version: 66.04
glider: 167
mission: 2
dive: 638
start: 9 4 109 13 24 40
data:
$ID,167
$MISSION,2
$DIVE,638
$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,-21890.344
$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,91
$R_STBD_OVSHOOT,40
$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
$GPS1,131406,2538.149,12256.999,35,1.0,40,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-65.6
$GPS2,132420,2538.226,12256.876,14,1.4,14,-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,279.9,11938,-25.0,-13.200
$D_GRID,649
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.50,-121.7,0.0,0.0,0,44,0.00,0.00,-22.90,0.000,2,0.000,0.000,139,2392,2158
$GC,48,-1.50,-121.7,3.0,-1.9,4,126,8.12,2.17,-60.10,0.000,4,0.231,0.054,2087,3759,3990
$GC,269,-0.94,-121.7,64.2,-25.5,42,276,0.68,1.98,0.00,0.000,6,0.166,0.021,2276,2356,3992
$GC,616,-1.16,-121.7,106.8,-14.5,103,624,0.17,2.17,0.00,0.000,4,0.067,0.043,2192,3753,3995
$GC,661,-1.01,-121.7,115.3,-21.7,110,668,0.15,1.92,0.00,0.000,6,0.143,0.022,2252,2418,3995
$GC,1009,-1.16,-121.7,171.2,-13.7,171,1017,0.15,2.10,0.00,0.000,4,0.070,0.044,2189,3763,3996
$GC,1120,-0.98,-121.7,191.4,-20.6,190,1126,0.25,1.88,0.00,0.000,6,0.156,0.022,2258,2435,3996
$GC,1469,-1.19,-121.7,240.1,-14.9,251,1476,0.17,2.05,0.00,0.000,4,0.066,0.043,2179,3753,3996
$GC,1651,-1.05,-121.7,275.9,-19.6,282,1657,0.22,1.85,0.00,0.000,6,0.156,0.023,2241,2444,3996
$GC,1990,-1.28,-121.7,321.3,-9.3,327,1994,0.17,2.05,0.00,0.000,4,0.067,0.045,2163,3751,3996
$GC,2063,-1.15,-121.7,333.0,-19.4,333,2070,0.17,1.83,0.00,0.000,6,0.159,0.023,2208,2470,3996
$GC,2391,-1.26,-121.7,385.6,-13.6,364,2396,0.12,2.03,0.00,0.000,4,0.077,0.045,2152,3762,3995
$GC,2499,-1.09,-121.7,407.9,-21.6,373,2505,0.28,1.83,0.00,0.000,6,0.153,0.022,2229,2474,3995
$GC,2828,-1.30,-121.7,449.8,-12.9,404,2833,0.20,2.03,0.00,0.000,4,0.064,0.046,2139,3761,3993
$GC,2879,-1.12,-121.7,459.7,-21.1,408,2886,0.28,1.80,0.00,0.000,6,0.163,0.023,2213,2504,3993
$GC,3204,-1.33,-121.7,506.9,-13.7,437,3208,0.17,1.98,0.00,0.000,4,0.071,0.047,2137,3757,3991
$GC,3389,-1.20,-121.7,542.5,-20.0,445,3393,0.20,1.77,0.00,0.000,6,0.160,0.024,2189,2519,3990
$GC,3721,-1.33,-121.7,591.1,-14.9,461,3725,0.12,1.95,0.00,0.000,4,0.077,0.047,2139,3754,3988
$GC,3790,-1.20,-121.7,604.2,-18.6,464,3794,0.20,1.75,0.00,0.000,6,0.167,0.025,2191,2548,3987
$STATE,4129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4129,begin apogee
$GC,4137,-0.27,0.0,651.2,14.2,480,4233,0.95,0.00,91.70,1.141,6,0.146,0.000,2484,2400,3532
$STATE,4233,end apogee,CONTROL_FINISHED_OK
$STATE,4233,begin climb
$GC,4237,1.50,121.7,657.2,0.0,485,4346,1.58,2.25,98.85,1.106,4,0.049,0.027,3074,954,3035
