version: 66.04
glider: 167
mission: 2
dive: 661
start: 9 7 109 17 43 25
data:
$ID,167
$MISSION,2
$DIVE,661
$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,-4
$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,-22311.457
$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,92
$R_STBD_OVSHOOT,37
$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
$GPS1,173501,2522.561,12255.961,40,1.8,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-67.6
$GPS2,174306,2522.833,12256.117,14,1.0,29,-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,197.2,50670,-25.0,-13.200
$D_GRID,1207
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.45,0.000,2,0.000,0.000,141,2365,2234
$GC,50,-1.50,-121.7,3.3,-1.8,4,117,8.07,2.00,-53.30,0.000,4,0.229,0.035,2093,996,3989
$GC,255,-0.89,-121.7,68.0,-34.4,39,262,0.75,2.10,0.00,0.000,6,0.179,0.032,2286,2389,3991
$GC,603,-1.02,-121.7,125.5,-14.7,100,609,0.00,2.10,0.00,0.000,4,0.000,0.043,2278,3760,3995
$GC,838,-1.18,-121.7,158.9,-12.3,141,846,0.22,1.90,0.00,0.000,6,0.060,0.021,2185,2398,3996
$GC,1187,-1.06,-121.7,226.3,-20.8,202,1194,0.17,2.12,0.00,0.000,4,0.161,0.042,2222,3764,3997
$GC,1328,-1.06,-121.7,254.7,-19.1,226,1333,0.00,1.85,0.00,0.000,6,0.000,0.022,2223,2437,3997
$GC,1671,-1.16,-121.7,314.0,-15.4,279,1674,0.00,2.08,0.00,0.000,4,0.000,0.046,2221,3765,3997
$GC,1768,-1.21,-121.7,330.2,-17.0,287,1774,0.00,1.85,0.00,0.000,6,0.000,0.023,2221,2458,3997
$GC,2095,-1.36,-121.7,382.8,-14.8,318,2099,0.20,2.03,0.00,0.000,4,0.065,0.044,2125,3753,3997
$GC,2204,-1.08,-121.7,406.9,-23.5,327,2210,0.38,1.80,0.00,0.000,6,0.166,0.023,2227,2480,3997
$GC,2532,-1.28,-121.7,450.4,-12.1,358,2536,0.17,2.00,0.00,0.000,4,0.069,0.047,2152,3757,3996
$GC,2667,-1.09,-121.7,475.4,-21.0,369,2674,0.28,1.80,0.00,0.000,6,0.163,0.023,2226,2496,3994
$GC,3003,-1.32,-121.7,519.3,-12.9,394,3007,0.20,2.00,0.00,0.000,4,0.071,0.047,2140,3763,3993
$GC,3154,-1.16,-121.7,551.8,-22.4,400,3158,0.25,1.77,0.00,0.000,6,0.166,0.024,2205,2530,3991
$GC,3476,-1.33,-121.7,608.1,-16.3,416,3480,0.17,1.92,0.00,0.000,4,0.069,0.048,2124,3756,3989
$GC,3517,-1.17,-121.7,615.3,-18.6,417,3525,0.30,1.77,0.00,0.000,6,0.169,0.024,2204,2524,3988
$GC,3834,-1.33,-121.7,661.0,-14.7,433,3838,0.15,1.95,0.00,0.000,4,0.073,0.049,2146,3750,3985
$GC,3979,-1.20,-121.7,688.5,-19.9,439,3983,0.17,1.75,0.00,0.000,6,0.173,0.025,2189,2540,3984
$GC,4310,-1.34,-121.7,733.7,-12.4,455,4314,0.12,1.92,0.00,0.000,4,0.077,0.049,2140,3752,3981
$GC,4425,-1.22,-121.7,753.2,-18.7,460,4429,0.17,1.73,0.00,0.000,6,0.175,0.025,2182,2565,3980
$GC,4762,-1.33,-121.7,800.0,-13.3,476,4766,0.00,1.92,0.00,0.000,4,0.000,0.050,2179,3781,3977
$GC,4816,-1.39,-121.7,807.8,-14.7,478,4821,0.15,1.75,0.00,0.000,6,0.077,0.025,2122,2579,3977
$GC,5148,-1.27,-121.7,864.7,-17.3,494,5152,0.17,1.88,0.00,0.000,4,0.175,0.048,2165,3751,3974
$GC,5265,-1.27,-121.7,882.9,-14.8,499,5269,0.00,1.70,0.00,0.000,6,0.000,0.026,2165,2586,3974
$GC,5599,-1.31,-121.7,931.4,-14.4,515,5603,0.00,1.85,0.00,0.000,4,0.000,0.051,2165,3749,3972
$GC,5706,-1.31,-121.7,947.4,-14.7,519,5712,0.00,1.65,0.00,0.000,6,0.000,0.025,2165,2613,3971
$STATE,6019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6029,-0.27,0.0,991.1,14.8,535,6133,1.12,0.00,95.15,1.391,6,0.156,0.000,2489,2400,3532
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6138,1.50,121.7,996.7,0.0,540,6252,1.60,2.33,105.22,1.373,4,0.054,0.046,3066,3751,3034
$GC,6389,0.56,121.7,990.9,14.8,551,6395,1.25,2.08,0.00,0.000,6,0.222,0.023,2767,2349,3031
