version: 66.04
glider: 167
mission: 2
dive: 650
start: 9 6 109 2 6 54
data:
$ID,167
$MISSION,2
$DIVE,650
$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,-22119.982
$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,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
$GPS1,015837,2530.565,12249.427,33,1.1,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-67.4
$GPS2,020636,2530.503,12249.400,15,1.0,31,-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,115.4,67955,-25.0,-13.200
$D_GRID,814
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-22.92,0.000,2,0.000,0.000,140,2395,2160
$GC,48,-1.50,-121.7,3.0,-1.6,4,124,8.12,2.08,-59.62,0.000,4,0.232,0.038,2094,1007,3990
$GC,214,-1.04,-121.7,44.1,-34.3,32,221,0.57,2.10,0.00,0.000,6,0.168,0.031,2242,2396,3992
$GC,562,-1.04,-121.7,105.9,-13.1,93,568,0.00,2.10,0.00,0.000,4,0.000,0.044,2234,3761,3994
$GC,716,-1.04,-121.7,133.7,-17.8,120,722,0.00,1.95,0.00,0.000,6,0.000,0.022,2233,2365,3996
$GC,1065,-1.13,-121.7,192.6,-16.1,181,1071,0.00,2.17,0.00,0.000,4,0.000,0.045,2224,3760,3997
$GC,1202,-1.13,-121.7,215.3,-15.3,205,1208,0.00,1.88,0.00,0.000,6,0.000,0.023,2224,2424,3997
$GC,1551,-1.21,-121.7,265.4,-17.8,266,1557,0.00,2.10,0.00,0.000,4,0.000,0.047,2221,3764,3997
$GC,1733,-1.29,-121.7,296.6,-15.9,298,1739,0.17,1.88,0.00,0.000,6,0.067,0.024,2150,2450,3997
$GC,2060,-1.16,-121.7,361.9,-18.4,330,2065,0.17,2.05,0.00,0.000,4,0.162,0.045,2193,3751,3997
$GC,2212,-1.22,-121.7,381.8,-12.4,343,2216,0.00,1.83,0.00,0.000,6,0.000,0.024,2193,2468,3997
$GC,2548,-1.33,-121.7,425.1,-14.2,374,2552,0.12,2.03,0.00,0.000,4,0.084,0.048,2137,3750,3996
$GC,2668,-1.12,-121.7,449.0,-21.2,384,2676,0.30,1.80,0.00,0.000,6,0.169,0.023,2217,2485,3996
$GC,2995,-1.34,-121.7,493.8,-12.8,415,2999,0.20,2.00,0.00,0.000,4,0.067,0.048,2130,3751,3994
$GC,3163,-1.14,-121.7,528.0,-21.8,424,3167,0.30,1.75,0.00,0.000,6,0.166,0.024,2210,2530,3993
$GC,3495,-1.36,-121.7,573.0,-12.5,440,3497,0.20,0.00,0.00,0.000,6,0.070,0.000,2136,2530,3991
$GC,3799,-1.29,-121.7,624.2,-16.4,455,3807,0.00,1.95,0.00,0.000,4,0.000,0.049,2126,3763,3989
$GC,3948,-1.12,-121.7,650.6,-18.1,461,3953,0.28,1.80,0.00,0.000,6,0.166,0.025,2215,2551,3987
$GC,4279,-1.38,-121.7,687.6,-10.4,477,4284,0.20,1.92,0.00,0.000,4,0.069,0.051,2136,3756,3985
$GC,4376,-1.29,-121.7,703.2,-16.8,481,4379,0.00,1.75,0.00,0.000,6,0.000,0.025,2136,2551,3984
$GC,4705,-1.24,-121.7,758.3,-17.4,497,4710,0.17,2.28,0.00,0.000,4,0.170,0.024,2186,1013,3982
$GC,4745,-1.44,-121.7,764.8,-13.1,498,4752,0.22,2.35,0.00,0.000,6,0.072,0.037,2104,2532,3981
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5028,-0.27,0.0,816.3,19.5,512,5125,1.40,0.00,93.20,1.282,6,0.174,0.000,2489,2405,3532
$STATE,5125,end apogee,CONTROL_FINISHED_OK
$STATE,5126,begin climb
$GC,5129,1.50,121.7,821.3,0.0,517,5241,1.58,2.35,102.22,1.243,4,0.049,0.028,3076,949,3034
$GC,5499,0.76,128.0,799.2,12.7,533,5511,0.98,2.20,6.03,0.958,6,0.219,0.035,2833,2374,3010
