version: 66.04
glider: 167
mission: 2
dive: 641
start: 9 4 109 19 55 4
data:
$ID,167
$MISSION,2
$DIVE,641
$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,-21934.363
$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,95
$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
$GPS1,194507,2538.499,12251.745,39,1.1,39,-3.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-64.9
$GPS2,195444,2538.698,12251.757,11,1.1,11,-3.8
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_4
$TGT_LATLONG,2506.900,12323.900
$TGT_RADIUS,2000.000
$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,96.3,79833,-25.0,-13.200
$D_GRID,737
$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,-27.90,0.000,2,0.000,0.000,138,2423,2245
$GC,54,-1.50,-121.7,3.3,-2.8,5,125,8.12,2.12,-54.70,0.000,4,0.232,0.036,2093,1002,3989
$GC,193,-0.77,-121.7,43.4,-53.3,28,200,0.88,2.08,0.00,0.000,6,0.182,0.032,2322,2385,3991
$GC,542,-1.11,-121.7,90.9,-10.9,89,548,0.25,2.00,0.00,0.000,4,0.057,0.022,2210,1000,3994
$GC,754,-1.17,-121.7,130.9,-15.4,126,760,0.00,2.08,0.00,0.000,6,0.000,0.030,2205,2397,3995
$GC,1102,-1.10,-121.7,183.2,-16.3,187,1109,0.00,2.08,0.00,0.000,4,0.000,0.045,2204,3754,3996
$GC,1254,-1.00,-121.7,210.0,-19.0,213,1261,0.17,1.90,0.00,0.000,6,0.154,0.021,2252,2388,3996
$GC,1604,-1.20,-121.7,260.4,-15.2,274,1610,0.17,2.12,0.00,0.000,4,0.066,0.044,2167,3757,3996
$GC,1766,-1.02,-121.7,296.1,-21.4,302,1772,0.30,1.85,0.00,0.000,6,0.159,0.023,2251,2447,3996
$GC,2094,-1.29,-121.7,339.6,-10.3,334,2098,0.20,2.05,0.00,0.000,4,0.064,0.046,2162,3761,3995
$GC,2159,-1.13,-121.7,349.8,-18.3,339,2168,0.20,1.85,0.00,0.000,6,0.160,0.022,2215,2449,3995
$GC,2485,-1.25,-121.7,395.7,-14.0,370,2489,0.12,2.05,0.00,0.000,4,0.077,0.045,2162,3763,3993
$GC,2604,-1.14,-121.7,416.6,-18.5,380,2611,0.17,1.80,0.00,0.000,6,0.162,0.023,2208,2493,3993
$GC,2932,-1.27,-121.7,464.5,-15.0,411,2936,0.12,1.98,0.00,0.000,4,0.080,0.047,2152,3753,3991
$GC,3075,-1.18,-121.7,490.2,-16.8,423,3083,0.17,1.77,0.00,0.000,6,0.160,0.025,2197,2512,3990
$GC,3398,-1.31,-121.7,531.8,-12.9,442,3403,0.12,1.95,0.00,0.000,4,0.081,0.048,2149,3753,3988
$GC,3455,-1.23,-121.7,541.4,-16.6,444,3459,0.12,1.77,0.00,0.000,6,0.170,0.024,2178,2512,3987
$GC,3782,-1.30,-121.7,585.2,-11.2,460,3786,0.00,1.95,0.00,0.000,4,0.000,0.048,2179,3755,3985
$GC,3834,-1.35,-121.7,592.5,-12.8,462,3838,0.00,1.75,0.00,0.000,6,0.000,0.024,2178,2530,3984
$GC,4163,-1.45,-121.7,632.3,-11.9,478,4167,0.17,1.92,0.00,0.000,4,0.077,0.048,2100,3751,3981
$GC,4319,-1.23,-121.7,659.4,-19.4,484,4325,0.30,1.73,0.00,0.000,6,0.171,0.025,2180,2551,3980
$GC,4637,-1.35,-121.7,698.6,-11.7,500,4640,0.00,1.90,0.00,0.000,4,0.000,0.049,2179,3757,3978
$GC,4718,-1.45,-121.7,709.2,-12.6,503,4723,0.20,1.70,0.00,0.000,6,0.071,0.025,2103,2580,3977
$STATE,4893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4893,begin apogee
$GC,4902,-0.27,0.0,740.0,18.2,512,4996,1.38,0.00,90.90,1.216,6,0.170,0.000,2490,2423,3532
