version: 66.04
glider: 167
mission: 2
dive: 637
start: 9 4 109 10 12 46
data:
$ID,167
$MISSION,2
$DIVE,637
$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,-21875.027
$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,94
$R_STBD_OVSHOOT,48
$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
$GPS1,100555,2537.652,12259.869,40,1.2,40,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-66.2
$GPS2,101226,2537.746,12259.921,17,1.4,17,-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,257.7,17078,-25.0,-13.200
$D_GRID,765
$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,-121.7,0.0,0.0,0,49,0.00,0.00,-27.95,0.000,2,0.000,0.000,138,2402,2287
$GC,54,-1.50,-121.7,3.1,-1.8,5,123,8.05,2.15,-54.28,0.000,4,0.229,0.053,2085,3754,3990
$GC,267,-0.73,-121.7,69.6,-31.7,41,274,0.93,1.95,0.00,0.000,6,0.176,0.021,2341,2368,3992
$GC,615,-1.28,-121.7,108.9,-5.3,102,622,0.43,2.15,0.00,0.000,4,0.048,0.043,2155,3750,3995
$GC,686,-0.99,-121.7,120.3,-21.3,114,692,0.38,1.90,0.00,0.000,6,0.157,0.021,2261,2391,3996
$GC,1033,-1.15,-121.7,171.1,-13.3,175,1040,0.15,2.10,0.00,0.000,4,0.072,0.041,2192,3746,3997
$GC,1167,-0.97,-121.7,196.8,-21.2,198,1173,0.28,1.85,0.00,0.000,6,0.157,0.022,2270,2431,3997
$GC,1519,-1.25,-121.7,236.7,-9.3,259,1526,0.22,2.05,0.00,0.000,4,0.061,0.044,2166,3746,3997
$GC,1742,-1.04,-121.7,284.9,-23.2,298,1749,0.28,1.83,0.00,0.000,6,0.156,0.022,2242,2447,3997
$GC,2081,-1.27,-121.7,323.7,-8.4,338,2085,0.20,2.03,0.00,0.000,4,0.065,0.044,2152,3743,3997
$GC,2201,-1.12,-121.7,342.6,-16.8,348,2207,0.22,1.75,0.00,0.000,6,0.156,0.023,2213,2505,3997
$GC,2527,-1.26,-121.7,389.1,-16.6,379,2531,0.12,1.95,0.00,0.000,4,0.077,0.046,2162,3747,3996
$GC,2661,-1.15,-121.7,416.4,-19.7,390,2667,0.17,1.75,0.00,0.000,6,0.163,0.024,2206,2520,3996
$GC,2987,-1.32,-121.7,467.6,-15.7,421,2991,0.15,1.92,0.00,0.000,4,0.074,0.046,2146,3746,3994
$GC,3012,-1.32,-121.7,471.1,-15.1,423,3015,0.00,1.73,0.00,0.000,6,0.000,0.024,2146,2535,3994
$GC,3353,-1.25,-121.7,526.0,-16.4,447,3357,0.12,1.92,0.00,0.000,4,0.177,0.046,2169,3757,3992
$GC,3411,-1.25,-121.7,536.0,-16.2,449,3414,0.00,1.73,0.00,0.000,6,0.000,0.023,2169,2553,3992
$GC,3733,-1.32,-121.7,585.2,-14.8,465,3737,0.00,1.90,0.00,0.000,4,0.000,0.050,2166,3757,3990
$GC,3850,-1.32,-121.7,603.5,-16.7,470,3854,0.00,1.73,0.00,0.000,6,0.000,0.025,2166,2565,3989
$GC,4185,-1.40,-121.7,658.1,-15.7,486,4189,0.12,1.88,0.00,0.000,4,0.086,0.048,2112,3747,3986
$GC,4248,-1.22,-121.7,670.4,-20.2,488,4254,0.28,1.70,0.00,0.000,6,0.172,0.025,2184,2573,3986
$GC,4567,-1.38,-121.7,717.2,-13.5,504,4571,0.15,1.88,0.00,0.000,4,0.077,0.049,2124,3756,3983
$GC,4728,-1.26,-121.7,745.1,-17.4,511,4732,0.17,1.67,0.00,0.000,6,0.171,0.025,2168,2605,3981
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4882,-0.27,0.0,765.0,12.9,518,4978,1.08,0.00,92.45,1.236,6,0.151,0.000,2488,2411,3532
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.50,121.7,768.4,0.0,523,5094,1.55,2.25,100.68,1.194,4,0.050,0.044,3062,3746,3034
$GC,5188,0.57,121.7,765.6,13.6,532,5193,1.23,2.08,0.00,0.000,6,0.223,0.021,2768,2329,3032
