version: 66.04
glider: 167
mission: 2
dive: 658
start: 9 7 109 5 52 22
data:
$ID,167
$MISSION,2
$DIVE,658
$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,-22252.008
$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,82
$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
$GPS1,054407,2523.879,12254.080,31,1.1,31,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-68.3
$GPS2,055202,2524.083,12254.205,13,1.3,13,-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,187.6,53912,-25.0,-13.200
$D_GRID,1060
$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,-121.7,0.0,0.0,0,34,0.00,0.00,-16.50,0.000,2,0.000,0.000,138,2369,2002
$GC,40,-1.50,-121.7,3.1,-2.8,3,120,8.27,2.10,-66.32,0.000,4,0.236,0.036,2092,1002,3990
$GC,247,-0.84,-121.7,66.7,-41.2,38,254,0.80,2.15,0.00,0.000,6,0.178,0.035,2300,2389,3992
$GC,595,-1.11,-121.7,125.9,-14.1,99,601,0.20,2.12,0.00,0.000,4,0.062,0.044,2205,3762,3994
$GC,776,-1.04,-121.7,160.0,-16.5,130,782,0.15,1.95,0.00,0.000,6,0.156,0.021,2244,2370,3996
$GC,1123,-1.18,-121.7,204.0,-12.7,191,1130,0.15,2.17,0.00,0.000,4,0.071,0.044,2179,3762,3997
$GC,1222,-0.99,-121.7,222.5,-20.0,208,1230,0.30,1.90,0.00,0.000,6,0.164,0.021,2260,2417,3997
$GC,1572,-1.23,-121.7,272.3,-13.3,269,1579,0.20,2.10,0.00,0.000,4,0.066,0.044,2166,3759,3997
$GC,1728,-1.03,-121.7,307.1,-23.9,293,1735,0.30,1.90,0.00,0.000,6,0.161,0.021,2248,2409,3997
$GC,2055,-1.24,-121.7,355.8,-13.9,324,2059,0.20,2.12,0.00,0.000,4,0.063,0.044,2153,3764,3997
$GC,2165,-1.09,-121.7,376.7,-19.2,333,2169,0.20,1.88,0.00,0.000,6,0.158,0.022,2223,2464,3997
$GC,2498,-1.25,-121.7,425.5,-14.7,364,2502,0.15,2.05,0.00,0.000,4,0.073,0.046,2162,3765,3996
$GC,2654,-1.17,-121.7,453.8,-17.3,377,2660,0.15,1.85,0.00,0.000,6,0.165,0.023,2199,2467,3996
$GC,2979,-1.26,-121.7,503.8,-15.0,407,2983,0.00,2.03,0.00,0.000,4,0.000,0.047,2192,3754,3994
$GC,3081,-1.26,-121.7,520.5,-16.0,411,3085,0.00,1.83,0.00,0.000,6,0.000,0.023,2192,2488,3993
$GC,3405,-1.34,-121.7,571.2,-16.1,427,3409,0.12,2.03,0.00,0.000,4,0.081,0.048,2139,3767,3992
$GC,3568,-1.13,-121.7,607.2,-22.7,434,3572,0.22,1.83,0.00,0.000,6,0.169,0.024,2214,2519,3990
$GC,3900,-1.32,-121.7,657.9,-14.4,450,3904,0.17,1.98,0.00,0.000,4,0.072,0.048,2143,3763,3987
$GC,4044,-1.17,-121.7,687.4,-21.4,456,4048,0.22,1.80,0.00,0.000,6,0.169,0.025,2200,2518,3986
$GC,4377,-1.31,-121.7,738.1,-15.0,472,4382,0.15,1.98,0.00,0.000,4,0.075,0.048,2139,3763,3983
$GC,4511,-1.20,-121.7,764.2,-19.3,477,4517,0.20,1.77,0.00,0.000,6,0.171,0.025,2190,2536,3982
$GC,4829,-1.30,-121.7,811.7,-14.6,493,4833,0.00,1.95,0.00,0.000,4,0.000,0.050,2190,3766,3980
$GC,4886,-1.40,-121.7,820.4,-14.5,495,4891,0.20,1.75,0.00,0.000,6,0.071,0.025,2116,2562,3980
$GC,5214,-1.24,-121.7,883.3,-20.5,511,5218,0.20,1.90,0.00,0.000,4,0.174,0.048,2166,3752,3978
$GC,5275,-1.24,-121.7,895.9,-18.2,513,5281,0.00,1.73,0.00,0.000,6,0.000,0.025,2166,2560,3976
$GC,5592,-1.24,-121.7,945.7,-15.4,529,5596,0.00,1.90,0.00,0.000,4,0.000,0.051,2166,3751,3975
$GC,5809,-1.24,-121.7,980.5,-15.3,538,5813,0.00,1.70,0.00,0.000,6,0.000,0.026,2165,2584,3973
$STATE,5880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5889,-0.27,0.0,992.3,15.8,542,5987,1.12,0.00,94.38,1.414,6,0.161,0.000,2485,2409,3532
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5988,begin climb
$GC,5993,1.50,121.7,997.0,0.0,547,6106,1.60,2.30,105.10,1.374,4,0.052,0.025,3073,951,3034
$GC,6364,0.78,121.7,976.6,13.3,563,6371,0.95,2.20,0.00,0.000,6,0.218,0.035,2837,2377,3030
