version: 66.04
glider: 167
mission: 2
dive: 657
start: 9 7 109 2 14 28
data:
$ID,167
$MISSION,2
$DIVE,657
$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,-22237.83
$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,39
$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
$GPS1,020606,2524.927,12252.857,40,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.9
$GPS2,021408,2524.892,12252.972,14,1.1,14,-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,167.3,56057,-25.0,-13.200
$D_GRID,984
$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,-22.98,0.000,2,0.000,0.000,137,2452,2167
$GC,47,-1.50,-121.7,3.0,-2.2,4,124,8.02,2.20,-60.10,0.000,4,0.228,0.038,2093,1004,3989
$GC,132,-0.70,-121.7,13.1,-30.9,18,139,1.00,2.08,0.00,0.000,6,0.193,0.028,2349,2392,3990
$GC,482,-1.12,-121.7,72.2,-8.6,79,490,0.32,2.05,0.00,0.000,4,0.054,0.021,2209,986,3993
$GC,526,-1.06,-121.7,78.4,-15.9,86,532,0.12,2.20,0.00,0.000,6,0.168,0.030,2235,2450,3993
$GC,875,-1.11,-121.7,137.9,-15.9,147,882,0.00,2.00,0.00,0.000,4,0.000,0.044,2231,3754,3996
$GC,1136,-1.11,-121.7,180.0,-16.5,193,1142,0.00,1.80,0.00,0.000,6,0.000,0.022,2231,2461,3996
$GC,1484,-1.20,-121.7,230.1,-13.7,254,1490,0.10,0.00,0.00,0.000,6,0.084,0.000,2186,2460,3997
$GC,1830,-1.20,-121.7,287.7,-16.9,315,1837,0.00,2.00,0.00,0.000,4,0.000,0.045,2179,3745,3997
$GC,1984,-1.06,-121.7,315.1,-18.7,334,1988,0.20,1.80,0.00,0.000,6,0.161,0.023,2231,2481,3997
$GC,2316,-1.26,-121.7,361.9,-13.7,365,2320,0.17,2.00,0.00,0.000,4,0.068,0.046,2162,3755,3997
$GC,2491,-1.16,-121.7,395.2,-18.4,380,2497,0.15,1.75,0.00,0.000,6,0.166,0.023,2198,2520,3996
$GC,2817,-1.27,-121.7,443.5,-14.7,411,2821,0.00,1.92,0.00,0.000,4,0.000,0.046,2192,3753,3995
$GC,2925,-1.36,-121.7,460.0,-15.5,420,2932,0.15,1.75,0.00,0.000,6,0.074,0.024,2132,2526,3995
$GC,3253,-1.25,-121.7,520.0,-18.7,446,3257,0.17,1.92,0.00,0.000,4,0.165,0.045,2178,3746,3993
$GC,3350,-1.25,-121.7,535.5,-14.0,450,3354,0.00,1.73,0.00,0.000,6,0.000,0.023,2178,2536,3993
$GC,3679,-1.33,-121.7,583.9,-14.8,466,3682,0.00,1.92,0.00,0.000,4,0.000,0.050,2178,3753,3991
$GC,3847,-1.38,-121.7,608.0,-14.3,473,3852,0.12,1.70,0.00,0.000,6,0.081,0.025,2128,2573,3989
$GC,4179,-1.29,-121.7,662.5,-16.1,489,4183,0.12,1.85,0.00,0.000,4,0.173,0.046,2152,3742,3987
$GC,4264,-1.29,-121.7,676.7,-16.3,492,4270,0.00,1.67,0.00,0.000,6,0.000,0.025,2152,2574,3986
$GC,4581,-1.29,-121.7,722.5,-14.2,508,4585,0.00,1.85,0.00,0.000,4,0.000,0.050,2152,3742,3983
$GC,4655,-1.29,-121.7,733.4,-14.8,511,4658,0.00,1.65,0.00,0.000,6,0.000,0.025,2152,2598,3982
$GC,4984,-1.29,-121.7,780.1,-14.3,527,4988,0.00,1.83,0.00,0.000,4,0.000,0.051,2149,3749,3980
$GC,5053,-1.29,-121.7,790.4,-14.9,530,5057,0.00,1.67,0.00,0.000,6,0.000,0.025,2149,2611,3980
$GC,5387,-1.34,-121.7,840.3,-14.3,546,5390,0.00,1.80,0.00,0.000,4,0.000,0.051,2149,3742,3977
$GC,5484,-1.34,-121.7,854.9,-15.4,550,5488,0.00,1.62,0.00,0.000,6,0.000,0.026,2150,2623,3976
$GC,5816,-1.34,-121.7,902.6,-14.5,566,5820,0.00,1.80,0.00,0.000,4,0.000,0.051,2145,3756,3974
$GC,5931,-1.34,-121.7,921.1,-16.8,571,5935,0.00,1.62,0.00,0.000,6,0.000,0.027,2144,2639,3973
$GC,6266,-1.34,-121.7,971.4,-15.0,587,6270,0.00,1.77,0.00,0.000,4,0.000,0.051,2139,3755,3972
$GC,6330,-1.67,-121.7,979.4,-4.9,589,6336,0.28,1.60,0.00,0.000,6,0.066,0.027,2034,2656,3971
$STATE,6457,end dive,NO_VERTICAL_VELOCITY
