version: 66.04
glider: 167
mission: 2
dive: 630
start: 9 3 109 14 39 9
data:
$ID,167
$MISSION,2
$DIVE,630
$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,-21759.42
$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,89
$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
$GPS1,143125,2530.579,12308.108,42,1.1,42,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-64.5
$GPS2,143850,2530.740,12308.219,12,1.4,12,-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,258.2,34914,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.75,0.000,2,0.000,0.000,140,2454,2171
$GC,46,-1.50,-121.7,3.3,-3.3,4,118,8.18,2.08,-57.95,0.000,4,0.234,0.054,2087,3756,3990
$GC,373,-0.96,-121.7,116.2,-24.6,61,380,0.62,1.98,0.00,0.000,6,0.164,0.021,2262,2350,3993
$GC,721,-1.15,-121.7,160.4,-11.7,122,728,0.15,2.20,0.00,0.000,4,0.070,0.044,2192,3763,3997
$GC,771,-1.05,-121.7,168.5,-18.0,130,779,0.17,1.92,0.00,0.000,6,0.153,0.021,2239,2386,3996
$GC,1119,-1.18,-121.7,221.5,-16.5,191,1126,0.12,2.12,0.00,0.000,4,0.074,0.044,2179,3750,3997
$GC,1309,-1.03,-121.7,258.6,-18.7,224,1315,0.25,1.88,0.00,0.000,6,0.156,0.023,2248,2424,3997
$GC,1655,-1.28,-121.7,303.9,-11.9,282,1660,0.20,2.08,0.00,0.000,4,0.062,0.044,2154,3750,3997
$GC,1811,-1.08,-121.7,334.3,-21.5,295,1815,0.28,1.88,0.00,0.000,6,0.158,0.022,2229,2427,3997
$GC,2144,-1.28,-121.7,374.4,-10.5,326,2149,0.17,2.08,0.00,0.000,4,0.066,0.044,2152,3750,3996
$GC,2168,-1.28,-121.7,377.5,-12.5,328,2172,0.00,1.88,0.00,0.000,6,0.000,0.022,2152,2422,3996
$GC,2502,-1.21,-121.7,433.5,-17.4,359,2506,0.15,2.10,0.00,0.000,4,0.167,0.047,2190,3750,3995
$GC,2688,-1.27,-121.7,463.4,-14.8,375,2692,0.00,1.85,0.00,0.000,6,0.000,0.025,2190,2456,3995
$GC,3023,-1.40,-121.7,508.6,-13.3,403,3027,0.17,2.05,0.00,0.000,4,0.070,0.048,2111,3752,3993
$GC,3182,-1.13,-121.7,542.4,-21.4,410,3186,0.32,1.85,0.00,0.000,6,0.166,0.027,2213,2504,3992
$GC,3514,-1.38,-121.7,584.5,-12.6,426,3518,0.20,1.98,0.00,0.000,4,0.067,0.047,2126,3753,3990
$GC,3584,-1.22,-121.7,597.3,-19.2,429,3589,0.22,1.80,0.00,0.000,6,0.160,0.023,2186,2496,3989
$GC,3922,-1.37,-121.7,646.9,-14.1,445,3927,0.15,2.00,0.00,0.000,4,0.071,0.048,2125,3759,3987
$GC,3992,-1.22,-121.7,660.5,-20.7,448,3996,0.22,1.80,0.00,0.000,6,0.170,0.024,2183,2512,3986
$STATE,4326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4326,begin apogee
$GC,4335,-0.27,0.0,709.2,13.9,464,4431,1.00,0.00,92.15,1.183,6,0.146,0.000,2485,2389,3532
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4431,begin climb
$GC,4435,1.50,121.7,714.0,0.0,469,4544,1.58,2.25,100.20,1.147,4,0.049,0.044,3065,3757,3034
$GC,4764,0.55,121.7,692.0,15.0,483,4771,1.25,2.05,0.00,0.000,6,0.222,0.022,2765,2351,3030
