version: 66.04
glider: 167
mission: 2
dive: 644
start: 9 5 109 4 33 39
data:
$ID,167
$MISSION,2
$DIVE,644
$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,-21995.803
$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,40
$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
$GPS1,042554,2537.396,12249.936,25,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-64.2
$GPS2,043319,2537.376,12249.739,9,1.7,14,-3.7
$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,119.4,79616,-25.0,-13.200
$D_GRID,872
$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,-22.90,0.000,2,0.000,0.000,139,2402,2158
$GC,45,-1.50,-121.7,3.1,-2.2,4,117,8.20,2.12,-56.90,0.000,4,0.235,0.036,2094,992,3990
$GC,171,-0.89,-121.7,28.3,-33.8,25,178,0.75,2.10,0.00,0.000,6,0.182,0.031,2288,2388,3991
$GC,519,-1.11,-121.7,81.9,-9.5,86,526,0.17,2.10,0.00,0.000,4,0.067,0.044,2205,3748,3995
$GC,672,-0.98,-121.7,106.6,-17.7,112,679,0.20,1.90,0.00,0.000,6,0.156,0.021,2259,2389,3996
$GC,1019,-1.15,-121.7,151.7,-12.7,173,1026,0.15,2.12,0.00,0.000,4,0.071,0.044,2192,3753,3997
$GC,1046,-1.15,-121.7,155.6,-14.9,177,1052,0.00,1.90,0.00,0.000,6,0.000,0.021,2193,2387,3997
$GC,1395,-1.08,-121.7,222.9,-20.5,238,1402,0.15,2.12,0.00,0.000,4,0.163,0.042,2223,3754,3997
$GC,1562,-1.08,-121.7,253.9,-17.0,267,1569,0.00,1.83,0.00,0.000,6,0.000,0.022,2223,2440,3997
$GC,1908,-1.20,-121.7,306.8,-15.5,324,1912,0.00,2.05,0.00,0.000,4,0.000,0.046,2221,3751,3998
$GC,2000,-1.31,-121.7,322.7,-17.3,332,2004,0.17,1.80,0.00,0.000,6,0.067,0.023,2149,2488,3997
$GC,2332,-1.11,-121.7,399.2,-22.9,363,2337,0.22,1.98,0.00,0.000,4,0.168,0.044,2206,3750,3997
$GC,2367,-1.11,-121.7,405.5,-15.1,366,2371,0.00,1.77,0.00,0.000,6,0.000,0.021,2206,2470,3997
$GC,2699,-1.28,-121.7,452.7,-9.8,397,2701,0.12,0.00,0.00,0.000,6,0.080,0.000,2155,2467,3997
$GC,3026,-1.21,-121.7,507.9,-17.4,426,3030,0.12,2.03,0.00,0.000,4,0.173,0.047,2179,3750,3996
$GC,3192,-1.21,-121.7,530.9,-11.3,433,3195,0.00,1.73,0.00,0.000,6,0.000,0.024,2179,2538,3995
$GC,3522,-1.29,-121.7,571.6,-12.5,449,3525,0.00,1.92,0.00,0.000,4,0.000,0.049,2178,3760,3993
$GC,3584,-1.29,-121.7,580.6,-14.4,451,3591,0.00,1.75,0.00,0.000,6,0.000,0.024,2178,2536,3993
$GC,3901,-1.38,-121.7,630.0,-15.2,467,3903,0.12,0.00,0.00,0.000,6,0.084,0.000,2130,2535,3992
$GC,4212,-1.30,-121.7,678.8,-16.0,482,4216,0.12,1.92,0.00,0.000,4,0.173,0.048,2152,3747,3989
$GC,4319,-1.30,-121.7,696.5,-15.1,486,4324,0.00,1.73,0.00,0.000,6,0.000,0.025,2152,2552,3987
$GC,4636,-1.30,-121.7,744.0,-16.3,502,4640,0.00,1.90,0.00,0.000,4,0.000,0.050,2152,3750,3986
$GC,4744,-1.25,-121.7,761.7,-16.7,506,4750,0.00,1.73,0.00,0.000,6,0.000,0.025,2152,2557,3985
$STATE,4954,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4954,begin apogee
$GC,4965,-0.27,0.0,795.2,16.4,517,5062,1.17,0.00,93.40,1.256,6,0.160,0.000,2489,2406,3532
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5066,1.50,121.7,799.7,0.0,522,5175,1.55,2.30,101.30,1.219,4,0.050,0.025,3069,959,3035
$GC,5433,0.76,121.7,774.9,15.8,538,5438,0.95,2.15,0.00,0.000,6,0.214,0.032,2831,2365,3031