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5002,1.50,121.7,744.3,0.0,517,5111,1.55,2.20,100.10,1.177,4,0.050,0.026,3072,999,3034
$GC,5366,0.75,121.7,717.8,14.8,533,5371,0.98,2.10,0.00,0.000,6,0.215,0.035,2826,2372,3030
$GC,5689,0.63,168.4,685.9,9.8,549,5729,0.15,0.00,37.60,1.154,6,0.196,0.000,2789,2372,2844
$GC,6039,0.67,198.8,648.1,11.0,566,6065,0.00,0.00,24.80,1.120,6,0.000,0.000,2790,2372,2721
$GC,6367,0.74,214.8,608.9,12.0,582,6388,0.00,2.22,14.12,1.067,4,0.000,0.050,2790,3743,2655
$GC,6594,0.74,214.8,573.0,17.0,592,6598,0.00,1.98,0.00,0.000,6,0.000,0.025,2797,2393,2652
$GC,6928,0.79,214.8,525.7,14.3,608,6930,0.12,0.00,0.00,0.000,6,0.082,0.000,2847,2390,2651
$GC,7241,0.72,214.8,472.2,17.3,630,7243,0.15,0.00,0.00,0.000,6,0.179,0.000,2810,2390,2649
$GC,7564,0.76,214.8,422.0,16.0,660,7568,0.00,2.15,0.00,0.000,4,0.000,0.048,2810,3749,2648
$GC,7825,0.68,214.8,377.5,15.8,683,7828,0.00,2.00,0.00,0.000,6,0.000,0.024,2817,2366,2648
$GC,8160,0.74,221.7,336.0,12.7,714,8171,0.00,2.20,5.38,0.776,4,0.000,0.046,2817,3755,2629
$GC,8427,0.67,221.7,296.3,15.2,739,8434,0.00,2.00,0.00,0.000,6,0.000,0.024,2827,2372,2629
$GC,8775,0.69,233.4,251.6,12.3,800,8792,0.00,2.08,11.18,0.844,4,0.000,0.028,2831,982,2579
$GC,8910,0.82,249.7,235.2,12.0,823,8929,0.00,2.08,13.95,0.838,6,0.000,0.029,2831,2356,2513
$GC,9271,0.91,249.7,187.6,14.9,886,9277,0.12,2.20,0.00,0.000,4,0.075,0.048,2884,3759,2511
$GC,9523,0.72,249.7,139.9,17.9,930,9530,0.30,2.00,0.00,0.000,6,0.180,0.024,2815,2368,2510
$GC,9872,0.90,250.8,105.5,13.1,991,9879,0.15,2.20,0.00,0.000,4,0.076,0.045,2877,3764,2510
$GC,9938,0.73,250.8,93.4,20.6,1002,9944,0.25,2.00,0.00,0.000,6,0.178,0.023,2822,2366,2510
$GC,10286,1.10,342.4,54.6,6.6,1063,10364,0.28,2.30,72.15,0.715,4,0.061,0.045,2936,3751,2135
$GC,10463,1.04,342.4,42.9,14.4,1093,10470,0.12,2.00,0.00,0.000,6,0.183,0.022,2917,2366,2129
$GC,10813,1.41,476.2,15.5,3.5,1154,10923,0.28,0.00,102.32,0.646,6,0.061,0.000,3028,2364,1588
$STATE,10926,end climb,SURFACE_DEPTH_REACHED
$STATE,10927,begin surface coast
$FINISH,1.8,1.021377
$STATE,10949,end surface coast,CONTROL_FINISHED_OK
$STATE,10949,begin surface
$SM_CCo,11031,0.00,0.000,0,0,1582,478.09
$SM_GC,2.61,7.82,0.00,0.00,0.049,0.000,0.000,143,2359,1582,-7.60,-0.68,478.09
$IRIDIUM_FIX,2529.44,12253.02,291198,191919
$TT8_MAMPS,0.029146
$HUMID,1856
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.4,109.876
$10V_AH,10.6,57.289
$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,25.475,76.275,472.500,0.000,0.000,60.000,66.801,238.771,8.000,0.000,0.000,11.706,2021.074,6189.857,553.479,2055.230,785.428,0.000,1589.209,0.000,2015.331,0.000,40.750,0.000
$DEVICE_MAMPS,232.401,49.855,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.806,863.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63154,1177
$CAP_FILE_SIZE,120367,0
$CFSIZE,260165632,176132096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.291,273.7,1
$GPS,040909,230006,2538.674,12251.067,32,1.1,32,-3.8