version: 66.04
glider: 167
mission: 2
dive: 652
start: 9 6 109 8 45 28
data:
$ID,167
$MISSION,2
$DIVE,652
$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,-22150.148
$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,85
$R_STBD_OVSHOOT,45
$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
$GPS1,083725,2527.867,12251.077,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.0
$GPS2,084508,2527.950,12251.264,12,1.2,12,-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,168.4,62383,-25.0,-13.200
$D_GRID,831
$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,-22.80,0.000,2,0.000,0.000,140,2396,2158
$GC,47,-1.50,-121.7,3.1,-2.5,4,126,7.95,2.12,-62.70,0.000,4,0.225,0.036,2093,982,3990
$GC,246,-0.78,-121.7,59.4,-39.0,38,253,0.90,2.10,0.00,0.000,6,0.189,0.028,2323,2389,3992
$GC,596,-1.09,-121.7,108.6,-11.9,99,604,0.22,2.10,0.00,0.000,4,0.061,0.044,2218,3749,3995
$GC,860,-1.05,-121.7,156.0,-16.0,145,866,0.00,1.95,0.00,0.000,6,0.000,0.021,2218,2348,3996
$GC,1209,-1.05,-121.7,211.4,-16.7,206,1215,0.00,2.17,0.00,0.000,4,0.000,0.043,2209,3752,3997
$GC,1348,-0.95,-121.7,235.7,-18.2,230,1354,0.22,1.85,0.00,0.000,6,0.156,0.021,2272,2442,3997
$GC,1696,-1.28,-121.7,271.8,-10.6,291,1704,0.25,2.05,0.00,0.000,4,0.058,0.045,2162,3751,3998
$GC,1910,-1.05,-121.7,313.1,-19.4,322,1917,0.28,1.83,0.00,0.000,6,0.167,0.022,2236,2463,3998
$GC,2238,-1.26,-121.7,356.8,-12.3,353,2242,0.17,2.03,0.00,0.000,4,0.067,0.045,2163,3755,3998
$GC,2399,-1.05,-121.7,387.7,-21.1,367,2403,0.28,1.80,0.00,0.000,6,0.169,0.023,2236,2495,3998
$GC,2731,-1.29,-121.7,431.5,-11.3,398,2735,0.20,1.98,0.00,0.000,4,0.066,0.046,2149,3751,3997
$GC,2766,-1.20,-121.7,437.0,-16.8,401,2770,0.15,1.77,0.00,0.000,6,0.172,0.022,2186,2504,3997
$GC,3098,-1.27,-121.7,489.9,-15.1,432,3101,0.00,1.98,0.00,0.000,4,0.000,0.047,2180,3764,3995
$GC,3275,-1.27,-121.7,518.5,-16.1,442,3281,0.00,1.77,0.00,0.000,6,0.000,0.025,2179,2530,3994
$GC,3593,-1.32,-121.7,564.3,-14.5,458,3597,0.00,1.95,0.00,0.000,4,0.000,0.050,2179,3742,3992
$GC,3804,-1.32,-121.7,600.0,-16.7,467,3808,0.00,1.73,0.00,0.000,6,0.000,0.025,2179,2549,3991
$GC,4135,-1.42,-121.7,651.1,-14.6,483,4139,0.17,1.90,0.00,0.000,4,0.078,0.048,2098,3746,3988
$GC,4181,-1.16,-121.7,659.9,-19.3,485,4185,0.40,1.70,0.00,0.000,6,0.176,0.025,2204,2571,3988
$GC,4519,-1.37,-121.7,697.2,-9.7,501,4523,0.20,1.88,0.00,0.000,4,0.070,0.049,2124,3751,3986
$GC,4658,-1.20,-121.7,719.2,-17.6,507,4663,0.22,1.73,0.00,0.000,6,0.171,0.025,2188,2591,3985
$GC,4996,-1.32,-121.7,760.9,-15.0,523,5000,0.00,1.83,0.00,0.000,4,0.000,0.050,2181,3744,3982
$GC,5037,-1.38,-121.7,768.8,-18.1,524,5043,0.15,1.67,0.00,0.000,6,0.077,0.025,2125,2587,3982
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5341,-0.27,0.0,835.3,22.9,539,5438,1.30,0.00,93.28,1.292,6,0.172,0.000,2485,2430,3531
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5442,1.50,121.7,846.9,0.0,544,5555,1.58,2.25,102.10,1.260,4,0.051,0.025,3071,1020,3034
$GC,5809,0.74,121.7,833.6,23.6,560,5815,1.00,2.05,0.00,0.000,6,0.219,0.035,2822,2357,3031
