version: 66.04
glider: 167
mission: 2
dive: 643
start: 9 5 109 1 32 46
data:
$ID,167
$MISSION,2
$DIVE,643
$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,-21980.303
$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,96
$R_STBD_OVSHOOT,44
$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
$GPS1,012516,2538.723,12250.433,12,5.2,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-66.8
$GPS2,013228,2538.699,12250.369,11,5.6,30,-3.8
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,120.8,81599,-25.0,-13.200
$D_GRID,771
$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,17,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.70,0.000,2,0.000,0.000,137,2465,2159
$GC,46,-1.50,-121.7,3.3,-3.0,4,124,8.23,2.17,-60.95,0.000,4,0.235,0.036,2095,1010,3990
$GC,270,-1.15,-121.7,59.8,-20.0,42,278,0.43,2.05,0.00,0.000,6,0.163,0.029,2204,2386,3992
$GC,619,-1.15,-121.7,128.5,-16.8,103,625,0.00,2.10,0.00,0.000,4,0.000,0.045,2204,3754,3996
$GC,830,-1.06,-121.7,167.0,-16.4,140,837,0.12,1.90,0.00,0.000,6,0.162,0.022,2235,2394,3996
$GC,1177,-1.19,-121.7,214.7,-14.8,201,1184,0.12,2.12,0.00,0.000,4,0.076,0.044,2179,3758,3997
$GC,1361,-1.02,-121.7,253.4,-21.3,233,1368,0.25,1.85,0.00,0.000,6,0.160,0.022,2247,2443,3997
$GC,1710,-1.23,-121.7,297.6,-11.5,294,1718,0.17,2.05,0.00,0.000,4,0.069,0.045,2166,3756,3997
$GC,1786,-1.09,-121.7,310.0,-17.1,302,1794,0.22,1.85,0.00,0.000,6,0.158,0.021,2226,2438,3997
$GC,2112,-1.26,-121.7,353.2,-14.1,333,2116,0.15,2.05,0.00,0.000,4,0.073,0.046,2163,3747,3996
$GC,2269,-1.10,-121.7,385.8,-22.8,346,2277,0.22,1.77,0.00,0.000,6,0.162,0.023,2223,2493,3996
$GC,2595,-1.27,-121.7,435.5,-15.6,377,2599,0.15,1.98,0.00,0.000,4,0.072,0.046,2163,3753,3995
$GC,2654,-1.18,-121.7,446.1,-20.8,382,2658,0.15,1.77,0.00,0.000,6,0.165,0.023,2200,2502,3994
$GC,2985,-1.30,-121.7,496.4,-14.8,413,2990,0.12,1.95,0.00,0.000,4,0.077,0.047,2149,3743,3993
$GC,3170,-1.17,-121.7,531.8,-20.1,422,3175,0.20,1.75,0.00,0.000,6,0.166,0.024,2201,2523,3992
$GC,3511,-1.35,-121.7,576.8,-12.4,438,3516,0.17,1.92,0.00,0.000,4,0.071,0.048,2124,3743,3990
$GC,3581,-1.20,-121.7,589.8,-18.6,441,3585,0.25,1.73,0.00,0.000,6,0.166,0.025,2191,2543,3990
$GC,3917,-1.35,-121.7,635.4,-14.7,457,3922,0.15,1.90,0.00,0.000,4,0.076,0.048,2127,3746,3987
$GC,4001,-1.22,-121.7,650.3,-19.6,460,4005,0.22,1.70,0.00,0.000,6,0.167,0.024,2185,2563,3986
$GC,4326,-1.36,-121.7,696.1,-13.8,476,4330,0.15,1.88,0.00,0.000,4,0.074,0.048,2126,3747,3985
$GC,4412,-1.20,-121.7,712.3,-19.1,479,4419,0.25,1.67,0.00,0.000,6,0.171,0.025,2191,2584,3983
$STATE,4478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4478,begin apogee
$GC,4487,-0.27,0.0,721.7,13.6,483,4583,0.98,0.00,92.20,1.200,6,0.146,0.000,2485,2406,3532
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4589,1.50,121.7,726.6,0.0,488,4698,1.58,2.25,100.10,1.164,4,0.054,0.025,3072,947,3034
