version: 66.04
glider: 167
mission: 2
dive: 649
start: 9 5 109 22 19 22
data:
$ID,167
$MISSION,2
$DIVE,649
$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,-22088.234
$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,80
$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
$GPS1,221036,2531.525,12249.993,33,1.0,34,-3.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-66.9
$GPS2,221902,2531.565,12250.141,14,1.8,14,-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,139.1,69297,-25.0,-13.200
$D_GRID,954
$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,18,-1.50,-121.7,0.0,0.0,0,45,0.00,0.00,-25.52,0.000,2,0.000,0.000,140,2355,2231
$GC,50,-1.50,-121.7,3.1,-1.7,4,121,8.12,2.05,-54.45,0.000,4,0.232,0.036,2093,981,3990
$GC,225,-0.58,-121.7,61.6,-49.9,34,233,1.08,2.12,0.00,0.000,6,0.170,0.032,2384,2383,3992
$GC,576,-1.21,-121.7,89.4,-5.2,95,582,0.47,2.12,0.00,0.000,4,0.048,0.044,2179,3754,3994
$GC,838,-0.96,-121.7,144.9,-22.5,141,845,0.32,1.95,0.00,0.000,6,0.163,0.021,2268,2363,3996
$GC,1187,-1.21,-121.7,192.5,-11.9,202,1195,0.20,2.17,0.00,0.000,4,0.061,0.044,2178,3755,3997
$GC,1451,-1.03,-121.7,239.5,-17.7,248,1457,0.25,1.85,0.00,0.000,6,0.160,0.023,2246,2444,3997
$GC,1803,-1.23,-121.7,279.2,-11.5,309,1809,0.17,2.05,0.00,0.000,4,0.067,0.046,2176,3751,3997
$GC,1856,-1.10,-121.7,288.6,-18.6,318,1864,0.17,1.85,0.00,0.000,6,0.162,0.022,2221,2437,3997
$GC,2190,-1.25,-121.7,337.3,-12.8,355,2194,0.12,2.08,0.00,0.000,4,0.076,0.045,2166,3764,3997
$GC,2354,-1.07,-121.7,369.0,-20.3,369,2360,0.25,1.80,0.00,0.000,6,0.163,0.024,2232,2501,3997
$GC,2680,-1.28,-121.7,414.1,-13.4,400,2684,0.20,1.98,0.00,0.000,4,0.067,0.047,2143,3756,3996
$GC,2820,-1.05,-121.7,441.6,-21.8,412,2825,0.30,1.83,0.00,0.000,6,0.159,0.024,2241,2505,3995
$GC,3153,-1.34,-121.7,477.9,-10.1,443,3159,0.28,0.00,0.00,0.000,6,0.060,0.000,2134,2505,3994
$GC,3475,-1.20,-121.7,532.7,-17.9,465,3479,0.20,1.98,0.00,0.000,4,0.166,0.050,2191,3750,3993
$GC,3595,-1.30,-121.7,550.1,-14.1,470,3599,0.00,1.80,0.00,0.000,6,0.000,0.025,2191,2496,3992
$GC,3925,-1.43,-121.7,593.3,-13.4,486,3929,0.17,1.98,0.00,0.000,4,0.071,0.048,2111,3752,3990
$GC,4133,-1.18,-121.7,637.5,-20.7,495,4137,0.32,1.75,0.00,0.000,6,0.166,0.025,2198,2542,3988
$GC,4470,-1.37,-121.7,683.1,-13.9,511,4474,0.17,1.92,0.00,0.000,4,0.073,0.049,2125,3749,3986
$GC,4585,-1.25,-121.7,704.5,-15.5,516,4589,0.12,1.77,0.00,0.000,6,0.169,0.025,2173,2553,3985
$GC,4922,-1.36,-121.7,750.3,-12.8,532,4926,0.00,1.90,0.00,0.000,4,0.000,0.050,2166,3753,3982
$GC,5002,-1.41,-121.7,762.8,-14.9,535,5006,0.12,1.73,0.00,0.000,6,0.082,0.026,2119,2567,3982
$GC,5326,-1.33,-121.7,823.1,-19.4,551,5330,0.12,1.90,0.00,0.000,4,0.174,0.048,2141,3763,3980
$GC,5395,-1.23,-121.7,837.1,-20.3,554,5399,0.15,1.70,0.00,0.000,6,0.175,0.025,2177,2597,3979
$GC,5732,-1.36,-121.7,889.1,-16.5,570,5737,0.12,1.83,0.00,0.000,4,0.084,0.051,2126,3753,3977
$GC,5806,-1.23,-121.7,901.4,-16.7,573,5810,0.22,1.70,0.00,0.000,6,0.176,0.027,2183,2584,3976
$GC,6139,-1.41,-121.7,941.1,-11.4,589,6143,0.17,1.88,0.00,0.000,4,0.077,0.048,2113,3762,3974
$STATE,6160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6160,begin apogee
$GC,6171,-0.27,0.0,945.6,15.4,590,6269,1.35,0.00,93.62,1.379,6,0.171,0.000,2486,2400,3532
$STATE,6269,end apogee,CONTROL_FINISHED_OK
$STATE,6269,begin climb
$GC,6274,1.50,121.7,946.8,0.0,595,6386,1.60,2.28,104.35,1.336,4,0.054,0.046,3065,3761,3034
$GC,6425,0.50,121.7,943.5,15.6,602,6431,1.33,2.10,0.00,0.000,6,0.219,0.022,2749,2343,3031