$GC,5756,0.61,160.3,739.5,10.4,554,5793,0.17,2.22,31.52,1.186,4,0.196,0.029,2788,969,2877
$GC,6047,0.66,201.2,707.4,10.2,566,6086,0.00,2.15,33.60,1.172,6,0.000,0.033,2788,2370,2711
$GC,6399,0.73,209.0,663.7,12.6,583,6413,0.00,2.25,7.20,0.985,4,0.000,0.050,2789,3754,2680
$GC,6516,0.67,209.0,645.8,15.6,588,6520,0.00,2.05,0.00,0.000,6,0.000,0.024,2791,2351,2678
$GC,6846,0.75,229.5,605.3,11.7,604,6870,0.00,2.30,18.25,1.110,4,0.000,0.049,2792,3747,2596
$GC,6913,0.75,229.5,595.4,16.0,607,6917,0.00,2.00,0.00,0.000,6,0.000,0.025,2800,2388,2593
$GC,7248,0.82,236.8,551.2,12.7,623,7262,0.12,2.17,6.75,0.940,4,0.081,0.029,2857,972,2566
$GC,7370,0.82,236.8,531.9,16.4,628,7374,0.00,2.15,0.00,0.000,6,0.000,0.034,2857,2377,2564
$GC,7695,0.75,236.8,482.5,14.5,649,7697,0.15,0.00,0.00,0.000,6,0.179,0.000,2820,2378,2563
$GC,8019,0.82,250.7,442.9,12.2,679,8036,0.00,2.10,11.95,0.990,4,0.000,0.028,2828,986,2509
$GC,8170,0.94,250.9,423.4,13.2,691,8177,0.15,2.12,0.00,0.000,6,0.076,0.032,2884,2373,2508
$GC,8496,0.83,250.9,366.5,17.7,722,8500,0.15,2.10,0.00,0.000,4,0.180,0.027,2854,975,2506
$GC,8673,0.83,250.9,339.2,15.1,737,8677,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,2361,2506
$GC,9003,0.83,250.9,287.8,13.9,774,9009,0.00,2.20,0.00,0.000,4,0.000,0.050,2854,3763,2505
$GC,9155,0.69,250.9,265.7,14.9,800,9162,0.22,2.03,0.00,0.000,6,0.179,0.025,2807,2368,2505
$GC,9501,0.90,290.7,228.6,10.3,861,9543,0.17,2.28,32.85,0.864,4,0.073,0.048,2876,3768,2346
$GC,9602,0.76,290.7,212.0,19.2,878,9608,0.22,2.05,0.00,0.000,6,0.179,0.023,2824,2370,2344
$GC,9951,0.91,290.7,151.0,18.3,939,9959,0.15,2.05,0.00,0.000,4,0.075,0.028,2885,987,2342
$GC,10089,1.04,304.8,129.7,12.2,962,10108,0.00,2.12,12.20,0.746,6,0.000,0.031,2885,2392,2289
$GC,10449,1.15,304.8,101.2,19.1,1025,10456,0.17,2.12,0.00,0.000,4,0.068,0.046,2964,3751,2287
$GC,10713,1.05,438.8,66.3,3.5,1071,10824,0.22,1.95,104.60,0.709,6,0.190,0.022,2918,2375,1742
$GC,11165,1.45,517.1,16.8,7.5,1150,11233,0.32,2.28,61.17,0.634,4,0.060,0.046,3047,3751,1423
$GC,11241,1.38,517.1,4.5,20.3,1162,11248,0.12,1.92,0.00,0.000,6,0.193,0.021,3028,2419,1421
$STATE,11252,end climb,SURFACE_DEPTH_REACHED
$STATE,11252,begin surface coast
$FINISH,1.8,1.019398
$STATE,11270,end surface coast,CONTROL_FINISHED_OK
$STATE,11270,begin surface
$SM_CCo,11353,0.00,0.000,0,0,1415,519.30
$SM_GC,2.80,7.95,0.00,0.00,0.057,0.000,0.000,138,2417,1415,-7.60,0.96,519.30
$IRIDIUM_FIX,2529.44,12251.01,301198,010131
$TT8_MAMPS,0.029146
$HUMID,1805
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.7,67.8
$24V_AH,23.3,110.313
$10V_AH,10.6,57.499
$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,24.525,89.850,514.800,0.000,0.000,30.698,32.989,217.104,6.000,0.000,0.000,14.870,2028.174,6378.676,571.765,2110.942,699.403,0.000,1652.128,0.000,2056.773,0.000,46.537,0.000
$DEVICE_MAMPS,235.469,49.855,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,787.695,849.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63272,1167
$CAP_FILE_SIZE,124477,0
$CFSIZE,260165632,175943680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,214.6,1
$GPS,050909,074426,2535.723,12250.169,35,4.6,54,-3.7