version: 66.04
glider: 167
mission: 2
dive: 636
start: 9 4 109 7 24 32
data:
$ID,167
$MISSION,2
$DIVE,636
$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,-21856.318
$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,94
$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
$GPS1,071807,2536.005,12302.041,29,1.4,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-63.7
$GPS2,072412,2536.136,12302.109,9,1.9,13,-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,288.9,21443,-25.0,-13.200
$D_GRID,659
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,51,0.00,0.00,-31.98,0.000,2,0.000,0.000,139,2430,2388
$GC,55,-1.50,-121.7,3.3,-2.0,4,115,7.82,2.05,-45.47,0.000,4,0.222,0.051,2082,3758,3988
$GC,236,-0.66,-121.7,67.3,-41.6,35,245,1.00,1.95,0.00,0.000,6,0.175,0.021,2361,2404,3991
$GC,586,-1.20,-121.7,109.5,-7.3,96,592,0.40,0.00,0.00,0.000,6,0.048,0.000,2187,2403,3994
$GC,933,-1.09,-121.7,174.3,-21.7,157,939,0.15,2.10,0.00,0.000,4,0.160,0.042,2218,3758,3996
$GC,1079,-1.04,-121.7,202.1,-19.1,182,1085,0.00,1.95,0.00,0.000,6,0.000,0.022,2218,2358,3996
$GC,1425,-1.04,-121.7,266.7,-18.0,243,1432,0.00,2.17,0.00,0.000,4,0.000,0.045,2218,3756,3997
$GC,1559,-1.04,-121.7,290.1,-17.1,266,1565,0.00,1.88,0.00,0.000,6,0.000,0.022,2218,2417,3996
$GC,1889,-1.16,-121.7,341.7,-16.1,302,1893,0.00,2.08,0.00,0.000,4,0.000,0.046,2217,3751,3996
$GC,2074,-1.21,-121.7,372.2,-16.1,318,2078,0.00,1.88,0.00,0.000,6,0.000,0.023,2217,2449,3997
$GC,2406,-1.34,-121.7,418.5,-14.9,349,2411,0.20,2.05,0.00,0.000,4,0.064,0.045,2124,3757,3997
$GC,2587,-1.07,-121.7,461.4,-25.3,364,2594,0.40,1.85,0.00,0.000,6,0.161,0.022,2236,2449,3996
$GC,2914,-1.36,-121.7,498.6,-9.3,395,2918,0.22,2.05,0.00,0.000,4,0.065,0.046,2139,3754,3995
$GC,3038,-1.20,-121.7,519.5,-19.5,401,3042,0.20,1.80,0.00,0.000,6,0.161,0.023,2192,2492,3995
$GC,3364,-1.37,-121.7,559.9,-11.3,417,3369,0.15,1.98,0.00,0.000,4,0.076,0.046,2126,3751,3993
$GC,3545,-1.20,-121.7,591.9,-16.4,425,3550,0.25,1.77,0.00,0.000,6,0.166,0.024,2193,2517,3991
$GC,3883,-1.36,-121.7,635.9,-13.9,441,3888,0.15,1.95,0.00,0.000,4,0.076,0.047,2136,3755,3990
$STATE,3998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3998,begin apogee
$GC,4009,-0.27,0.0,659.2,19.0,446,4106,1.17,0.00,92.15,1.142,6,0.162,0.000,2479,2363,3532
$STATE,4106,end apogee,CONTROL_FINISHED_OK
$STATE,4107,begin climb
$GC,4112,1.50,121.7,666.1,0.0,451,4223,1.58,2.10,98.85,1.109,4,0.049,0.025,3074,990,3034
$GC,4478,0.76,121.7,646.7,14.4,467,4483,0.98,2.10,0.00,0.000,6,0.220,0.031,2832,2371,3030
$GC,4801,0.64,167.3,613.3,9.9,483,4845,0.17,2.15,35.90,1.092,4,0.199,0.028,2789,1005,2850
