version: 66.04
glider: 167
mission: 2
dive: 656
start: 9 6 109 22 21 57
data:
$ID,167
$MISSION,2
$DIVE,656
$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,-22222.904
$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,90
$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
$GPS1,221036,2525.013,12252.979,33,1.2,33,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.8
$GPS2,222138,2525.028,12253.437,13,1.8,13,-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,184.5,56005,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,48,0.00,0.00,-28.95,0.000,2,0.000,0.000,141,2359,2325
$GC,52,-1.50,-121.7,3.3,-2.2,5,114,8.07,2.25,-47.47,0.000,4,0.229,0.049,2081,3774,3990
$GC,370,-0.68,-121.7,116.8,-34.1,60,377,1.00,2.00,0.00,0.000,6,0.179,0.029,2354,2362,3993
$GC,719,-1.24,-121.7,149.1,-7.1,121,727,0.43,2.17,0.00,0.000,4,0.049,0.044,2167,3757,3995
$GC,983,-0.98,-121.7,202.2,-21.7,167,990,0.35,1.90,0.00,0.000,6,0.157,0.022,2265,2405,3996
$GC,1337,-1.21,-121.7,250.8,-12.3,228,1344,0.17,2.10,0.00,0.000,4,0.068,0.043,2180,3756,3996
$GC,1419,-1.05,-121.7,266.5,-20.3,242,1425,0.22,1.90,0.00,0.000,6,0.158,0.021,2241,2400,3996
$GC,1764,-1.22,-121.7,307.5,-11.2,297,1769,0.15,2.12,0.00,0.000,4,0.070,0.044,2178,3761,3997
$GC,1952,-1.11,-121.7,341.3,-19.1,313,1956,0.17,1.90,0.00,0.000,6,0.160,0.022,2224,2420,3996
$GC,2284,-1.29,-121.7,391.3,-13.6,344,2289,0.17,2.10,0.00,0.000,4,0.067,0.045,2150,3758,3996
$GC,2434,-1.11,-121.7,421.3,-21.7,357,2439,0.25,1.88,0.00,0.000,6,0.161,0.023,2217,2439,3995
$GC,2767,-1.30,-121.7,465.5,-11.5,388,2771,0.17,2.08,0.00,0.000,4,0.069,0.046,2140,3756,3993
$GC,2940,-1.15,-121.7,496.1,-17.6,403,2947,0.25,1.80,0.00,0.000,6,0.166,0.023,2205,2502,3993
$GC,3259,-1.30,-121.7,537.5,-13.3,420,3264,0.12,1.98,0.00,0.000,4,0.080,0.048,2153,3753,3991
$GC,3423,-1.21,-121.7,566.8,-18.7,427,3427,0.15,1.77,0.00,0.000,6,0.167,0.025,2189,2520,3990
$GC,3761,-1.34,-121.7,620.1,-15.4,443,3765,0.12,1.95,0.00,0.000,4,0.079,0.048,2139,3753,3988
$GC,3875,-1.21,-121.7,641.4,-18.6,448,3879,0.17,1.75,0.00,0.000,6,0.172,0.024,2183,2539,3986
$GC,4213,-1.34,-121.7,688.0,-12.8,464,4217,0.00,1.95,0.00,0.000,4,0.000,0.048,2179,3776,3985
$GC,4343,-1.42,-121.7,704.5,-12.3,469,4351,0.17,1.77,0.00,0.000,6,0.073,0.025,2112,2553,3982
$GC,4661,-1.25,-121.7,755.4,-16.4,485,4666,0.17,1.92,0.00,0.000,4,0.174,0.048,2155,3760,3980
$GC,4769,-1.25,-121.7,770.8,-12.6,489,4776,0.00,1.73,0.00,0.000,6,0.000,0.025,2154,2565,3979
$GC,5087,-1.25,-121.7,811.2,-13.6,505,5090,0.00,1.90,0.00,0.000,4,0.000,0.051,2152,3758,3977
$GC,5115,-1.25,-121.7,815.6,-15.4,506,5119,0.00,1.75,0.00,0.000,6,0.000,0.026,2152,2576,3976
$GC,5443,-1.25,-121.7,860.3,-13.9,522,5447,0.00,1.88,0.00,0.000,4,0.000,0.052,2152,3753,3975
$GC,5518,-1.25,-121.7,871.5,-15.1,525,5522,0.00,1.73,0.00,0.000,6,0.000,0.025,2152,2587,3974
$GC,5847,-1.30,-121.7,914.4,-12.7,541,5850,0.00,1.85,0.00,0.000,4,0.000,0.051,2153,3750,3972
$GC,5934,-1.30,-121.7,926.4,-15.1,544,5940,0.00,1.65,0.00,0.000,6,0.000,0.025,2152,2612,3971
$STATE,6020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6020,begin apogee
$GC,6029,-0.27,0.0,939.8,14.5,549,6126,1.17,0.00,92.90,1.375,6,0.161,0.000,2487,2393,3532
$STATE,6127,end apogee,CONTROL_FINISHED_OK
$STATE,6127,begin climb
$GC,6131,1.50,121.7,942.6,0.0,554,6242,1.58,2.30,103.90,1.332,4,0.051,0.047,3061,3763,3034
$GC,6497,0.55,121.7,906.2,18.4,570,6503,1.25,2.08,0.00,0.000,6,0.225,0.023,2764,2337,3030