$GC,5516,0.68,209.9,741.7,6.8,548,5593,0.00,2.35,71.28,1.187,4,0.000,0.048,2768,3746,2675
$GC,5646,0.68,211.2,729.3,13.1,553,5650,0.00,2.03,0.00,0.000,6,0.000,0.023,2773,2373,2672
$GC,5974,0.86,255.7,694.7,10.0,569,6018,0.20,2.30,37.10,1.157,4,0.071,0.049,2855,3741,2489
$GC,6171,0.69,255.7,660.3,19.7,577,6177,0.22,1.98,0.00,0.000,6,0.186,0.023,2808,2381,2484
$GC,6488,0.78,255.7,614.2,14.4,593,6491,0.00,2.17,0.00,0.000,4,0.000,0.050,2808,3748,2482
$GC,6596,0.78,255.7,596.1,16.9,597,6602,0.00,1.92,0.00,0.000,6,0.000,0.025,2815,2421,2482
$GC,6913,0.84,255.7,548.8,15.4,613,6917,0.10,2.12,0.00,0.000,4,0.092,0.028,2864,988,2479
$GC,6953,0.84,255.7,541.9,17.9,615,6957,0.00,2.15,0.00,0.000,6,0.000,0.032,2863,2397,2480
$GC,7283,0.78,255.7,483.3,18.2,634,7287,0.12,2.15,0.00,0.000,4,0.187,0.048,2834,3764,2478
$GC,7391,0.69,255.7,463.1,17.7,643,7395,0.15,1.95,0.00,0.000,6,0.189,0.026,2805,2425,2477
$GC,7722,0.82,260.9,419.7,12.8,674,7734,0.12,2.17,3.75,0.664,4,0.083,0.051,2854,3750,2468
$GC,7764,0.68,260.9,413.1,16.2,677,7770,0.22,1.92,0.00,0.000,6,0.183,0.025,2806,2416,2467
$GC,8090,0.81,260.9,371.2,14.3,708,8092,0.10,0.00,0.00,0.000,6,0.091,0.000,2844,2414,2466
$GC,8412,0.87,260.9,318.3,17.3,738,8416,0.00,2.12,0.00,0.000,4,0.000,0.048,2844,3758,2466
$GC,8613,0.79,260.9,278.1,21.5,764,8619,0.00,1.92,0.00,0.000,6,0.000,0.025,2854,2427,2465
$GC,8959,0.79,260.9,220.1,13.7,825,8965,0.00,2.12,0.00,0.000,4,0.000,0.049,2854,3762,2465
$GC,9051,0.69,260.9,205.6,15.7,841,9058,0.22,1.92,0.00,0.000,6,0.180,0.025,2805,2425,2465
$GC,9399,0.88,262.0,163.0,13.1,902,9405,0.17,2.12,0.00,0.000,4,0.073,0.048,2881,3761,2465
$GC,9487,0.75,262.0,147.2,18.3,917,9494,0.25,1.92,0.00,0.000,6,0.182,0.025,2826,2425,2465
$GC,9833,0.92,269.1,103.2,12.7,978,9848,0.15,2.20,8.32,0.701,4,0.077,0.028,2894,988,2434
$GC,9906,0.92,269.1,92.0,15.9,990,9912,0.00,2.17,0.00,0.000,6,0.000,0.030,2894,2425,2433
$GC,10255,1.01,346.6,52.0,7.6,1051,10324,0.00,2.25,61.15,0.714,4,0.000,0.028,2903,993,2118
$GC,10581,1.40,432.5,23.4,7.0,1108,10656,0.35,2.12,66.93,0.668,6,0.058,0.031,3033,2389,1767
$STATE,10725,end climb,SURFACE_DEPTH_REACHED
$STATE,10725,begin surface coast
$FINISH,1.8,1.000771
$STATE,10742,end surface coast,CONTROL_FINISHED_OK
$STATE,10742,begin surface
$SM_CCo,10765,31.35,0.639,0,0,1594,475.15
$SM_GC,2.70,0.00,0.00,31.35,0.000,0.000,0.639,139,2392,1594,-7.63,0.25,475.15
$IRIDIUM_FIX,2529.44,12301.63,291198,070716
$TT8_MAMPS,0.029146
$HUMID,1888
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.3,109.338
$10V_AH,10.6,57.037
$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,26.650,92.175,441.650,31.350,0.000,30.563,29.481,171.252,6.000,0.000,0.000,18.080,1991.135,5992.970,560.042,2004.533,633.370,0.000,1582.728,0.000,1952.132,0.000,39.403,0.000
$DEVICE_MAMPS,229.333,52.923,1235.637,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,768.085,829.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60038,1136
$CAP_FILE_SIZE,120453,0
$CFSIZE,260165632,176361472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,295.9,1
$GPS,040909,131406,2538.149,12256.999,35,1.0,40,-3.8