version: 66.04
glider: 167
mission: 2
dive: 631
start: 9 3 109 17 33 31
data:
$ID,167
$MISSION,2
$DIVE,631
$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,-21775.986
$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,82
$R_STBD_OVSHOOT,38
$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
$GPS1,172630,2531.190,12307.864,36,1.2,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-62.9
$GPS2,173256,2531.393,12307.981,15,1.5,15,-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,263.6,33986,-25.0,-13.200
$D_GRID,713
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-25.50,0.000,2,0.000,0.000,139,2461,2215
$GC,51,-1.50,-121.7,3.1,-1.7,4,125,8.38,2.08,-59.70,0.000,4,0.243,0.053,2082,3770,3989
$GC,230,-0.58,-121.7,62.1,-41.6,34,238,1.15,2.00,0.00,0.000,6,0.193,0.021,2387,2346,3992
$GC,580,-1.40,-121.7,98.7,-7.2,95,587,0.65,2.20,0.00,0.000,4,0.048,0.043,2122,3759,3994
$GC,761,-1.01,-121.7,133.3,-23.1,126,769,0.45,1.83,0.00,0.000,6,0.160,0.021,2249,2450,3996
$GC,1110,-1.17,-121.7,186.3,-14.4,187,1117,0.15,2.03,0.00,0.000,4,0.070,0.042,2180,3760,3997
$GC,1176,-0.99,-121.7,198.2,-20.1,198,1184,0.30,1.83,0.00,0.000,6,0.156,0.031,2263,2468,3996
$GC,1529,-1.24,-121.7,244.2,-12.3,259,1535,0.20,2.03,0.00,0.000,4,0.064,0.044,2176,3767,3997
$GC,1706,-1.06,-121.7,279.5,-20.7,290,1714,0.22,1.80,0.00,0.000,6,0.158,0.022,2237,2488,3996
$GC,2047,-1.26,-121.7,328.6,-13.6,333,2051,0.17,1.98,0.00,0.000,4,0.066,0.045,2164,3755,3997
$GC,2210,-1.11,-121.7,360.4,-20.2,347,2215,0.17,1.77,0.00,0.000,6,0.153,0.024,2226,2530,3997
$GC,2542,-1.30,-121.7,407.9,-13.5,378,2544,0.20,0.00,0.00,0.000,6,0.066,0.000,2148,2530,3997
$GC,2861,-1.21,-121.7,467.3,-19.6,408,2865,0.15,1.92,0.00,0.000,4,0.166,0.045,2179,3760,3996
$GC,3047,-1.21,-121.7,498.5,-16.6,424,3053,0.00,1.73,0.00,0.000,6,0.000,0.023,2179,2548,3995
$GC,3375,-1.29,-121.7,547.9,-14.2,441,3378,0.00,1.92,0.00,0.000,4,0.000,0.049,2178,3752,3993
$GC,3448,-1.29,-121.7,559.7,-15.9,444,3451,0.00,1.70,0.00,0.000,6,0.000,0.025,2178,2567,3993
$GC,3777,-1.40,-121.7,606.9,-13.8,460,3782,0.15,1.88,0.00,0.000,4,0.078,0.046,2112,3760,3991
$GC,3884,-1.21,-121.7,626.9,-19.4,464,3891,0.28,1.70,0.00,0.000,6,0.165,0.025,2185,2577,3990
$GC,4203,-1.36,-121.7,671.1,-13.5,480,4204,0.12,0.00,0.00,0.000,6,0.075,0.000,2138,2577,3987
$STATE,4261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4261,begin apogee
$GC,4270,-0.27,0.0,681.1,15.4,483,4366,1.23,0.00,92.40,1.151,6,0.160,0.000,2490,2417,3532
$STATE,4367,end apogee,CONTROL_FINISHED_OK
$STATE,4367,begin climb
$GC,4371,1.50,121.7,686.0,0.0,488,4478,1.55,0.00,99.53,1.119,6,0.045,0.000,3069,2416,3035
$GC,4789,0.71,121.7,655.3,14.1,508,4794,0.98,2.10,0.00,0.000,4,0.213,0.024,2826,997,3030
