version: 66.04
glider: 167
mission: 2
dive: 635
start: 9 4 109 4 48 45
data:
$ID,167
$MISSION,2
$DIVE,635
$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,-21841.719
$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,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
$GPS1,044207,2535.262,12303.213,42,1.3,42,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-64.1
$GPS2,044826,2535.420,12303.243,14,1.4,14,-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,269.5,23678,-25.0,-13.200
$D_GRID,659
$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,16,begin dive
$GC,19,-1.50,-121.7,0.0,0.0,0,45,0.00,0.00,-23.12,0.000,2,0.000,0.000,138,2396,2168
$GC,49,-1.50,-121.7,3.1,-2.4,4,124,8.12,2.17,-61.47,0.000,4,0.232,0.053,2087,3763,3989
$GC,252,-0.79,-121.7,68.6,-34.9,38,259,0.82,1.98,0.00,0.000,6,0.174,0.021,2318,2355,3992
$GC,601,-1.21,-121.7,112.9,-6.7,99,608,0.30,2.17,0.00,0.000,4,0.056,0.044,2187,3750,3995
$GC,689,-1.02,-121.7,127.8,-20.5,114,696,0.22,1.90,0.00,0.000,6,0.150,0.021,2250,2385,3996
$GC,1037,-1.18,-121.7,181.5,-12.8,175,1043,0.15,2.12,0.00,0.000,4,0.069,0.042,2179,3752,3997
$GC,1255,-1.03,-121.7,228.5,-21.5,213,1262,0.25,1.83,0.00,0.000,6,0.155,0.023,2249,2457,3997
$GC,1608,-1.24,-121.7,277.2,-12.7,274,1614,0.20,2.03,0.00,0.000,4,0.062,0.045,2162,3754,3997
$GC,1749,-1.04,-121.7,305.4,-21.3,296,1753,0.30,1.80,0.00,0.000,6,0.159,0.024,2245,2485,3997
$GC,2080,-1.29,-121.7,354.1,-13.2,327,2085,0.20,1.98,0.00,0.000,4,0.064,0.044,2152,3751,3997
$GC,2256,-1.10,-121.7,390.8,-19.4,342,2263,0.28,1.77,0.00,0.000,6,0.159,0.024,2227,2506,3997
$GC,2583,-1.31,-121.7,434.6,-12.8,373,2587,0.17,1.95,0.00,0.000,4,0.070,0.047,2150,3750,3996
$GC,2845,-1.18,-121.7,489.0,-19.8,396,2849,0.17,1.73,0.00,0.000,6,0.163,0.024,2195,2542,3995
$GC,3173,-1.32,-121.7,535.4,-14.0,415,3177,0.12,1.90,0.00,0.000,4,0.079,0.047,2140,3750,3993
$GC,3415,-1.20,-121.7,582.4,-19.7,425,3423,0.20,1.70,0.00,0.000,6,0.163,0.024,2192,2565,3992
$GC,3733,-1.36,-121.7,627.6,-15.2,441,3737,0.15,1.88,0.00,0.000,4,0.076,0.046,2126,3756,3990
$STATE,3770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3770,begin apogee
$GC,3780,-0.27,0.0,634.5,17.7,442,3876,1.23,0.00,92.32,1.118,6,0.164,0.000,2483,2373,3532
$STATE,3877,end apogee,CONTROL_FINISHED_OK
$STATE,3877,begin climb
$GC,3882,1.50,121.7,640.0,0.0,447,3990,1.55,2.15,98.25,1.084,4,0.045,0.025,3072,994,3035
$GC,4245,0.81,154.1,619.1,10.9,463,4282,0.90,2.10,26.25,1.048,6,0.211,0.032,2844,2372,2903
$GC,4595,0.66,164.6,579.4,12.4,480,4610,0.20,2.08,9.70,0.954,4,0.195,0.026,2796,986,2859
$GC,4866,0.76,199.2,550.5,10.7,492,4900,0.00,2.12,27.55,1.042,6,0.000,0.031,2796,2376,2720
$GC,5222,0.86,235.9,508.6,10.5,509,5259,0.17,2.15,30.25,1.026,4,0.074,0.028,2881,1005,2569
$GC,5294,0.82,235.9,497.9,15.4,512,5301,0.15,2.12,0.00,0.000,6,0.185,0.032,2846,2380,2567
$GC,5620,0.82,235.9,450.9,14.9,543,5623,0.00,2.15,0.00,0.000,4,0.000,0.050,2845,3751,2563
$GC,5666,0.66,235.9,443.4,16.5,547,5671,0.22,2.00,0.00,0.000,6,0.189,0.024,2797,2370,2563
$GC,6000,0.83,258.9,401.7,11.5,578,6023,0.15,2.28,18.05,0.953,4,0.080,0.048,2855,3750,2475
$GC,6176,0.69,258.9,372.6,17.0,593,6184,0.22,1.95,0.00,0.000,6,0.182,0.025,2807,2404,2472
$GC,6504,0.86,279.3,334.3,11.7,624,6529,0.15,2.22,17.42,0.902,4,0.079,0.048,2866,3758,2392
$GC,6587,0.73,279.3,320.1,19.2,631,6591,0.22,1.98,0.00,0.000,6,0.181,0.023,2818,2400,2391
$GC,6925,0.89,279.3,271.7,13.2,679,6931,0.15,2.15,0.00,0.000,4,0.076,0.048,2879,3754,2390
$GC,7137,0.74,279.3,234.8,18.3,716,7144,0.25,1.92,0.00,0.000,6,0.180,0.023,2823,2407,2389
$GC,7484,0.93,294.6,192.2,12.1,777,7502,0.17,0.00,13.00,0.780,6,0.073,0.000,2893,2402,2332
$GC,7843,0.93,294.6,136.2,16.7,840,7849,0.00,2.12,0.00,0.000,4,0.000,0.046,2893,3757,2330
$GC,7868,0.86,294.6,131.5,18.2,844,7874,0.17,1.90,0.00,0.000,6,0.184,0.022,2858,2423,2330
$GC,8215,1.11,366.7,79.4,8.0,905,8280,0.17,2.17,56.92,0.719,4,0.074,0.028,2942,988,2036
$GC,8537,1.30,418.0,44.1,9.5,961,8584,0.17,2.17,40.42,0.670,6,0.073,0.030,3009,2426,1826
$STATE,8807,end climb,SURFACE_DEPTH_REACHED
$STATE,8807,begin surface coast
$FINISH,2.0,1.021438
$STATE,8825,end surface coast,CONTROL_FINISHED_OK
$STATE,8825,begin surface
$SM_CCo,8847,41.80,0.634,0,0,1594,475.15
$SM_GC,3.03,0.00,0.00,41.80,0.000,0.000,0.634,139,2430,1594,-7.63,1.33,475.15
$IRIDIUM_FIX,2527.05,12303.64,291198,020221
$TT8_MAMPS,0.028379
$HUMID,1851
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.8,108.6
$24V_AH,23.5,109.054
$10V_AH,10.6,56.897
$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,25.675,68.650,430.150,41.800,0.000,23.614,30.811,169.218,4.250,0.000,0.000,14.961,1765.933,4538.917,538.203,1829.752,589.868,0.000,1464.877,0.000,1787.338,0.000,29.113,0.000
$DEVICE_MAMPS,232.401,52.923,1117.519,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.340,740.076,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53679,1012
$CAP_FILE_SIZE,104359,0
$CFSIZE,260165632,176496640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,308.7,1
$GPS,040909,071807,2536.005,12302.041,29,1.4,29,-3.8