$STATE,6457,begin apogee
$GC,6468,-0.27,0.0,979.3,0.0,596,6565,1.40,0.00,93.38,1.407,6,0.104,0.000,2490,2370,3532
$STATE,6566,end apogee,CONTROL_FINISHED_OK
$STATE,6566,begin climb
$GC,6570,1.50,121.7,979.3,0.0,601,6682,1.73,2.22,105.05,1.362,4,0.100,0.027,3052,968,3034
$GC,6940,2.44,302.3,979.1,0.1,617,7106,0.85,2.15,152.30,1.358,6,0.057,0.037,3365,2354,2299
$GC,7429,1.37,302.3,836.8,43.4,641,7435,1.45,2.10,0.00,0.000,4,0.247,0.027,3034,962,2289
$GC,7581,1.01,302.3,793.4,27.4,647,7589,0.47,2.17,0.00,0.000,6,0.194,0.036,2912,2370,2288
$GC,7898,0.90,302.3,725.2,20.6,663,7902,0.15,2.20,0.00,0.000,4,0.193,0.050,2874,3755,2287
$GC,7939,0.77,302.3,716.6,22.0,665,7943,0.20,2.08,0.00,0.000,6,0.185,0.025,2831,2355,2286
$GC,8268,0.91,302.3,666.1,14.8,681,8272,0.12,2.25,0.00,0.000,4,0.087,0.051,2877,3753,2285
$GC,8376,0.78,302.3,644.2,21.4,686,8380,0.20,2.03,0.00,0.000,6,0.183,0.025,2834,2369,2285
$GC,8705,0.89,302.3,591.5,16.3,702,8709,0.10,2.22,0.00,0.000,4,0.094,0.049,2873,3757,2284
$GC,8784,0.77,302.3,574.8,21.7,705,8790,0.20,2.00,0.00,0.000,6,0.182,0.025,2831,2385,2284
$GC,9102,0.93,302.3,520.4,16.2,721,9107,0.15,2.20,0.00,0.000,4,0.081,0.049,2888,3757,2284
$GC,9210,0.77,302.3,497.7,22.1,726,9214,0.25,1.98,0.00,0.000,6,0.185,0.025,2832,2404,2283
$GC,9541,0.93,302.3,441.2,17.0,757,9546,0.12,2.17,0.00,0.000,4,0.087,0.050,2882,3757,2283
$GC,9802,0.83,302.3,385.4,20.2,779,9810,0.15,1.90,0.00,0.000,6,0.187,0.026,2852,2441,2283
$GC,10128,0.95,302.3,333.7,15.7,810,10130,0.10,0.00,0.00,0.000,6,0.094,0.000,2889,2439,2282
$GC,10454,0.95,302.3,278.5,15.5,851,10461,0.00,2.12,0.00,0.000,4,0.000,0.051,2889,3763,2282
$GC,10580,0.86,302.3,255.6,19.7,873,10587,0.15,1.92,0.00,0.000,6,0.189,0.025,2861,2441,2282
$GC,10927,1.02,302.3,200.6,16.7,934,10934,0.12,2.12,0.00,0.000,4,0.087,0.051,2909,3764,2282
$GC,11169,0.91,302.3,153.8,18.6,976,11175,0.15,1.90,0.00,0.000,6,0.189,0.025,2877,2452,2281
$GC,11518,1.11,333.6,112.0,10.9,1037,11549,0.17,2.10,23.77,0.780,4,0.077,0.048,2951,3754,2169
$GC,11665,1.02,333.6,87.8,17.1,1062,11672,0.20,1.85,0.00,0.000,6,0.183,0.025,2910,2476,2167
$GC,12013,1.46,472.7,69.6,3.1,1123,12129,0.35,2.17,109.80,0.716,4,0.064,0.048,3048,3765,1603
$GC,12389,1.46,472.7,7.3,18.9,1188,12395,0.00,1.80,0.00,0.000,6,0.000,0.023,3058,2510,1595
$STATE,12410,end climb,SURFACE_DEPTH_REACHED
$STATE,12410,begin surface coast
$FINISH,1.9,1.020881
$STATE,12428,end surface coast,CONTROL_FINISHED_OK
$STATE,12428,begin surface
$SM_CCo,12510,0.00,0.000,0,0,1590,476.37
$SM_GC,2.76,8.12,0.00,0.00,0.063,0.000,0.000,139,2369,1590,-7.62,-0.40,476.37
$IRIDIUM_FIX,2515.12,12254.43,011298,222227
$TT8_MAMPS,0.028379
$HUMID,1937
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,23.0,112.438
$10V_AH,10.5,58.522
$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,27.875,97.700,484.300,0.000,0.000,23.814,32.090,240.933,9.250,0.000,0.000,14.298,2131.180,7272.494,555.337,2265.109,754.196,0.000,1704.376,0.000,2197.188,0.000,60.174,0.000
$DEVICE_MAMPS,246.974,51.389,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,808.719,853.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63256,1195
$CAP_FILE_SIZE,134063,0
$CFSIZE,260165632,174997504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 63.6,1
$GPS,070909,054407,2523.879,12254.080,31,1.1,31,-3.7