$GC,6708,0.65,196.6,964.3,7.8,566,6773,0.00,0.00,62.97,1.351,6,0.000,0.000,2767,2347,2730
$GC,7076,0.79,226.7,923.1,11.0,584,7108,0.17,2.30,26.40,1.300,4,0.075,0.049,2838,3748,2608
$GC,7161,0.58,226.7,909.7,19.3,588,7165,0.30,2.05,0.00,0.000,6,0.185,0.024,2771,2362,2604
$GC,7496,0.75,248.2,870.1,11.6,604,7521,0.15,2.30,18.20,1.259,4,0.081,0.051,2827,3747,2520
$GC,7776,0.60,248.2,821.7,17.9,616,7780,0.20,2.00,0.00,0.000,6,0.188,0.025,2779,2393,2516
$GC,8093,0.77,260.0,782.2,12.3,631,8109,0.15,2.20,10.88,1.170,4,0.081,0.049,2836,3761,2471
$GC,8151,0.62,260.0,772.7,18.4,632,8158,0.25,2.03,0.00,0.000,6,0.185,0.025,2780,2387,2470
$GC,8468,0.79,260.0,728.4,13.4,648,8473,0.15,2.20,0.00,0.000,4,0.080,0.050,2837,3755,2469
$GC,8655,0.66,260.0,694.0,18.0,656,8659,0.20,1.95,0.00,0.000,6,0.188,0.025,2796,2416,2468
$GC,8977,0.78,260.0,650.1,13.9,672,8981,0.10,2.12,0.00,0.000,4,0.092,0.049,2835,3751,2467
$GC,9109,0.65,260.0,625.1,21.0,677,9116,0.20,1.95,0.00,0.000,6,0.189,0.025,2795,2413,2467
$GC,9426,0.79,260.0,575.7,14.6,693,9430,0.12,2.15,0.00,0.000,4,0.085,0.048,2841,3759,2467
$GC,9517,0.64,260.0,558.8,19.7,697,9521,0.25,1.92,0.00,0.000,6,0.186,0.025,2787,2429,2466
$GC,9845,0.84,275.9,513.2,12.0,713,9868,0.17,2.17,13.90,1.065,4,0.075,0.051,2862,3744,2407
$GC,9981,0.67,275.9,491.2,17.1,720,9987,0.28,1.90,0.00,0.000,6,0.183,0.026,2800,2449,2405
$GC,10307,0.82,275.9,446.0,15.4,751,10311,0.12,2.10,0.00,0.000,4,0.084,0.051,2847,3757,2404
$GC,10568,0.71,275.9,392.0,21.1,774,10572,0.20,1.85,0.00,0.000,6,0.185,0.025,2807,2475,2404
$GC,10901,0.86,280.4,343.3,12.9,805,10914,0.15,2.05,5.32,0.789,4,0.080,0.050,2866,3754,2387
$GC,11168,0.73,280.4,294.1,19.3,831,11175,0.22,1.80,0.00,0.000,6,0.181,0.026,2818,2509,2387
$GC,11516,0.91,300.1,249.1,11.8,892,11540,0.17,0.00,17.67,0.883,6,0.072,0.000,2893,2507,2307
$GC,11882,0.91,300.1,186.7,17.8,956,11888,0.00,1.98,0.00,0.000,4,0.000,0.050,2893,3749,2304
$GC,12010,0.78,300.1,161.4,17.0,978,12016,0.25,1.77,0.00,0.000,6,0.179,0.023,2836,2508,2304
$GC,12358,1.04,353.1,119.6,9.4,1039,12406,0.17,2.38,42.70,0.775,4,0.071,0.027,2924,980,2091
$GC,12426,1.09,353.1,109.8,16.3,1050,12432,0.00,2.35,0.00,0.000,6,0.000,0.032,2924,2495,2088
$GC,12774,1.24,393.8,68.3,10.2,1111,12816,0.15,2.03,32.58,0.708,4,0.070,0.049,2985,3749,1924
$GC,13073,1.14,393.8,26.4,14.0,1163,13079,0.17,1.77,0.00,0.000,6,0.179,0.023,2951,2499,1919
$STATE,13253,end climb,SURFACE_DEPTH_REACHED
$STATE,13253,begin surface coast
$FINISH,1.9,1.019182
$STATE,13277,end surface coast,CONTROL_FINISHED_OK
$STATE,13277,begin surface
$SM_CCo,13299,60.67,0.636,0,0,1595,475.15
$SM_GC,2.79,0.00,0.00,60.67,0.000,0.000,0.636,140,2365,1595,-7.63,-0.51,475.15
$IRIDIUM_FIX,2515.12,12254.43,021298,131347
$TT8_MAMPS,0.029146
$HUMID,1803
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,10
$24V_AH,23.0,113.131
$10V_AH,10.5,58.854
$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,28.000,103.275,431.000,60.675,0.000,25.614,31.260,232.092,10.500,0.000,0.000,30.023,2185.414,7952.157,605.352,2328.499,762.920,0.000,1760.754,0.000,2252.369,0.000,54.415,0.000
$DEVICE_MAMPS,229.333,52.156,1390.571,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,813.131,834.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63228,1199
$CAP_FILE_SIZE,142517,0
$CFSIZE,260165632,174682112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210, 72.2,1
$GPS,070909,212730,2521.737,12257.426,42,0.9,43,-3.7