version: 66.04
glider: 167
mission: 2
dive: 642
start: 9 4 109 23 7 19
data:
$ID,167
$MISSION,2
$DIVE,642
$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,-21948.158
$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,98
$R_STBD_OVSHOOT,41
$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
$GPS1,230006,2538.674,12251.067,32,1.1,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.9
$GPS2,230656,2538.775,12251.072,13,1.8,13,-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,95.8,80717,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-23.00,0.000,2,0.000,0.000,143,2359,2150
$GC,45,-1.50,-121.7,3.2,-2.9,4,120,7.88,1.98,-59.67,0.000,4,0.223,0.036,2090,1001,3988
$GC,224,-0.98,-121.7,56.9,-32.1,34,232,0.65,2.08,0.00,0.000,6,0.164,0.030,2263,2396,3990
$GC,574,-1.18,-121.7,106.7,-13.7,95,580,0.17,2.10,0.00,0.000,4,0.068,0.044,2178,3759,3994
$GC,663,-0.96,-121.7,125.5,-23.1,110,671,0.32,1.90,0.00,0.000,6,0.156,0.021,2270,2410,3995
$GC,1012,-1.19,-121.7,171.1,-11.9,171,1018,0.17,2.10,0.00,0.000,4,0.065,0.044,2191,3760,3995
$GC,1230,-1.07,-121.7,215.8,-19.7,209,1236,0.15,1.85,0.00,0.000,6,0.160,0.023,2229,2443,3995
$GC,1579,-1.19,-121.7,271.5,-14.0,270,1586,0.00,2.03,0.00,0.000,4,0.000,0.045,2221,3749,3995
$GC,1616,-1.24,-121.7,277.3,-15.0,276,1622,0.12,1.83,0.00,0.000,6,0.076,0.021,2165,2442,3995
$GC,1955,-1.16,-121.7,338.9,-17.3,318,1959,0.15,2.05,0.00,0.000,4,0.162,0.045,2203,3750,3995
$GC,2069,-1.16,-121.7,356.0,-14.2,328,2073,0.00,1.80,0.00,0.000,6,0.000,0.022,2203,2477,3995
$GC,2401,-1.29,-121.7,402.9,-13.7,359,2405,0.12,2.00,0.00,0.000,4,0.076,0.046,2149,3753,3994
$GC,2485,-1.11,-121.7,420.1,-22.4,366,2493,0.25,1.77,0.00,0.000,6,0.163,0.023,2216,2503,3994
$GC,2811,-1.29,-121.7,467.9,-14.7,397,2816,0.15,1.95,0.00,0.000,4,0.073,0.045,2153,3753,3993
$GC,2909,-1.20,-121.7,486.6,-19.0,405,2915,0.15,1.75,0.00,0.000,6,0.175,0.025,2189,2533,3993
$GC,3228,-1.30,-121.7,538.4,-16.5,425,3232,0.00,1.92,0.00,0.000,4,0.000,0.049,2188,3759,3991
$GC,3298,-1.39,-121.7,549.2,-14.8,428,3302,0.17,1.75,0.00,0.000,6,0.069,0.024,2120,2539,3991
$STATE,3400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3400,begin apogee
$GC,3410,-0.27,0.0,569.2,19.4,433,3505,1.27,0.00,91.22,1.065,6,0.164,0.000,2484,2378,3531
$STATE,3506,end apogee,CONTROL_FINISHED_OK
$STATE,3506,begin climb
$GC,3510,1.50,121.7,575.1,0.0,438,3618,1.55,2.30,97.38,1.035,4,0.046,0.042,3063,3761,3034
$GC,3872,0.57,121.7,549.0,15.0,454,3878,1.20,2.05,0.00,0.000,6,0.218,0.021,2773,2336,3030
$GC,4195,0.66,188.8,521.0,8.3,470,4252,0.00,2.08,51.80,1.020,4,0.000,0.028,2781,982,2762
$GC,4507,0.87,245.4,491.4,9.1,488,4562,0.22,2.12,45.28,1.000,6,0.068,0.030,2868,2385,2530
$GC,4882,0.80,245.4,432.1,16.8,523,4886,0.12,2.15,0.00,0.000,4,0.183,0.047,2838,3755,2524
$GC,4900,0.72,245.4,429.1,16.3,524,4904,0.00,1.98,0.00,0.000,6,0.000,0.023,2843,2390,2523
$GC,5238,0.72,245.4,376.0,16.5,555,5242,0.12,2.15,0.00,0.000,4,0.187,0.044,2814,3754,2521
$GC,5316,0.72,245.4,361.5,16.2,561,5322,0.00,1.98,0.00,0.000,6,0.000,0.023,2823,2374,2520
$GC,5647,0.82,255.3,318.2,12.5,592,5659,0.00,2.25,7.38,0.805,4,0.000,0.046,2823,3755,2490
$GC,5842,0.82,255.3,287.8,14.4,615,5848,0.00,1.92,0.00,0.000,6,0.000,0.024,2826,2422,2489
$GC,6188,0.93,255.3,239.1,14.9,676,6195,0.15,2.10,0.00,0.000,4,0.077,0.047,2885,3750,2487
$GC,6249,0.73,255.3,227.9,20.5,686,6256,0.30,1.88,0.00,0.000,6,0.182,0.022,2815,2424,2487
$GC,6598,0.87,255.3,176.6,13.8,747,6605,0.12,2.10,0.00,0.000,4,0.085,0.045,2865,3757,2487
$GC,6776,0.76,255.3,145.5,17.6,778,6783,0.17,1.85,0.00,0.000,6,0.181,0.022,2830,2449,2487
$GC,7125,0.94,293.4,104.6,10.4,839,7160,0.15,0.00,30.88,0.751,6,0.078,0.000,2890,2445,2334
$GC,7499,0.94,293.4,45.8,14.5,905,7505,0.00,2.05,0.00,0.000,4,0.000,0.048,2890,3746,2331
$GC,7666,1.04,378.4,33.0,7.0,934,7737,0.00,1.80,65.30,0.684,6,0.000,0.023,2900,2469,1989
$STATE,8060,end climb,SURFACE_DEPTH_REACHED
$STATE,8060,begin surface coast
$FINISH,1.8,1.015000
$STATE,8108,end surface coast,CONTROL_FINISHED_OK
$STATE,8108,begin surface
$SM_CCo,8129,71.80,0.640,0,0,1595,475.15
$SM_GC,2.48,0.00,0.00,71.80,0.000,0.000,0.640,137,2465,1595,-7.64,2.32,475.15
$IRIDIUM_FIX,2527.05,12251.72,291198,202035
$TT8_MAMPS,0.03068
$HUMID,1851
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.2,142.9
$24V_AH,23.5,110.006
$10V_AH,10.6,57.352
$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,23.350,63.750,389.225,71.800,0.000,29.031,36.238,175.237,3.250,0.000,0.000,13.166,1728.681,4020.907,539.758,1729.004,590.061,0.000,1412.758,0.000,1693.579,0.000,22.520,0.000
$DEVICE_MAMPS,223.197,49.088,1064.596,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,683.128,768.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53692,1012
$CAP_FILE_SIZE,97103,0
$CFSIZE,260165632,176099328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.349,273.3,1
$GPS,050909,012516,2538.723,12250.433,12,5.2,31,-3.8