version: 66.04
glider: 167
mission: 2
dive: 629
start: 9 3 109 11 23 28
data:
$ID,167
$MISSION,2
$DIVE,629
$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,-4
$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,-21746.072
$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,70
$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
$GPS1,111524,2528.875,12308.827,42,1.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-63.7
$GPS2,112307,2529.052,12308.948,36,1.1,36,-3.7
$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,261.4,37570,-25.0,-13.200
$D_GRID,835
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-28.88,0.000,2,0.000,0.000,141,2366,2317
$GC,52,-1.50,-121.7,3.2,-2.0,5,116,8.15,2.22,-47.70,0.000,4,0.234,0.054,2080,3756,3990
$GC,375,-0.92,-121.7,121.0,-26.9,61,382,0.70,2.00,0.00,0.000,6,0.163,0.021,2278,2338,3993
$GC,722,-1.18,-121.7,160.5,-11.9,122,729,0.20,2.22,0.00,0.000,4,0.064,0.044,2188,3764,3996
$GC,805,-0.99,-121.7,176.9,-22.1,136,813,0.25,1.92,0.00,0.000,6,0.152,0.021,2258,2396,3996
$GC,1156,-1.21,-121.7,220.6,-12.9,197,1162,0.17,2.12,0.00,0.000,4,0.063,0.044,2176,3756,3997
$GC,1290,-1.01,-121.7,248.6,-23.8,220,1302,0.28,1.90,0.00,0.000,6,0.156,0.022,2251,2414,3997
$GC,1648,-1.26,-121.7,292.6,-11.3,281,1655,0.20,2.10,0.00,0.000,4,0.063,0.045,2164,3755,3997
$GC,1822,-1.14,-121.7,325.1,-19.7,300,1826,0.17,1.88,0.00,0.000,6,0.163,0.023,2209,2440,3997
$GC,2156,-1.30,-121.7,378.2,-12.9,331,2160,0.15,2.05,0.00,0.000,4,0.071,0.044,2140,3756,3996
$GC,2225,-1.17,-121.7,389.4,-17.3,337,2229,0.22,1.85,0.00,0.000,6,0.160,0.022,2200,2447,3996
$GC,2558,-1.35,-121.7,434.4,-12.6,368,2562,0.17,2.05,0.00,0.000,4,0.067,0.045,2125,3753,3995
$GC,2732,-1.16,-121.7,468.2,-19.7,383,2739,0.22,1.83,0.00,0.000,6,0.160,0.024,2201,2499,3994
$GC,3057,-1.37,-121.7,508.0,-12.0,411,3061,0.17,1.98,0.00,0.000,4,0.068,0.048,2126,3752,3993
$GC,3136,-1.18,-121.7,521.7,-18.6,414,3140,0.28,1.80,0.00,0.000,6,0.168,0.024,2198,2496,3992
$GC,3462,-1.39,-121.7,561.6,-11.8,430,3467,0.17,1.98,0.00,0.000,4,0.071,0.047,2125,3751,3990
$GC,3626,-1.28,-121.7,590.8,-17.9,437,3631,0.15,1.77,0.00,0.000,6,0.170,0.024,2161,2512,3988
$GC,3965,-1.35,-121.7,641.2,-14.6,453,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2511,3986
$GC,4269,-1.46,-121.7,686.1,-14.1,468,4274,0.15,1.98,0.00,0.000,4,0.077,0.049,2098,3760,3983
$GC,4467,-1.21,-121.7,724.9,-20.8,476,4476,0.32,1.80,0.00,0.000,6,0.172,0.025,2184,2521,3981
$GC,4787,-1.41,-121.7,764.9,-11.7,492,4792,0.17,1.98,0.00,0.000,4,0.074,0.051,2111,3756,3979
$STATE,4850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4851,begin apogee
$GC,4862,-0.27,0.0,775.3,17.5,494,4959,1.30,0.00,92.57,1.243,6,0.167,0.000,2484,2356,3532
$STATE,4959,end apogee,CONTROL_FINISHED_OK
$STATE,4960,begin climb
$GC,4963,1.50,121.7,779.6,0.0,499,5072,1.58,2.17,101.30,1.204,4,0.051,0.026,3071,989,3035
$GC,5328,0.72,121.7,751.2,16.0,515,5334,1.02,2.12,0.00,0.000,6,0.218,0.032,2815,2378,3032
$GC,5653,0.62,185.4,721.4,8.6,531,5710,0.12,2.20,51.15,1.183,4,0.205,0.029,2791,999,2775
