000,4,0.063,0.044,2174,3764,3997
$GC,1492,-1.00,-121.7,234.1,-19.1,254,1499,0.28,1.90,0.00,0.000,6,0.156,0.021,2250,2411,3997
$GC,1840,-1.21,-121.7,280.9,-15.1,315,1847,0.17,2.10,0.00,0.000,4,0.068,0.044,2166,3759,3997
$GC,1956,-1.03,-121.7,304.6,-22.0,334,1960,0.28,1.88,0.00,0.000,6,0.157,0.022,2242,2429,3997
$GC,2290,-1.26,-121.7,351.0,-13.4,365,2294,0.20,2.08,0.00,0.000,4,0.065,0.045,2153,3755,3998
$GC,2369,-1.07,-121.7,366.7,-20.3,371,2375,0.30,1.88,0.00,0.000,6,0.160,0.021,2235,2427,3997
$GC,2696,-1.32,-121.7,409.5,-11.9,402,2700,0.20,2.08,0.00,0.000,4,0.065,0.045,2149,3752,3997
$GC,2808,-1.14,-121.7,430.8,-22.4,411,2815,0.22,1.85,0.00,0.000,6,0.163,0.022,2208,2453,3996
$GC,3135,-1.31,-121.7,478.6,-13.7,442,3139,0.15,2.05,0.00,0.000,4,0.074,0.047,2149,3754,3994
$GC,3253,-1.15,-121.7,501.1,-21.3,452,3257,0.22,1.85,0.00,0.000,6,0.161,0.024,2209,2466,3993
$GC,3590,-1.36,-121.7,548.6,-12.6,468,3594,0.17,2.03,0.00,0.000,4,0.073,0.047,2126,3751,3992
$GC,3841,-1.20,-121.7,592.3,-17.7,479,3845,0.25,1.83,0.00,0.000,6,0.163,0.024,2193,2485,3990
$GC,4178,-1.37,-121.7,635.4,-13.1,495,4182,0.17,2.00,0.00,0.000,4,0.074,0.047,2112,3751,3987
$STATE,4231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4231,begin apogee
$GC,4243,-0.27,0.0,645.9,18.9,497,4339,1.27,0.00,92.00,1.131,6,0.166,0.000,2482,2344,3532
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4344,1.50,121.7,650.4,0.0,502,4452,1.55,2.08,98.65,1.096,4,0.047,0.025,3070,993,3035
$GC,4706,0.76,121.7,623.7,14.5,518,4712,0.95,2.12,0.00,0.000,6,0.216,0.035,2832,2379,3031
$GC,5031,0.63,160.1,589.0,10.4,534,5067,0.17,2.10,30.52,1.067,4,0.199,0.026,2790,1010,2878
$GC,5265,0.71,183.7,564.9,11.5,543,5292,0.00,2.05,19.60,1.034,6,0.000,0.031,2790,2352,2782
$GC,5607,0.79,212.6,527.0,11.1,560,5637,0.12,2.28,23.92,1.033,4,0.082,0.051,2839,3750,2665
$GC,5660,0.61,212.6,518.8,15.9,562,5665,0.28,2.05,0.00,0.000,6,0.183,0.023,2779,2354,2664
$GC,5987,0.77,219.2,478.2,12.7,585,6000,0.15,2.25,5.97,0.837,4,0.080,0.048,2836,3755,2640
$GC,6257,0.60,219.2,433.7,17.2,608,6263,0.28,2.03,0.00,0.000,6,0.184,0.023,2774,2369,2638
$GC,6583,0.87,286.4,400.8,8.3,639,6648,0.20,2.33,54.65,0.985,4,0.073,0.047,2859,3760,2362
$GC,6703,0.73,286.4,383.4,18.2,649,6712,0.20,2.08,0.00,0.000,6,0.187,0.024,2818,2366,2359
$GC,7031,0.86,286.4,338.7,13.6,680,7035,0.12,2.22,0.00,0.000,4,0.084,0.046,2869,3764,2356
$GC,7110,0.72,286.4,324.4,18.8,687,7115,0.25,2.03,0.00,0.000,6,0.181,0.025,2814,2381,2355
$GC,7448,0.89,286.4,272.0,15.5,733,7455,0.15,2.08,0.00,0.000,4,0.080,0.028,2882,980,2354
$GC,7526,0.95,286.4,258.1,17.1,746,7532,0.00,2.15,0.00,0.000,6,0.000,0.033,2882,2393,2353
$GC,7872,0.95,286.4,198.8,15.6,807,7878,0.00,2.12,0.00,0.000,4,0.000,0.028,2888,972,2353
$GC,8004,1.01,286.4,179.6,14.8,830,8010,0.00,2.15,0.00,0.000,6,0.000,0.031,2888,2390,2353
$GC,8350,1.01,286.4,114.3,19.8,891,8356,0.00,2.12,0.00,0.000,4,0.000,0.048,2888,3754,2352
$GC,8612,1.01,341.5,73.0,9.2,937,8660,0.00,2.00,42.00,0.729,6,0.000,0.024,2898,2360,2138
$GC,9004,1.30,415.5,38.2,7.8,1005,9070,0.25,2.08,57.85,0.676,4,0.062,0.028,3012,986,1836
$STATE,9277,end climb,SURFACE_DEPTH_REACHED
$STATE,9277,begin surface coast
$FINISH,1.8,1.017258
$STATE,9295,end surface coast,CONTROL_FINISHED_OK
$STATE,9295,begin surface
$SM_CCo,9318,43.78,0.631,0,0,1595,475.15
$SM_GC,3.05,0.00,0.00,43.78,0.000,0.000,0.631,138,2396,1595,-7.63,0.37,475.15
$IRIDIUM_FIX,2524.66,12303.64,281198,232357
$TT8_MAMPS,0.029146
$HUMID,1849
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,627.2,82.4
$24V_AH,23.4,108.916
$10V_AH,10.6,56.831
$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,27.900,82.075,425.175,43.775,0.000,29.727,33.879,155.415,5.250,0.000,0.000,15.356,1853.114,4849.573,547.807,1899.819,582.026,0.000,1511.289,0.000,1851.029,0.000,38.159,0.000
$DEVICE_MAMPS,234.702,53.690,1131.325,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.344,778.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56747,1056
$CAP_FILE_SIZE,110373,0
$CFSIZE,260165632,176549888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,  6.8,1
$GPS,040909,044207,2535.262,12303.213,42,1.3,42,-3.8