$GC,4904,0.74,195.8,602.6,11.1,487,4933,0.00,2.08,23.70,1.057,6,0.000,0.032,2789,2362,2733
$GC,5246,0.84,221.6,563.1,11.3,503,5274,0.17,2.22,21.88,1.048,4,0.073,0.051,2856,3753,2628
$GC,5450,0.61,221.6,526.9,18.8,512,5455,0.32,2.00,0.00,0.000,6,0.186,0.024,2781,2381,2625
$GC,5779,0.76,222.6,481.2,13.1,534,5783,0.12,2.08,0.00,0.000,4,0.084,0.030,2832,984,2622
$GC,5826,0.83,222.6,474.4,14.1,538,5830,0.00,2.10,0.00,0.000,6,0.000,0.032,2832,2373,2622
$GC,6160,0.83,222.6,427.5,14.6,569,6164,0.00,2.15,0.00,0.000,4,0.000,0.049,2831,3750,2620
$GC,6242,0.69,222.6,415.1,14.9,576,6246,0.15,2.05,0.00,0.000,6,0.190,0.025,2805,2342,2619
$GC,6574,0.78,222.6,372.0,15.7,607,6578,0.00,2.00,0.00,0.000,4,0.000,0.028,2813,983,2617
$GC,6683,0.93,222.6,355.6,14.1,616,6689,0.20,2.05,0.00,0.000,6,0.071,0.031,2890,2335,2617
$GC,7009,0.79,222.6,306.0,13.7,647,7013,0.17,2.22,0.00,0.000,4,0.186,0.048,2840,3752,2616
$GC,7068,0.68,222.6,297.7,14.6,653,7074,0.20,2.05,0.00,0.000,6,0.186,0.024,2798,2327,2616
$GC,7415,0.85,232.1,258.1,12.5,714,7429,0.15,2.35,7.80,0.795,4,0.077,0.047,2856,3764,2584
$GC,7688,0.71,232.1,216.4,15.6,761,7694,0.22,2.03,0.00,0.000,6,0.182,0.024,2809,2357,2583
$GC,8034,0.89,256.5,180.3,11.4,822,8060,0.17,2.30,19.77,0.803,4,0.074,0.048,2883,3758,2485
$GC,8226,0.71,256.5,144.8,21.1,855,8234,0.30,2.00,0.00,0.000,6,0.178,0.022,2814,2366,2483
$GC,8577,0.99,297.4,105.1,10.2,916,8619,0.20,2.10,33.35,0.745,4,0.070,0.028,2907,992,2317
$GC,8877,1.11,328.8,70.2,10.9,968,8907,0.00,2.10,24.95,0.700,6,0.000,0.030,2907,2381,2190
$GC,9247,1.33,394.3,40.9,8.4,1033,9306,0.25,2.12,51.20,0.667,4,0.061,0.026,3021,987,1922
$STATE,9497,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,1.8,1.021056
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9516,begin surface
$SM_CCo,9539,59.90,0.628,0,0,1594,475.15
$SM_GC,2.70,0.00,0.00,59.90,0.000,0.000,0.628,138,2403,1594,-7.63,0.57,475.15
$IRIDIUM_FIX,2524.66,12302.33,291198,040416
$TT8_MAMPS,0.029146
$HUMID,1806
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.00
$XPDR_PINGS,4
$24V_AH,23.5,109.190
$10V_AH,10.6,56.965
$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,25.350,78.025,409.550,59.900,0.000,24.990,32.727,154.889,5.750,0.000,0.000,13.974,1881.956,5021.348,536.731,1935.850,585.962,0.000,1511.055,0.000,1888.209,0.000,36.931,0.000
$DEVICE_MAMPS,221.663,51.389,1142.063,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,729.164,792.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56954,1080
$CAP_FILE_SIZE,109788,0
$CFSIZE,260165632,176435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285,311.4,1
$GPS,040909,100555,2537.652,12259.869,40,1.2,40,-3.8