$GC,5776,0.71,208.9,709.2,11.5,536,5803,0.00,2.15,20.77,1.124,6,0.000,0.034,2791,2376,2679
$GC,6122,0.71,208.9,664.7,13.5,553,6126,0.00,2.20,0.00,0.000,4,0.000,0.052,2792,3763,2674
$GC,6264,0.62,208.9,644.2,14.5,559,6267,0.00,2.00,0.00,0.000,6,0.000,0.026,2801,2398,2673
$GC,6593,0.63,218.5,602.5,12.5,575,6607,0.00,2.17,8.27,1.006,4,0.000,0.031,2801,984,2641
$GC,6810,0.74,218.5,571.9,14.2,584,6817,0.00,2.17,0.00,0.000,6,0.000,0.033,2801,2404,2639
$GC,7127,0.74,218.5,526.8,13.4,600,7131,0.00,2.12,0.00,0.000,4,0.000,0.051,2801,3752,2637
$GC,7174,0.65,218.5,519.8,15.0,602,7178,0.00,1.98,0.00,0.000,6,0.000,0.025,2810,2396,2637
$GC,7502,0.65,218.5,473.3,13.9,626,7506,0.00,2.17,0.00,0.000,4,0.000,0.050,2810,3760,2636
$GC,7566,0.53,218.5,463.9,15.4,631,7575,0.25,1.98,0.00,0.000,6,0.181,0.025,2754,2397,2636
$GC,7893,0.77,246.1,425.9,11.2,662,7924,0.20,2.20,22.52,1.023,4,0.073,0.051,2829,3753,2526
$GC,7966,0.64,246.1,414.5,18.6,668,7974,0.20,2.00,0.00,0.000,6,0.186,0.025,2789,2391,2525
$GC,8292,0.78,246.1,370.7,13.5,699,8296,0.12,2.10,0.00,0.000,4,0.082,0.028,2842,994,2523
$GC,8473,0.87,270.4,348.3,11.4,715,8500,0.00,2.15,20.40,0.960,6,0.000,0.032,2842,2387,2428
$GC,8822,0.87,270.4,297.5,15.3,748,8829,0.00,2.15,0.00,0.000,4,0.000,0.049,2842,3755,2424
$GC,8960,0.79,270.4,273.9,16.7,772,8968,0.00,1.98,0.00,0.000,6,0.000,0.024,2852,2387,2424
$GC,9309,0.79,270.4,220.7,15.0,833,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2386,2423
$GC,9654,0.79,270.4,169.1,13.8,894,9660,0.00,2.17,0.00,0.000,4,0.000,0.047,2853,3764,2423
$GC,9735,0.71,270.4,156.3,17.8,908,9743,0.20,1.95,0.00,0.000,6,0.183,0.024,2809,2409,2423
$GC,10085,0.94,288.1,117.2,11.9,969,10111,0.20,2.12,15.23,0.746,4,0.070,0.028,2905,984,2356
$GC,10368,1.02,357.0,86.4,8.2,1018,10432,0.00,2.12,54.80,0.731,6,0.000,0.030,2905,2392,2073
$GC,10776,1.26,416.1,48.3,8.9,1089,10830,0.20,2.15,46.33,0.676,4,0.066,0.025,3001,975,1834
$GC,11087,1.32,416.1,7.3,14.3,1143,11093,0.00,2.25,0.00,0.000,6,0.000,0.031,3001,2452,1826
$STATE,11108,end climb,SURFACE_DEPTH_REACHED
$STATE,11108,begin surface coast
$FINISH,1.9,1.021284
$STATE,11126,end surface coast,CONTROL_FINISHED_OK
$STATE,11126,begin surface
$SM_CCo,11148,43.28,0.625,0,0,1594,475.15
$SM_GC,3.17,0.00,0.00,43.28,0.000,0.000,0.625,140,2454,1594,-7.63,2.01,475.15
$IRIDIUM_FIX,2519.89,12304.33,281198,070714
$TT8_MAMPS,0.029146
$HUMID,1811
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,775.3,21.0
$24V_AH,22.8,108.212
$10V_AH,10.6,56.489
$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,25.575,90.275,433.350,43.275,0.000,27.558,45.296,190.752,7.500,0.000,0.000,36.958,2030.464,6217.100,566.102,2135.376,695.820,0.000,1636.845,0.000,2059.311,0.000,46.731,0.000
$DEVICE_MAMPS,233.935,54.457,1242.540,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.171,820.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63158,1150
$CAP_FILE_SIZE,124073,0
$CFSIZE,260165632,176828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233, 20.8,1
$GPS,030909,143125,2530.579,12308.108,42,1.1,42,-3.8