$GC,5048,0.66,191.7,631.9,8.1,519,5110,0.12,2.10,54.62,1.104,6,0.185,0.033,2797,2376,2751
$GC,5427,0.68,208.9,587.2,12.0,538,5450,0.00,2.20,15.25,1.030,4,0.000,0.051,2797,3754,2678
$GC,5544,0.60,208.9,571.3,14.4,543,5547,0.00,1.98,0.00,0.000,6,0.000,0.025,2803,2413,2677
$GC,5878,0.62,226.2,529.3,11.9,559,5899,0.00,2.15,15.18,1.016,4,0.000,0.047,2802,3755,2607
$GC,5925,0.57,226.2,523.4,13.6,561,5930,0.20,2.00,0.00,0.000,6,0.180,0.025,2762,2390,2606
$GC,6255,0.78,243.0,487.8,12.0,581,6278,0.17,2.22,13.90,0.992,4,0.075,0.048,2836,3754,2540
$GC,6320,0.65,243.0,476.6,18.2,586,6328,0.20,1.95,0.00,0.000,6,0.184,0.025,2794,2410,2539
$GC,6646,0.78,254.1,433.2,12.4,617,6661,0.12,2.15,9.88,0.926,4,0.084,0.047,2843,3755,2495
$GC,6754,0.66,254.1,415.0,19.0,626,6762,0.22,1.92,0.00,0.000,6,0.183,0.025,2795,2419,2493
$GC,7080,0.81,254.1,369.9,13.7,657,7084,0.15,2.12,0.00,0.000,4,0.078,0.028,2859,980,2491
$GC,7165,0.81,254.1,357.9,14.7,664,7171,0.00,2.20,0.00,0.000,6,0.000,0.031,2859,2435,2491
$GC,7494,0.81,254.1,306.8,16.0,695,7498,0.00,2.05,0.00,0.000,4,0.000,0.049,2859,3757,2490
$GC,7658,0.65,254.1,279.9,16.6,719,7665,0.28,1.90,0.00,0.000,6,0.183,0.025,2797,2438,2490
$GC,8006,0.87,285.6,238.0,10.9,780,8037,0.17,2.25,25.98,0.849,4,0.073,0.028,2882,987,2366
$GC,8128,0.87,285.6,219.0,15.0,801,8134,0.00,2.28,0.00,0.000,6,0.000,0.038,2883,2449,2364
$GC,8475,0.87,285.6,161.6,15.6,862,8482,0.00,2.03,0.00,0.000,4,0.000,0.049,2883,3750,2362
$GC,8699,0.75,285.6,121.7,16.0,901,8706,0.25,1.88,0.00,0.000,6,0.173,0.023,2825,2434,2362
$GC,9047,1.11,392.0,90.0,5.5,962,9137,0.28,2.17,81.97,0.721,4,0.061,0.026,2948,987,1935
$GC,9395,1.36,437.5,43.8,9.9,1022,9438,0.20,2.15,36.33,0.659,6,0.069,0.031,3025,2407,1747
$STATE,9673,end climb,SURFACE_DEPTH_REACHED
$STATE,9673,begin surface coast
$FINISH,1.7,1.008579
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9691,begin surface
$SM_CCo,9713,27.08,0.616,0,0,1594,475.15
$SM_GC,2.94,0.00,0.00,27.08,0.000,0.000,0.616,137,2416,1594,-7.64,0.90,475.15
$IRIDIUM_FIX,2519.89,12307.64,281198,141402
$TT8_MAMPS,0.029146
$HUMID,1863
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,651.5,53.6
$24V_AH,23.4,108.499
$10V_AH,10.6,56.626
$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,26.750,72.350,445.025,27.075,0.000,29.726,33.414,158.403,6.000,0.000,0.000,15.937,1861.394,5261.125,551.625,1856.699,605.733,0.000,1499.006,0.000,1809.789,0.000,35.631,0.000
$DEVICE_MAMPS,243.139,52.923,1150.500,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.580,780.166,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56709,1074
$CAP_FILE_SIZE,108103,0
$CFSIZE,260165632,176726016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163, 43.2,1
$GPS,030909,201706,2532.026,12307.291,31,1.2,31,-3.8