version: 66.04
glider: 167
mission: 2
dive: 654
start: 9 6 109 15 28 12
data:
$ID,167
$MISSION,2
$DIVE,654
$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,-22193.633
$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,38
$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
$GPS1,152006,2527.625,12250.661,32,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-68.4
$GPS2,152753,2527.679,12250.647,16,1.6,26,-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,151.3,62322,-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,-121.7,0.0,0.0,0,29,0.00,0.00,-11.20,0.000,2,0.000,0.000,141,2379,1867
$GC,35,-1.50,-121.7,3.0,-4.0,2,126,8.15,2.10,-75.45,0.000,4,0.234,0.036,2094,988,3990
$GC,206,-1.10,-121.7,38.0,-31.2,30,212,0.50,2.12,0.00,0.000,6,0.170,0.030,2220,2399,3992
$GC,553,-1.10,-121.7,115.9,-16.0,91,559,0.00,2.08,0.00,0.000,4,0.000,0.045,2217,3748,3995
$GC,684,-1.10,-121.7,137.9,-16.7,114,690,0.00,2.00,0.00,0.000,6,0.000,0.022,2217,2320,3996
$GC,1030,-1.10,-121.7,194.6,-15.8,175,1036,0.00,2.22,0.00,0.000,4,0.000,0.043,2206,3751,3997
$GC,1293,-1.10,-121.7,239.4,-16.1,221,1299,0.00,1.98,0.00,0.000,6,0.000,0.022,2206,2350,3997
$GC,1641,-1.10,-121.7,292.5,-17.4,282,1647,0.00,2.20,0.00,0.000,4,0.000,0.045,2205,3754,3997
$GC,1905,-1.17,-121.7,340.0,-17.2,309,1909,0.00,1.92,0.00,0.000,6,0.000,0.023,2205,2428,3997
$GC,2238,-1.31,-121.7,388.5,-12.7,340,2242,0.15,2.08,0.00,0.000,4,0.070,0.046,2139,3746,3997
$GC,2342,-1.14,-121.7,406.9,-19.3,349,2347,0.28,1.90,0.00,0.000,6,0.166,0.023,2213,2414,3997
$GC,2674,-1.35,-121.7,452.6,-12.5,380,2679,0.20,2.10,0.00,0.000,4,0.066,0.047,2125,3745,3996
$GC,2858,-1.15,-121.7,488.6,-21.1,396,2863,0.30,1.88,0.00,0.000,6,0.168,0.025,2205,2444,3995
$GC,3189,-1.35,-121.7,533.1,-13.2,415,3193,0.17,2.08,0.00,0.000,4,0.070,0.048,2125,3754,3993
$GC,3268,-1.17,-121.7,548.1,-19.1,418,3272,0.22,1.90,0.00,0.000,6,0.165,0.024,2199,2460,3992
$GC,3590,-1.36,-121.7,596.4,-14.5,434,3594,0.17,2.05,0.00,0.000,4,0.072,0.047,2124,3754,3990
$GC,3687,-1.22,-121.7,614.4,-19.5,438,3691,0.22,1.85,0.00,0.000,6,0.170,0.023,2183,2462,3990
$GC,4018,-1.36,-121.7,661.1,-12.8,454,4022,0.12,2.05,0.00,0.000,4,0.082,0.049,2126,3749,3987
$GC,4246,-1.20,-121.7,703.9,-19.7,464,4250,0.25,1.80,0.00,0.000,6,0.170,0.025,2192,2504,3985
$GC,4585,-1.39,-121.7,750.8,-12.4,480,4589,0.17,1.98,0.00,0.000,4,0.075,0.049,2125,3741,3982
$GC,4763,-1.26,-121.7,782.1,-17.5,487,4769,0.20,1.75,0.00,0.000,6,0.173,0.026,2175,2543,3981
$STATE,4953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4953,begin apogee
$GC,4963,-0.27,0.0,808.3,12.9,497,5060,1.05,0.00,93.12,1.273,6,0.150,0.000,2485,2383,3531
$STATE,5060,end apogee,CONTROL_FINISHED_OK
$STATE,5060,begin climb
$GC,5064,1.50,121.7,813.2,0.0,502,5174,1.60,2.28,101.93,1.236,4,0.049,0.026,3075,955,3034
$GC,5430,0.75,121.7,791.5,13.4,519,5436,1.00,2.17,0.00,0.000,6,0.219,0.035,2826,2370,3030