$GC,4953,0.76,136.2,703.5,12.1,504,4973,0.95,2.17,12.50,1.061,6,0.215,0.033,2834,2370,2975
$GC,5304,0.61,161.6,666.0,11.4,521,5331,0.20,2.15,21.42,1.114,4,0.195,0.027,2785,959,2872
$GC,5586,0.71,193.6,637.9,10.9,533,5617,0.00,2.15,26.00,1.115,6,0.000,0.031,2785,2369,2742
$GC,5944,0.80,221.7,596.6,11.2,551,5971,0.15,0.00,23.98,1.095,6,0.077,0.000,2842,2369,2627
$GC,6294,0.80,221.7,539.9,16.1,568,6298,0.00,2.12,0.00,0.000,4,0.000,0.028,2851,952,2623
$GC,6328,0.80,221.7,534.5,15.2,569,6332,0.00,2.17,0.00,0.000,6,0.000,0.034,2851,2370,2623
$GC,6656,0.74,221.7,484.0,15.8,589,6661,0.12,2.17,0.00,0.000,4,0.181,0.048,2821,3755,2621
$GC,6832,0.64,221.7,454.4,16.5,604,6837,0.17,2.05,0.00,0.000,6,0.188,0.025,2785,2351,2620
$GC,7164,0.79,221.7,412.5,13.2,635,7168,0.15,2.03,0.00,0.000,4,0.074,0.028,2844,982,2619
$GC,7187,0.86,221.7,409.3,13.5,637,7191,0.00,2.15,0.00,0.000,6,0.000,0.031,2844,2397,2619
$GC,7524,0.88,233.1,360.0,12.4,668,7539,0.00,2.17,9.10,0.894,4,0.000,0.028,2852,981,2580
$GC,7619,0.90,254.0,348.0,11.7,676,7645,0.00,2.15,17.73,0.937,6,0.000,0.032,2852,2391,2495
$GC,7965,0.91,257.9,302.5,12.9,709,7973,0.00,0.00,4.30,0.660,6,0.000,0.000,2852,2390,2480
$GC,8314,0.91,257.9,254.1,14.8,769,8320,0.00,2.15,0.00,0.000,4,0.000,0.049,2852,3764,2479
$GC,8483,0.80,257.9,227.7,16.3,798,8489,0.00,2.05,0.00,0.000,6,0.000,0.025,2859,2373,2478
$GC,8831,0.80,257.9,171.6,17.1,859,8840,0.00,2.17,0.00,0.000,4,0.000,0.047,2859,3751,2478
$GC,9021,0.70,257.9,139.4,16.6,891,9028,0.22,2.00,0.00,0.000,6,0.179,0.023,2810,2363,2478
$GC,9371,0.95,315.9,104.9,9.0,952,9424,0.17,2.08,46.67,0.762,4,0.076,0.026,2896,987,2243
$GC,9483,1.00,315.9,88.8,15.6,971,9490,0.00,2.17,0.00,0.000,6,0.000,0.031,2896,2409,2240
$GC,9831,1.07,315.9,35.8,13.8,1032,9837,0.00,2.10,0.00,0.000,4,0.000,0.047,2896,3754,2236
$GC,10094,1.31,459.5,16.3,2.8,1078,10213,0.28,1.92,110.70,0.665,6,0.062,0.023,3012,2404,1657
$STATE,10250,end climb,SURFACE_DEPTH_REACHED
$STATE,10251,begin surface coast
$FINISH,1.8,1.001117
$STATE,10270,end surface coast,CONTROL_FINISHED_OK
$STATE,10270,begin surface
$SM_CCo,10292,9.98,0.581,0,0,1594,475.15
$SM_GC,4.02,0.00,0.00,9.98,0.000,0.000,0.581,139,2402,1594,-7.63,0.54,475.15
$IRIDIUM_FIX,2527.05,12249.71,291198,232340
$TT8_MAMPS,0.029146
$HUMID,1930
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,677.3,67.8
$24V_AH,23.4,110.152
$10V_AH,10.6,57.423
$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,24.600,80.775,464.700,9.975,0.000,27.401,34.048,199.631,5.250,0.000,0.000,31.516,1927.122,5588.750,538.620,2001.613,674.281,0.000,1557.307,0.000,1939.517,0.000,37.336,0.000
$DEVICE_MAMPS,235.469,49.088,1200.355,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,749.211,803.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60168,1108
$CAP_FILE_SIZE,115712,0
$CFSIZE,260165632,176021504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,242.5,1
$GPS,050909,042554,2537.396,12249.936,25,1.2,42,-3.7