$GC,5826,0.64,188.9,769.3,8.8,549,5882,0.17,2.22,50.28,1.217,4,0.202,0.028,2793,956,2761
$GC,6137,0.74,208.2,734.3,11.8,562,6158,0.00,2.20,16.88,1.147,6,0.000,0.033,2792,2382,2683
$GC,6485,0.81,229.7,693.3,11.6,579,6509,0.15,2.28,18.92,1.149,4,0.080,0.030,2859,950,2595
$GC,6603,0.81,229.7,676.2,14.6,584,6607,0.00,2.22,0.00,0.000,6,0.000,0.034,2859,2380,2592
$GC,6932,0.69,229.7,625.8,15.3,600,6936,0.17,2.20,0.00,0.000,4,0.189,0.052,2810,3761,2589
$GC,7093,0.60,229.7,599.7,17.5,607,7098,0.17,2.05,0.00,0.000,6,0.189,0.025,2774,2356,2588
$GC,7416,0.78,248.5,559.0,11.8,623,7439,0.17,2.28,15.27,1.082,4,0.074,0.051,2841,3759,2518
$GC,7569,0.64,248.5,531.9,19.5,629,7573,0.25,2.00,0.00,0.000,6,0.185,0.025,2787,2392,2516
$GC,7889,0.78,250.8,487.7,13.0,648,7894,0.15,2.20,0.00,0.000,4,0.077,0.049,2843,3763,2514
$GC,7947,0.62,250.8,478.3,17.5,652,7953,0.28,2.00,0.00,0.000,6,0.186,0.025,2782,2392,2514
$GC,8276,0.80,250.8,436.5,13.9,683,8280,0.15,2.20,0.00,0.000,4,0.074,0.049,2839,3764,2514
$GC,8536,0.65,250.8,388.1,19.5,706,8540,0.22,1.98,0.00,0.000,6,0.186,0.026,2792,2415,2513
$GC,8869,0.83,261.4,344.4,12.4,737,8887,0.15,2.17,11.12,0.930,4,0.077,0.049,2849,3765,2465
$GC,8912,0.71,261.4,337.5,16.9,741,8916,0.20,2.00,0.00,0.000,6,0.187,0.025,2809,2407,2465
$GC,9242,0.84,261.4,293.7,13.5,775,9249,0.12,2.17,0.00,0.000,4,0.086,0.049,2857,3759,2463
$GC,9262,0.84,261.4,290.3,14.5,778,9268,0.00,1.98,0.00,0.000,6,0.000,0.024,2868,2400,2463
$GC,9609,0.84,261.4,232.0,16.5,839,9616,0.00,2.17,0.00,0.000,4,0.000,0.049,2868,3763,2462
$GC,9871,0.68,261.4,185.2,17.6,885,9877,0.30,1.92,0.00,0.000,6,0.181,0.025,2799,2425,2462
$GC,10217,0.93,286.0,146.0,11.4,946,10247,0.20,2.17,21.10,0.807,4,0.067,0.049,2884,3751,2364
$GC,10437,0.83,286.0,106.0,16.5,984,10444,0.17,1.88,0.00,0.000,6,0.182,0.023,2850,2448,2362
$GC,10785,1.14,406.0,71.2,4.5,1045,10889,0.25,2.20,93.93,0.731,4,0.065,0.048,2953,3758,1874
$GC,11124,1.07,406.0,20.8,19.2,1104,11130,0.15,1.85,0.00,0.000,6,0.179,0.023,2926,2469,1866
$STATE,11299,end climb,SURFACE_DEPTH_REACHED
$STATE,11299,begin surface coast
$FINISH,1.8,1.008220
$STATE,11334,end surface coast,CONTROL_FINISHED_OK
$STATE,11334,begin surface
$SM_CCo,11355,50.50,0.647,0,0,1594,475.15
$SM_GC,3.15,0.00,0.00,50.50,0.000,0.000,0.647,139,2462,1594,-7.63,2.23,475.15
$IRIDIUM_FIX,2519.89,12250.42,301198,222212
$TT8_MAMPS,0.029146
$HUMID,1855
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.2,111.303
$10V_AH,10.5,57.973
$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,26.025,90.800,428.950,50.500,0.000,27.709,34.340,224.870,6.500,0.000,0.000,31.119,2019.466,6428.355,562.248,2131.046,732.825,0.000,1632.901,0.000,2064.693,0.000,45.739,0.000
$DEVICE_MAMPS,231.634,52.156,1282.424,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.443,818.904,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60027,1141
$CAP_FILE_SIZE,125472,0
$CFSIZE,260165632,175509504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,212.9,1
$GPS,060909,051824,2529.628,12250.215,23,1.3,41,-3.7