$GC,6756,0.64,191.8,911.2,8.1,618,6821,0.12,2.33,57.17,1.309,4,0.089,0.048,2795,3757,2752
$GC,6962,0.47,191.8,882.2,15.1,627,6966,0.28,2.03,0.00,0.000,6,0.182,0.024,2733,2384,2748
$GC,7286,0.69,203.0,845.3,12.4,643,7302,0.17,2.20,10.82,1.173,4,0.077,0.050,2806,3755,2703
$GC,7443,0.55,203.0,818.7,18.1,649,7448,0.22,2.03,0.00,0.000,6,0.183,0.025,2757,2379,2701
$GC,7767,0.75,248.7,784.8,9.9,665,7812,0.17,2.33,38.60,1.257,4,0.077,0.051,2824,3747,2517
$GC,7928,0.63,248.7,759.8,16.9,672,7932,0.17,2.03,0.00,0.000,6,0.193,0.025,2789,2393,2513
$GC,8263,0.75,254.4,715.4,12.8,688,8273,0.00,2.20,5.55,0.960,4,0.000,0.050,2790,3761,2494
$GC,8336,0.75,254.4,704.4,14.7,691,8339,0.00,2.00,0.00,0.000,6,0.000,0.025,2790,2404,2493
$GC,8660,0.88,254.4,658.9,14.8,707,8664,0.17,2.15,0.00,0.000,4,0.072,0.050,2865,3748,2492
$GC,8822,0.66,254.4,624.5,24.1,714,8826,0.30,1.95,0.00,0.000,6,0.189,0.026,2797,2412,2491
$GC,9156,0.73,254.4,568.7,16.1,730,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2410,2490
$GC,9464,0.84,254.4,519.0,15.5,745,9469,0.15,2.15,0.00,0.000,4,0.077,0.048,2855,3755,2490
$GC,9686,0.65,254.4,469.5,22.7,760,9690,0.28,1.95,0.00,0.000,6,0.185,0.025,2794,2416,2489
$GC,10012,0.79,254.4,417.0,14.5,790,10014,0.12,0.00,0.00,0.000,6,0.084,0.000,2841,2413,2489
$GC,10334,0.79,254.4,364.2,16.3,820,10337,0.00,2.12,0.00,0.000,4,0.000,0.049,2841,3750,2489
$GC,10374,0.67,254.4,356.2,18.5,823,10380,0.20,1.92,0.00,0.000,6,0.183,0.025,2801,2418,2489
$GC,10700,0.83,260.2,309.6,12.8,854,10714,0.12,2.15,5.43,0.785,4,0.081,0.048,2848,3757,2470
$GC,10783,0.69,260.2,295.9,17.8,863,10790,0.20,1.90,0.00,0.000,6,0.185,0.025,2808,2438,2470
$GC,11131,0.83,262.9,250.7,13.0,924,11144,0.12,2.22,3.90,0.627,4,0.085,0.028,2864,972,2460
$GC,11275,0.88,262.9,228.8,17.4,948,11281,0.00,2.28,0.00,0.000,6,0.000,0.033,2864,2455,2460
$GC,11623,0.88,262.9,166.0,16.6,1009,11629,0.00,2.05,0.00,0.000,4,0.000,0.050,2864,3759,2460
$GC,11754,0.75,262.9,143.3,17.2,1032,11761,0.20,1.92,0.00,0.000,6,0.181,0.024,2823,2423,2460
$GC,12102,0.90,262.9,98.7,13.7,1093,12110,0.15,2.15,0.00,0.000,4,0.077,0.028,2885,977,2460
$GC,12215,0.91,271.0,83.1,12.6,1112,12233,0.00,2.22,8.68,0.705,6,0.000,0.032,2885,2437,2426
$GC,12574,1.03,364.5,50.7,6.4,1175,12655,0.00,2.12,73.75,0.719,4,0.000,0.048,2885,3752,2044
$GC,12854,1.31,416.6,18.0,9.4,1224,12903,0.30,1.95,40.92,0.666,6,0.058,0.023,3009,2397,1832
$STATE,12990,end climb,SURFACE_DEPTH_REACHED
$STATE,12990,begin surface coast
$FINISH,1.9,1.012086
$STATE,13012,end surface coast,CONTROL_FINISHED_OK
$STATE,13012,begin surface
$SM_CCo,13034,43.45,0.646,0,0,1594,475.15
$SM_GC,3.76,0.00,0.00,43.45,0.000,0.000,0.646,140,2395,1594,-7.63,0.34,475.15
$IRIDIUM_FIX,2522.28,12248.42,301198,181801
$TT8_MAMPS,0.029146
$HUMID,1865
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,926.6,43.4
$24V_AH,22.9,111.145
$10V_AH,10.5,57.897
$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,29.500,104.425,442.800,43.450,0.000,28.656,31.914,268.620,8.250,0.000,0.000,14.420,2237.896,7638.232,577.896,2310.846,811.454,0.000,1742.794,0.000,2245.809,0.000,53.952,0.000
$DEVICE_MAMPS,231.634,51.389,1379.066,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.664,886.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66365,1251
$CAP_FILE_SIZE,143544,0
$CFSIZE,260165632,175554560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,278.7,1
$GPS,060909,015837,2530.565,12249.427,33,1.1,34,-3.7