$GC,5082,0.66,212.1,668.8,6.6,499,5156,0.00,0.00,72.47,1.137,6,0.000,0.000,2765,2351,2667
$GC,5455,0.84,232.0,625.7,11.8,517,5478,0.20,2.33,16.58,1.060,4,0.074,0.050,2848,3750,2586
$GC,5699,0.64,232.0,580.5,18.4,527,5705,0.28,2.03,0.00,0.000,6,0.186,0.024,2787,2363,2582
$GC,6016,0.77,246.6,539.5,12.1,543,6038,0.12,2.28,12.15,1.011,4,0.082,0.048,2835,3746,2526
$GC,6163,0.62,246.6,515.4,18.4,549,6167,0.25,1.98,0.00,0.000,6,0.183,0.024,2780,2390,2524
$GC,6494,0.78,254.1,470.6,12.7,575,6507,0.15,2.22,6.97,0.892,4,0.077,0.048,2838,3745,2496
$GC,6538,0.65,254.1,462.8,19.4,578,6546,0.22,1.98,0.00,0.000,6,0.186,0.023,2788,2401,2496
$GC,6864,0.80,260.7,418.3,12.7,609,6877,0.15,2.20,6.93,0.869,4,0.078,0.029,2854,970,2468
$GC,6963,0.86,260.7,402.9,15.8,617,6970,0.00,2.15,0.00,0.000,6,0.000,0.034,2854,2371,2467
$GC,7292,0.86,260.7,350.4,15.2,648,7296,0.00,2.17,0.00,0.000,4,0.000,0.050,2855,3757,2466
$GC,7535,0.73,260.7,306.3,18.0,669,7541,0.17,2.03,0.00,0.000,6,0.185,0.025,2820,2363,2465
$GC,7879,0.84,260.7,257.0,13.7,726,7885,0.00,2.22,0.00,0.000,4,0.000,0.048,2820,3767,2463
$GC,8040,0.84,260.7,232.8,15.5,754,8047,0.00,2.00,0.00,0.000,6,0.000,0.025,2828,2392,2464
$GC,8389,0.96,261.4,186.3,13.1,815,8396,0.17,2.17,0.00,0.000,4,0.075,0.047,2904,3763,2463
$GC,8629,0.72,261.4,142.6,17.9,857,8636,0.38,1.95,0.00,0.000,6,0.179,0.024,2812,2412,2463
$GC,8977,0.98,294.4,104.6,10.8,918,9014,0.20,2.20,27.83,0.745,4,0.069,0.046,2899,3761,2329
$GC,9074,0.88,294.4,90.5,16.5,934,9082,0.17,1.92,0.00,0.000,6,0.171,0.022,2863,2428,2328
$GC,9422,1.23,408.6,64.0,4.9,995,9516,0.28,2.28,88.53,0.693,4,0.064,0.030,2981,980,1865
$GC,9773,1.32,408.6,18.2,13.3,1056,9779,0.00,2.25,0.00,0.000,6,0.000,0.030,2980,2459,1857
$STATE,9867,end climb,SURFACE_DEPTH_REACHED
$STATE,9867,begin surface coast
$FINISH,1.8,1.008158
$STATE,9885,end surface coast,CONTROL_FINISHED_OK
$STATE,9885,begin surface
$SM_CCo,9907,48.85,0.626,0,0,1594,475.15
$SM_GC,3.17,0.00,0.00,48.85,0.000,0.000,0.626,139,2461,1594,-7.63,2.21,475.15
$IRIDIUM_FIX,2519.89,12407.89,281198,111114
$TT8_MAMPS,0.029146
$HUMID,1820
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,700.7,31.1
$24V_AH,21.9,108.358
$10V_AH,10.6,56.559
$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,25.875,78.250,423.800,48.850,0.000,31.272,36.505,203.675,6.000,0.000,0.000,12.719,1891.857,5352.728,557.991,1926.178,665.654,0.000,1527.898,0.000,1883.309,0.000,41.760,0.000
$DEVICE_MAMPS,233.935,54.457,1183.481,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.552,777.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56913,1076
$CAP_FILE_SIZE,113827,0
$CFSIZE,260165632,176783360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182, 56.3,1
$GPS,030909,172630,2531.190,12307.864,36,1.2,41,-3.8