version: 66.04
glider: 167
mission: 2
dive: 647
start: 9 5 109 15 3 10
data:
$ID,167
$MISSION,2
$DIVE,647
$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,-22058.707
$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,83
$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
$GPS1,145431,2534.092,12249.153,41,1.2,41,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-66.7
$GPS2,150252,2534.071,12249.090,14,6.7,33,-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,117.1,74261,-25.0,-13.200
$D_GRID,874
$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,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,49,0.00,0.00,-30.05,0.000,2,0.000,0.000,137,2464,2337
$GC,54,-1.50,-121.7,3.4,-1.9,4,114,8.27,2.22,-46.05,0.000,4,0.237,0.036,2094,1000,3990
$GC,240,-0.95,-121.7,54.0,-30.9,36,247,0.68,2.10,0.00,0.000,6,0.176,0.031,2269,2388,3993
$GC,588,-1.11,-121.7,104.7,-13.6,97,595,0.15,2.05,0.00,0.000,4,0.071,0.021,2206,980,3997
$GC,852,-1.17,-121.7,152.3,-16.6,143,858,0.00,2.12,0.00,0.000,6,0.000,0.030,2205,2410,3997
$GC,1198,-1.17,-121.7,209.5,-17.2,204,1204,0.00,2.08,0.00,0.000,4,0.000,0.046,2204,3754,3997
$GC,1330,-1.09,-121.7,234.8,-18.3,227,1336,0.00,1.92,0.00,0.000,6,0.000,0.021,2204,2373,3998
$GC,1678,-1.16,-121.7,290.9,-15.7,288,1684,0.00,2.17,0.00,0.000,4,0.000,0.047,2204,3758,3998
$GC,1771,-1.16,-121.7,304.9,-16.4,302,1775,0.00,1.88,0.00,0.000,6,0.000,0.022,2204,2449,3998
$GC,2103,-1.26,-121.7,353.4,-13.8,333,2107,0.00,2.05,0.00,0.000,4,0.000,0.047,2203,3757,3997
$GC,2310,-1.31,-121.7,384.3,-16.5,351,2314,0.10,1.83,0.00,0.000,6,0.060,0.024,2150,2500,3997
$GC,2643,-1.19,-121.7,450.1,-20.6,382,2647,0.17,1.98,0.00,0.000,4,0.169,0.046,2192,3750,3997
$GC,2717,-1.25,-121.7,464.2,-16.8,388,2723,0.00,1.77,0.00,0.000,6,0.000,0.024,2191,2496,3997
$GC,3046,-1.36,-121.7,512.1,-13.7,415,3050,0.15,2.15,0.00,0.000,4,0.074,0.023,2131,1021,3995
$GC,3080,-1.36,-121.7,518.2,-16.6,416,3084,0.00,2.20,0.00,0.000,6,0.000,0.034,2126,2460,3994
$GC,3399,-1.23,-121.7,577.2,-18.6,431,3403,0.17,2.03,0.00,0.000,4,0.176,0.047,2168,3754,3993
$GC,3563,-1.23,-121.7,605.5,-16.1,438,3567,0.00,1.77,0.00,0.000,6,0.000,0.025,2168,2525,3991
$GC,3892,-1.28,-121.7,655.0,-15.0,454,3896,0.00,1.98,0.00,0.000,4,0.000,0.050,2166,3767,3990
$GC,4045,-1.28,-121.7,677.9,-15.1,460,4051,0.00,1.77,0.00,0.000,6,0.000,0.025,2166,2545,3988
$GC,4365,-1.33,-121.7,725.4,-14.6,476,4368,0.00,1.92,0.00,0.000,4,0.000,0.052,2165,3752,3986
$GC,4449,-1.33,-121.7,738.4,-14.3,479,4455,0.00,1.75,0.00,0.000,6,0.000,0.025,2166,2546,3985
$GC,4768,-1.39,-121.7,785.0,-15.2,495,4772,0.00,1.92,0.00,0.000,4,0.000,0.051,2165,3756,3983
$GC,4905,-1.39,-121.7,807.9,-15.9,501,4908,0.00,1.73,0.00,0.000,6,0.000,0.026,2165,2579,3982
$GC,5240,-1.46,-121.7,862.0,-16.0,517,5244,0.17,1.88,0.00,0.000,4,0.077,0.050,2085,3750,3980
$STATE,5298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5298,begin apogee
$GC,5309,-0.27,0.0,874.9,21.3,519,5407,1.42,0.00,94.05,1.328,6,0.175,0.000,2481,2378,3532
$STATE,5407,end apogee,CONTROL_FINISHED_OK
$STATE,5408,begin climb
$GC,5413,1.50,121.7,880.5,0.0,524,5525,1.58,2.20,103.00,1.289,4,0.048,0.027,3068,998,3035
$GC,5780,0.77,121.7,858.3,13.7,540,5786,0.95,2.10,0.00,0.000,6,0.216,0.034,2831,2365,3031