$GC,6815,0.60,160.6,872.5,10.4,585,6852,0.00,2.33,32.22,1.285,4,0.000,0.048,2764,3755,2876
$GC,7108,0.50,160.6,832.5,14.3,597,7112,0.12,2.03,0.00,0.000,6,0.190,0.025,2745,2376,2872
$GC,7435,0.67,197.3,796.4,10.5,613,7473,0.15,2.30,30.35,1.256,4,0.083,0.050,2801,3754,2727
$GC,7677,0.52,197.3,758.2,17.7,623,7683,0.20,2.03,0.00,0.000,6,0.189,0.025,2752,2379,2723
$GC,7994,0.68,213.1,718.5,12.1,639,8016,0.15,2.25,13.98,1.167,4,0.081,0.051,2810,3748,2663
$GC,8075,0.54,213.1,705.8,17.4,642,8079,0.25,2.00,0.00,0.000,6,0.187,0.025,2755,2379,2661
$GC,8397,0.71,213.1,661.5,13.8,658,8402,0.15,2.20,0.00,0.000,4,0.080,0.048,2812,3754,2660
$GC,8500,0.57,213.1,643.2,18.8,662,8506,0.22,1.98,0.00,0.000,6,0.188,0.025,2764,2396,2659
$GC,8817,0.70,213.1,598.3,13.3,678,8822,0.12,2.17,0.00,0.000,4,0.084,0.050,2811,3750,2658
$GC,8999,0.57,213.1,567.2,17.4,686,9003,0.22,1.92,0.00,0.000,6,0.187,0.026,2762,2430,2658
$GC,9327,0.75,226.6,525.0,12.2,702,9345,0.17,0.00,12.12,1.060,6,0.075,0.000,2828,2427,2607
$GC,9661,0.75,226.6,474.7,15.2,725,9665,0.00,2.15,0.00,0.000,4,0.000,0.030,2837,993,2604
$GC,9723,0.75,226.6,465.1,15.5,730,9729,0.00,2.22,0.00,0.000,6,0.000,0.035,2837,2440,2605
$GC,10052,0.75,226.6,418.3,13.9,761,10056,0.00,2.08,0.00,0.000,4,0.000,0.051,2837,3753,2604
$GC,10157,0.60,226.6,399.9,18.2,770,10161,0.28,1.90,0.00,0.000,6,0.186,0.025,2775,2435,2604
$GC,10488,0.77,226.6,358.3,13.4,801,10492,0.15,2.10,0.00,0.000,4,0.079,0.049,2833,3755,2603
$GC,10651,0.62,226.6,333.5,16.9,815,10655,0.22,1.85,0.00,0.000,6,0.185,0.026,2785,2476,2603
$GC,10981,0.79,235.8,294.6,12.5,849,10994,0.15,0.00,8.35,0.858,6,0.076,0.000,2843,2472,2570
$GC,11333,0.79,235.8,242.1,15.8,911,11339,0.00,2.05,0.00,0.000,4,0.000,0.050,2843,3761,2569
$GC,11376,0.66,235.8,235.2,16.5,918,11382,0.22,1.83,0.00,0.000,6,0.184,0.025,2795,2488,2569
$GC,11724,0.85,260.1,193.1,11.4,979,11750,0.17,2.33,20.20,0.837,4,0.075,0.028,2881,986,2471
$GC,11827,0.85,260.1,178.5,14.9,996,11833,0.00,2.30,0.00,0.000,6,0.000,0.034,2881,2478,2469
$GC,12174,0.89,292.5,130.1,10.8,1057,12205,0.00,2.10,27.23,0.783,4,0.000,0.050,2881,3762,2339
$GC,12394,0.81,292.5,98.1,14.0,1095,12401,0.20,1.83,0.00,0.000,6,0.178,0.025,2839,2500,2335
$GC,12743,1.08,341.4,62.0,9.7,1156,12791,0.22,2.33,38.62,0.715,4,0.066,0.028,2940,987,2138
$GC,12970,1.25,396.4,37.9,9.2,1195,13020,0.12,2.22,43.45,0.678,6,0.078,0.031,2988,2450,1914
$STATE,13254,end climb,SURFACE_DEPTH_REACHED
$STATE,13254,begin surface coast
$FINISH,1.8,1.009273
$STATE,13286,end surface coast,CONTROL_FINISHED_OK
$STATE,13286,begin surface
$SM_CCo,13308,58.50,0.641,0,0,1595,475.15
$SM_GC,3.20,0.00,0.00,58.50,0.000,0.000,0.641,137,2452,1595,-7.63,1.95,475.15
$IRIDIUM_FIX,2515.12,12251.13,011298,222214
$TT8_MAMPS,0.028379
$HUMID,1817
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,876.9,85.7
$24V_AH,23.1,112.258
$10V_AH,10.5,58.442
$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,27.700,104.875,423.325,58.500,0.000,60.179,65.154,291.432,8.500,0.000,0.000,13.351,2263.199,7886.070,566.281,2399.861,904.425,0.000,1767.080,0.000,2337.974,0.000,53.650,0.000
$DEVICE_MAMPS,229.333,52.156,1375.231,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,847.673,867.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66435,1250
$CAP_FILE_SIZE,146070,0
$CFSIZE,260165632,175058944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,346.5,1
$GPS,070909,020606,2524.927,12252.857,40,0.9,40,-3.7