$GC,5761,0.65,179.7,762.2,9.0,535,5815,0.15,2.28,47.00,1.215,4,0.199,0.029,2797,954,2798
$GC,5904,0.67,197.9,748.0,11.9,541,5924,0.00,2.20,15.60,1.134,6,0.000,0.033,2797,2371,2726
$GC,6250,0.67,199.5,703.8,13.1,558,6254,0.00,2.20,0.00,0.000,4,0.000,0.049,2797,3766,2721
$GC,6510,0.54,199.5,663.4,15.5,569,6515,0.20,2.08,0.00,0.000,6,0.188,0.025,2753,2356,2720
$GC,6828,0.73,226.9,626.7,11.2,584,6859,0.17,2.30,24.55,1.145,4,0.075,0.051,2826,3761,2607
$GC,7113,0.57,226.9,578.5,17.4,596,7120,0.25,2.03,0.00,0.000,6,0.186,0.025,2765,2387,2603
$GC,7431,0.75,236.1,539.3,12.5,612,7446,0.17,2.22,8.30,0.992,4,0.074,0.051,2839,3748,2568
$GC,7690,0.58,236.1,489.3,18.7,626,7695,0.30,1.98,0.00,0.000,6,0.184,0.026,2771,2399,2566
$GC,8018,0.76,237.1,444.4,13.1,656,8023,0.15,2.17,0.00,0.000,4,0.078,0.048,2827,3758,2565
$GC,8075,0.63,237.1,434.8,17.8,660,8081,0.17,1.92,0.00,0.000,6,0.190,0.025,2786,2429,2565
$GC,8406,0.79,264.8,393.6,11.2,691,8439,0.15,2.17,23.62,1.007,4,0.076,0.050,2843,3746,2452
$GC,8632,0.69,264.8,354.2,18.2,711,8636,0.15,1.90,0.00,0.000,6,0.179,0.025,2801,2464,2448
$GC,8964,0.87,283.9,310.2,11.8,742,8987,0.17,2.08,16.42,0.922,4,0.071,0.049,2876,3762,2375
$GC,9023,0.70,283.9,300.5,18.0,747,9027,0.30,1.88,0.00,0.000,6,0.182,0.025,2807,2484,2374
$GC,9369,0.86,286.3,250.9,13.0,807,9376,0.15,2.03,0.00,0.000,4,0.079,0.048,2866,3753,2372
$GC,9497,0.74,286.3,230.0,15.8,829,9505,0.20,1.83,0.00,0.000,6,0.181,0.025,2822,2488,2372
$GC,9847,0.88,286.3,186.4,14.6,890,9852,0.12,0.00,0.00,0.000,6,0.084,0.000,2873,2485,2371
$GC,10192,0.88,286.3,129.1,14.1,951,10198,0.00,2.03,0.00,0.000,4,0.000,0.050,2874,3763,2371
$GC,10453,0.92,314.1,93.2,11.2,997,10484,0.00,1.83,24.95,0.753,6,0.000,0.025,2883,2493,2251
$GC,10830,1.21,409.0,55.9,6.3,1062,10912,0.20,2.05,74.70,0.703,4,0.067,0.046,2970,3761,1862
$GC,11172,1.21,409.0,11.6,14.5,1121,11179,0.00,1.83,0.00,0.000,6,0.000,0.022,2980,2476,1855
$STATE,11233,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,1.8,1.007688
$STATE,11257,end surface coast,CONTROL_FINISHED_OK
$STATE,11257,begin surface
$SM_CCo,11279,48.60,0.637,0,0,1594,475.15
$SM_GC,3.42,0.00,0.00,48.60,0.000,0.000,0.637,143,2469,1594,-7.62,2.46,475.15
$IRIDIUM_FIX,2517.50,12252.43,011298,121201
$TT8_MAMPS,0.029146
$HUMID,1864
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.6,55.4
$24V_AH,23.2,111.927
$10V_AH,10.5,58.279
$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,25.525,85.625,430.200,48.600,0.000,31.577,32.339,215.047,6.500,0.000,0.000,26.174,2036.805,6269.301,550.125,2219.472,711.212,0.000,1654.140,0.000,2152.275,0.000,46.921,0.000
$DEVICE_MAMPS,233.935,51.389,1273.220,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,769.778,806.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60002,1136
$CAP_FILE_SIZE,125204,0
$CFSIZE,260165632,175230976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,126.4,1
$GPS,060909,183825,2526.309,12251.979,41,1.1,41,-3.7