$GC,6132,0.56,121.7,765.1,20.1,576,6136,0.20,2.00,0.00,0.000,4,0.190,0.027,2774,1031,3028
$GC,6300,0.56,121.7,733.6,19.3,583,6304,0.00,2.05,0.00,0.000,6,0.000,0.034,2774,2376,3027
$GC,6628,0.60,150.3,683.1,11.1,599,6653,0.00,0.00,22.98,1.165,6,0.000,0.000,2774,2376,2918
$GC,6958,0.64,182.6,648.0,10.9,615,6990,0.00,2.22,26.65,1.150,4,0.000,0.051,2774,3751,2788
$GC,7246,0.57,182.6,605.5,16.2,628,7249,0.00,1.98,0.00,0.000,6,0.000,0.026,2782,2405,2785
$GC,7580,0.63,182.6,555.5,14.2,644,7583,0.00,2.15,0.00,0.000,4,0.000,0.050,2782,3753,2783
$GC,7608,0.57,182.6,551.3,14.7,645,7612,0.00,2.03,0.00,0.000,6,0.000,0.025,2790,2360,2783
$GC,7938,0.63,228.9,514.2,9.8,661,7982,0.00,2.35,38.20,1.087,4,0.000,0.050,2790,3756,2597
$GC,8089,0.63,228.9,494.9,13.9,668,8096,0.00,2.05,0.00,0.000,6,0.000,0.025,2800,2369,2594
$GC,8420,0.73,236.6,456.0,12.6,699,8432,0.00,2.28,6.70,0.888,4,0.000,0.048,2800,3755,2567
$GC,8594,0.73,236.6,430.6,15.3,714,8598,0.00,2.03,0.00,0.000,6,0.000,0.025,2810,2370,2565
$GC,8931,0.83,239.8,383.8,13.0,745,8943,0.12,2.12,4.05,0.686,4,0.082,0.030,2871,976,2553
$GC,9001,0.83,239.8,373.0,14.8,751,9005,0.00,2.15,0.00,0.000,6,0.000,0.032,2871,2381,2553
$GC,9339,0.75,239.8,318.1,16.7,782,9343,0.17,2.17,0.00,0.000,4,0.178,0.049,2821,3755,2552
$GC,9458,0.70,239.8,298.4,15.8,792,9465,0.00,2.00,0.00,0.000,6,0.000,0.024,2829,2382,2552
$GC,9807,0.76,247.1,250.2,12.7,853,9821,0.00,2.20,7.03,0.784,4,0.000,0.048,2829,3763,2524
$GC,9942,0.76,247.1,229.9,15.4,876,9949,0.00,1.98,0.00,0.000,6,0.000,0.025,2835,2403,2523
$GC,10290,0.83,247.1,180.0,15.4,937,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2401,2523
$GC,10637,0.93,247.1,129.9,13.2,998,10643,0.12,2.15,0.00,0.000,4,0.080,0.047,2886,3755,2523
$GC,10800,0.73,247.1,105.1,13.7,1026,10807,0.30,1.90,0.00,0.000,6,0.177,0.024,2817,2429,2523
$GC,11149,1.11,369.3,78.3,4.3,1087,11251,0.30,2.22,95.47,0.731,4,0.060,0.047,2940,3757,2025
$GC,11511,1.05,369.3,26.7,16.4,1149,11518,0.12,1.98,0.00,0.000,6,0.181,0.021,2920,2384,2016
$STATE,11711,end climb,SURFACE_DEPTH_REACHED
$STATE,11711,begin surface coast
$FINISH,2.0,1.021500
$STATE,11744,end surface coast,CONTROL_FINISHED_OK
$STATE,11744,begin surface
$SM_CCo,11765,80.97,0.630,1,0,1594,475.15
$SM_GC,2.87,0.00,0.00,80.97,0.000,0.000,0.630,138,2379,1594,-7.63,-0.11,475.15
$IRIDIUM_FIX,2519.89,12250.42,011298,050556
$TT8_MAMPS,0.029146
$HUMID,1795
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,826.2,38.8
$24V_AH,23.2,111.614
$10V_AH,10.6,58.126
$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,24.575,88.350,396.450,80.975,0.000,31.555,33.085,220.657,7.500,0.000,0.000,12.731,2106.308,6691.344,573.340,2196.181,739.205,0.000,1669.766,0.000,2144.242,0.000,50.209,0.000
$DEVICE_MAMPS,225.498,50.622,1291.628,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,806.089,849.277,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63183,1190
$CAP_FILE_SIZE,126264,0
$CFSIZE,260165632,175366144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,319.2,1
$GPS,060909,120425,2527.792,12250.456,42,1.0,42,-3.7