$GC,6098,0.66,187.2,831.9,8.4,555,6161,0.15,2.17,53.53,1.265,4,0.200,0.029,2802,1009,2767
$GC,6332,0.70,188.4,804.7,13.1,565,6336,0.00,2.10,0.00,0.000,6,0.000,0.033,2802,2370,2763
$GC,6654,0.70,188.4,762.0,13.5,581,6657,0.00,2.20,0.00,0.000,4,0.000,0.050,2802,3766,2760
$GC,6691,0.55,188.4,756.9,15.2,582,6696,0.20,2.03,0.00,0.000,6,0.189,0.025,2762,2380,2760
$GC,7008,0.69,203.5,717.2,12.1,597,7030,0.12,2.25,13.62,1.154,4,0.084,0.051,2810,3746,2702
$GC,7165,0.55,203.5,692.9,15.9,603,7172,0.22,2.00,0.00,0.000,6,0.188,0.025,2762,2381,2700
$GC,7483,0.73,223.7,653.0,11.7,619,7508,0.15,2.28,18.12,1.149,4,0.079,0.050,2819,3758,2619
$GC,7615,0.59,223.7,632.6,17.5,624,7621,0.22,2.00,0.00,0.000,6,0.184,0.025,2771,2398,2617
$GC,7932,0.77,247.7,594.0,11.5,640,7959,0.17,2.17,20.25,1.124,4,0.075,0.030,2846,990,2522
$GC,8027,0.77,247.7,580.1,15.1,644,8031,0.00,2.20,0.00,0.000,6,0.000,0.034,2846,2413,2519
$GC,8346,0.72,247.7,532.0,15.2,659,8350,0.12,2.12,0.00,0.000,4,0.182,0.049,2816,3753,2518
$GC,8398,0.67,247.7,523.3,16.3,661,8402,0.00,1.98,0.00,0.000,6,0.000,0.025,2824,2397,2516
$GC,8722,0.67,247.7,474.9,15.7,684,8725,0.00,2.10,0.00,0.000,4,0.000,0.030,2828,980,2516
$GC,8948,0.77,247.7,441.9,14.5,704,8952,0.00,2.17,0.00,0.000,6,0.000,0.034,2829,2403,2515
$GC,9285,0.77,247.7,393.6,14.8,735,9288,0.00,2.15,0.00,0.000,4,0.000,0.051,2828,3761,2515
$GC,9473,0.69,247.7,360.6,17.6,751,9480,0.12,1.95,0.00,0.000,6,0.196,0.025,2804,2418,2514
$GC,9804,0.83,275.1,318.2,11.2,782,9832,0.12,2.17,22.65,0.949,4,0.083,0.049,2855,3761,2409
$GC,10027,0.74,275.1,283.6,14.1,810,10034,0.17,1.95,0.00,0.000,6,0.181,0.025,2821,2425,2406
$GC,10376,0.88,287.2,240.3,12.3,871,10394,0.12,2.15,11.10,0.841,4,0.087,0.028,2882,992,2360
$GC,10532,0.88,287.2,215.3,15.4,898,10539,0.00,2.20,0.00,0.000,6,0.000,0.033,2882,2426,2358
$GC,10880,0.88,287.2,154.9,19.2,959,10886,0.00,2.10,0.00,0.000,4,0.000,0.050,2881,3758,2358
$GC,11143,0.77,304.3,110.2,12.0,1005,11163,0.22,1.90,14.93,0.762,6,0.186,0.024,2831,2431,2291
$GC,11507,1.08,361.4,71.5,9.1,1068,11561,0.22,2.15,45.70,0.738,4,0.064,0.048,2926,3754,2056
$GC,11820,1.14,408.3,32.5,9.8,1122,11862,0.00,1.92,37.20,0.686,6,0.000,0.024,2936,2422,1866
$STATE,12136,end climb,SURFACE_DEPTH_REACHED
$STATE,12136,begin surface coast
$FINISH,1.8,1.001186
$STATE,12160,end surface coast,CONTROL_FINISHED_OK
$STATE,12160,begin surface
$SM_CCo,12182,49.40,0.642,0,0,1595,475.15
$SM_GC,2.90,0.00,0.00,49.40,0.000,0.000,0.642,138,2420,1595,-7.63,1.05,475.15
$IRIDIUM_FIX,2529.44,12046.35,301198,111134
$TT8_MAMPS,0.028379
$HUMID,1858
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,110.807
$10V_AH,10.5,57.735
$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,23.775,102.000,434.150,49.400,0.000,30.513,37.736,236.724,6.750,0.000,0.000,34.759,2108.218,7042.097,559.538,2260.035,753.434,0.000,1685.692,0.000,2181.361,0.000,48.982,0.000
$DEVICE_MAMPS,237.003,52.156,1328.444,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.152,840.141,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63174,1182
$CAP_FILE_SIZE,130474,0
$CFSIZE,260165632,175722496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,205.9,1
$GPS,050909,182825,2532.582,12249.643,40,1.1,41,-3.7