version: 66.04
glider: 167
mission: 2
dive: 640
start: 9 4 109 17 57 16
data:
$ID,167
$MISSION,2
$DIVE,640
$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,-21922.029
$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,97
$R_STBD_OVSHOOT,45
$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
$GPS1,175055,2538.289,12253.310,9,1.9,14,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-63.7
$GPS2,175656,2538.432,12253.241,14,2.0,14,-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,347.0,6140,-25.0,-13.200
$D_GRID,430
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.80,0.000,2,0.000,0.000,140,2456,2125
$GC,44,-1.50,-121.7,3.1,-2.4,4,118,8.02,2.03,-58.92,0.000,4,0.229,0.054,2078,3760,3989
$GC,319,-0.64,-121.7,104.8,-35.0,51,326,1.05,1.95,0.00,0.000,6,0.179,0.021,2368,2378,3992
$GC,668,-1.32,-121.7,126.1,-11.0,112,675,0.52,1.98,0.00,0.000,4,0.047,0.022,2147,1003,3995
$GC,713,-1.18,-121.7,133.8,-19.8,119,719,0.22,2.12,0.00,0.000,6,0.158,0.030,2201,2432,3995
$GC,1060,-1.12,-121.7,199.7,-17.1,180,1072,0.00,2.03,0.00,0.000,4,0.000,0.042,2194,3764,3996
$GC,1183,-1.03,-121.7,222.8,-19.6,200,1191,0.20,1.88,0.00,0.000,6,0.152,0.021,2248,2424,3996
$GC,1533,-1.25,-121.7,273.0,-15.3,261,1539,0.20,2.08,0.00,0.000,4,0.063,0.044,2162,3757,3996
$GC,1626,-1.05,-121.7,293.2,-21.4,277,1633,0.28,1.85,0.00,0.000,6,0.160,0.022,2238,2444,3997
$GC,1964,-1.23,-121.7,342.3,-12.7,311,1968,0.15,2.05,0.00,0.000,4,0.068,0.045,2177,3758,3996
$GC,2133,-1.06,-121.7,371.2,-19.6,326,2138,0.20,1.85,0.00,0.000,6,0.159,0.023,2231,2454,3997
$GC,2466,-1.27,-121.7,413.0,-12.0,357,2470,0.17,2.03,0.00,0.000,4,0.067,0.046,2159,3746,3995
$STATE,2557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2557,begin apogee
$GC,2569,-0.27,0.0,430.5,20.8,365,2666,1.08,0.00,90.43,0.937,6,0.153,0.000,2481,2347,3532
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2670,1.50,121.7,438.8,0.0,375,2774,1.55,2.28,95.18,0.915,4,0.044,0.041,3068,3764,3034
$GC,3030,0.59,123.2,415.9,13.1,406,3037,1.20,2.00,0.00,0.000,6,0.214,0.021,2774,2362,3031
$GC,3357,0.77,234.5,392.1,5.1,437,3449,0.15,2.25,86.07,0.903,4,0.079,0.044,2832,3749,2575
$GC,3703,0.68,234.5,347.6,14.0,467,3709,0.17,1.98,0.00,0.000,6,0.182,0.022,2798,2371,2569
$GC,4029,0.84,234.5,305.9,14.1,498,4033,0.15,2.17,0.00,0.000,4,0.076,0.044,2858,3756,2567
$GC,4290,0.71,234.5,258.1,19.1,540,4298,0.22,1.98,0.00,0.000,6,0.179,0.021,2808,2367,2565
$GC,4640,0.90,276.5,216.2,10.2,601,4681,0.17,2.25,31.80,0.803,4,0.073,0.045,2886,3751,2403
$GC,4937,0.75,276.5,165.1,21.2,653,4944,0.25,1.92,0.00,0.000,6,0.178,0.022,2829,2406,2399
$GC,5285,0.93,277.9,114.4,13.1,714,5291,0.15,2.10,0.00,0.000,4,0.077,0.044,2889,3747,2397
$GC,5443,0.84,277.9,88.9,16.8,741,5449,0.17,1.90,0.00,0.000,6,0.178,0.022,2849,2425,2397
$GC,5791,1.29,408.3,63.4,3.7,802,5902,0.35,2.20,100.32,0.683,4,0.058,0.025,3004,996,1865
$GC,6108,1.38,484.8,33.0,7.7,857,6177,0.00,2.15,59.28,0.630,6,0.000,0.031,3003,2422,1554
$STATE,6293,end climb,SURFACE_DEPTH_REACHED
$STATE,6293,begin surface coast
$FINISH,1.8,1.021099
$STATE,6312,end surface coast,CONTROL_FINISHED_OK
$STATE,6312,begin surface
$SM_CCo,6394,0.00,0.000,0,0,1545,487.41
$SM_GC,2.70,7.75,0.00,0.00,0.053,0.000,0.000,138,2423,1545,-7.60,1.13,487.41
$IRIDIUM_FIX,2529.44,12256.32,291198,161640
$TT8_MAMPS,0.029146
$HUMID,1806
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,23.7,109.727
$10V_AH,10.7,57.213
$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,24.400,49.000,463.075,0.000,0.000,24.538,37.201,149.393,3.000,0.000,0.000,14.198,1461.519,2818.597,506.016,1466.452,499.360,0.000,1270.693,0.000,1439.737,0.000,17.719,0.000
$DEVICE_MAMPS,229.333,54.457,936.507,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.269,687.887,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47467,893
$CAP_FILE_SIZE,79437,0
$CFSIZE,260165632,176242688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.359,252.9,1
$GPS,040909,194507,2538.499,12251.745,39,1.1,39,-3.8