$GC,6681,0.69,192.2,948.0,8.1,579,6748,0.12,2.28,58.30,1.352,4,0.207,0.028,2815,962,2747
$GC,6800,0.75,199.2,936.3,12.7,584,6814,0.00,2.20,7.38,1.098,6,0.000,0.033,2815,2378,2719
$GC,7132,0.75,199.2,888.7,14.4,600,7135,0.00,2.17,0.00,0.000,4,0.000,0.051,2815,3753,2715
$GC,7393,0.62,199.2,842.6,18.5,611,7398,0.15,2.03,0.00,0.000,6,0.194,0.025,2780,2377,2714
$GC,7716,0.74,199.2,796.9,13.6,627,7721,0.12,2.22,0.00,0.000,4,0.083,0.051,2828,3763,2713
$GC,7835,0.57,199.2,776.2,19.4,632,7840,0.28,1.98,0.00,0.000,6,0.187,0.027,2767,2399,2712
$GC,8158,0.76,210.5,734.5,12.4,648,8173,0.17,2.20,9.85,1.143,4,0.075,0.051,2832,3764,2674
$GC,8248,0.61,210.5,720.2,17.0,651,8253,0.25,2.00,0.00,0.000,6,0.186,0.028,2777,2412,2673
$GC,8571,0.80,237.7,683.1,11.2,667,8601,0.17,2.22,23.88,1.199,4,0.075,0.049,2851,3757,2563
$GC,8683,0.64,237.7,664.9,18.4,672,8688,0.28,2.00,0.00,0.000,6,0.187,0.025,2791,2403,2560
$GC,9011,0.82,244.7,621.9,12.7,688,9025,0.15,2.25,6.78,0.996,4,0.077,0.050,2848,3765,2534
$GC,9137,0.68,244.7,601.1,18.0,693,9141,0.22,1.95,0.00,0.000,6,0.186,0.027,2801,2431,2532
$GC,9460,0.85,248.6,557.7,12.9,709,9467,0.15,0.00,4.68,0.841,6,0.077,0.000,2857,2428,2518
$GC,9769,0.85,248.6,511.0,14.6,724,9773,0.00,2.12,0.00,0.000,4,0.000,0.052,2857,3754,2517
$GC,10028,0.74,248.6,469.5,15.8,744,10033,0.20,1.92,0.00,0.000,6,0.184,0.026,2817,2427,2517
$GC,10360,0.90,266.9,433.9,11.9,775,10384,0.15,2.15,16.48,1.019,4,0.081,0.051,2874,3752,2443
$GC,10490,0.77,266.9,412.8,17.5,786,10495,0.22,1.92,0.00,0.000,6,0.181,0.026,2826,2431,2441
$GC,10822,0.92,266.9,365.3,14.9,817,10827,0.15,2.12,0.00,0.000,4,0.079,0.050,2883,3758,2440
$GC,10968,0.78,266.9,336.9,20.3,829,10974,0.22,1.90,0.00,0.000,6,0.183,0.025,2835,2446,2440
$GC,11299,0.93,278.3,289.5,12.4,867,11318,0.12,2.15,10.48,0.881,4,0.085,0.052,2882,3757,2397
$GC,11380,0.81,278.3,276.8,18.2,880,11387,0.20,1.88,0.00,0.000,6,0.182,0.025,2840,2459,2396
$GC,11729,1.00,302.0,234.2,11.5,941,11759,0.17,2.12,20.92,0.871,4,0.077,0.051,2914,3747,2299
$GC,12017,0.84,302.0,183.9,18.1,991,12023,0.28,1.80,0.00,0.000,6,0.182,0.025,2852,2502,2296
$GC,12365,1.03,305.9,139.7,12.9,1052,12374,0.17,2.05,4.40,0.591,4,0.074,0.048,2924,3754,2284
$GC,12525,0.91,305.9,110.7,19.1,1079,12533,0.22,1.75,0.00,0.000,6,0.179,0.025,2875,2524,2283
$GC,12874,1.18,337.5,71.4,10.9,1140,12907,0.20,0.00,26.00,0.721,6,0.072,0.000,2962,2521,2156
$GC,13251,1.32,387.2,38.9,9.6,1205,13298,0.12,0.00,39.53,0.675,6,0.084,0.000,3012,2521,1952
$STATE,13591,end climb,SURFACE_DEPTH_REACHED
$STATE,13591,begin surface coast
$FINISH,1.8,1.003723
$STATE,13618,end surface coast,CONTROL_FINISHED_OK
$STATE,13618,begin surface
$SM_CCo,13641,66.15,0.628,0,0,1594,475.15
$SM_GC,2.73,0.00,0.00,66.15,0.000,0.000,0.628,140,2356,1594,-7.62,-0.76,475.15
$IRIDIUM_FIX,2517.50,12252.43,021298,020246
$TT8_MAMPS,0.029146
$HUMID,1771
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,23.0,112.611
$10V_AH,10.5,58.607
$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,28.600,104.700,428.125,66.150,0.000,27.971,37.289,231.825,8.500,0.000,0.000,13.548,2309.885,8022.344,580.978,2452.304,807.983,0.000,1812.746,0.000,2385.187,0.000,54.414,0.000
$DEVICE_MAMPS,236.236,52.156,1413.581,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,860.766,894.097,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69523,1269
$CAP_FILE_SIZE,148652,0
$CFSIZE,260165632,174903296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163, 89.0,1
$GPS,070909,094207,2522.532,12255.159,35,1.1,35,-3.7