$GC,4600,0.77,121.7,637.3,13.9,501,4606,0.98,2.17,0.00,0.000,6,0.222,0.033,2833,2374,3031
$GC,4924,0.68,191.1,607.6,8.2,517,4989,0.12,2.22,54.35,1.091,4,0.205,0.027,2812,966,2752
$GC,5125,0.70,209.7,587.0,11.8,526,5147,0.00,2.17,16.50,1.022,6,0.000,0.031,2812,2377,2676
$GC,5458,0.72,226.8,545.9,12.0,542,5480,0.00,2.17,14.75,1.009,4,0.000,0.029,2815,965,2606
$GC,5515,0.85,240.0,538.7,12.2,544,5534,0.12,2.15,12.00,0.975,6,0.084,0.031,2865,2365,2552
$GC,5855,0.77,240.0,485.4,16.1,564,5860,0.15,2.20,0.00,0.000,4,0.182,0.048,2830,3763,2548
$GC,5968,0.67,240.0,465.6,17.2,573,5974,0.15,2.08,0.00,0.000,6,0.189,0.025,2797,2351,2547
$GC,6295,0.82,249.1,422.6,12.5,604,6305,0.15,0.00,7.53,0.875,6,0.078,0.000,2855,2347,2516
$GC,6622,0.82,249.1,373.5,16.1,635,6626,0.00,2.25,0.00,0.000,4,0.000,0.049,2855,3764,2514
$GC,6882,0.69,249.1,323.4,19.7,657,6889,0.22,2.05,0.00,0.000,6,0.178,0.025,2807,2359,2513
$GC,7219,0.86,271.1,279.2,11.6,703,7244,0.15,2.22,18.20,0.884,4,0.080,0.048,2867,3754,2427
$GC,7413,0.75,271.1,244.7,19.3,736,7420,0.20,2.00,0.00,0.000,6,0.180,0.023,2825,2368,2425
$GC,7762,0.88,271.1,194.3,13.9,797,7768,0.12,2.20,0.00,0.000,4,0.083,0.046,2876,3757,2424
$GC,7838,0.76,271.1,180.6,17.4,810,7845,0.22,1.95,0.00,0.000,6,0.182,0.022,2824,2408,2424
$GC,8185,0.92,271.1,137.5,14.8,871,8192,0.15,2.12,0.00,0.000,4,0.077,0.045,2883,3751,2424
$GC,8211,0.92,271.1,132.7,18.6,875,8219,0.00,1.98,0.00,0.000,6,0.000,0.023,2894,2374,2423
$GC,8560,0.85,271.1,83.2,13.4,936,8567,0.15,2.03,0.00,0.000,4,0.186,0.026,2864,995,2423
$GC,8824,1.13,339.4,49.0,8.2,982,8885,0.22,2.12,53.70,0.711,6,0.068,0.031,2951,2403,2147
$GC,9229,1.31,433.5,18.8,6.4,1052,9305,0.15,0.00,72.75,0.657,6,0.071,0.000,3012,2403,1764
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FINISH,1.8,0.999657
$STATE,9385,end surface coast,CONTROL_FINISHED_OK
$STATE,9385,begin surface
$SM_CCo,9406,31.65,0.572,2,0,1594,475.15
$SM_GC,3.45,0.00,0.00,31.65,0.000,0.000,0.572,138,2406,1594,-7.63,0.65,475.15
$IRIDIUM_FIX,2527.05,12258.33,291198,131337
$TT8_MAMPS,0.029146
$HUMID,1866
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.2,76.6
$24V_AH,23.4,109.484
$10V_AH,10.6,57.108
$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,25.550,73.625,440.325,31.650,0.000,57.403,69.467,246.931,5.250,0.000,0.000,14.689,1871.519,4959.022,559.131,1887.946,777.850,0.000,1519.255,0.000,1842.465,0.000,35.700,0.000
$DEVICE_MAMPS,230.867,54.457,1141.296,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,728.415,800.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56895,1079
$CAP_FILE_SIZE,112511,0
$CFSIZE,260165632,176304128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.191,257.1,1
$GPS,040909,160330,2538.275,12254.632,38,1.1,38,-3.8