version: 66.04
glider: 167
mission: 2
dive: 662
start: 9 7 109 21 35 34
data:
$ID,167
$MISSION,2
$DIVE,662
$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,-22325.469
$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,88
$R_STBD_OVSHOOT,40
$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
$GPS1,212730,2521.737,12257.426,42,0.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-69.3
$GPS2,213514,2521.878,12257.651,13,1.1,13,-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,213.0,48233,-25.0,-13.200
$D_GRID,1287
$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,-121.7,0.0,0.0,0,43,0.00,0.00,-25.40,0.000,2,0.000,0.000,140,2365,2229
$GC,49,-1.50,-121.7,3.2,-2.0,4,122,8.05,2.05,-55.60,0.000,4,0.229,0.036,2091,990,3990
$GC,279,-0.89,-121.7,73.3,-34.7,43,285,0.75,2.10,0.00,0.000,6,0.172,0.031,2289,2389,3992
$GC,627,-1.05,-121.7,133.4,-15.3,104,634,0.15,2.10,0.00,0.000,4,0.070,0.044,2220,3750,3995
$GC,830,-0.89,-121.7,173.1,-20.9,139,836,0.25,1.90,0.00,0.000,6,0.155,0.021,2291,2388,3996
$GC,1178,-1.19,-121.7,219.1,-13.6,200,1184,0.22,2.12,0.00,0.000,4,0.059,0.044,2191,3751,3997
$GC,1302,-1.03,-121.7,244.9,-23.1,221,1308,0.20,1.85,0.00,0.000,6,0.161,0.021,2245,2435,3997
$GC,1651,-1.16,-121.7,305.8,-15.5,279,1655,0.12,2.05,0.00,0.000,4,0.077,0.044,2192,3750,3997
$GC,1785,-1.10,-121.7,328.8,-16.7,290,1793,0.12,1.80,0.00,0.000,6,0.163,0.022,2223,2472,3997
$GC,2111,-1.22,-121.7,374.7,-13.3,321,2120,0.12,2.00,0.00,0.000,4,0.077,0.044,2166,3752,3997
$GC,2291,-1.05,-121.7,406.9,-17.4,336,2298,0.28,1.80,0.00,0.000,6,0.166,0.023,2239,2483,3997
$GC,2618,-1.26,-121.7,442.9,-10.1,367,2622,0.20,2.00,0.00,0.000,4,0.065,0.045,2152,3757,3995
$GC,2794,-1.10,-121.7,472.1,-16.9,382,2801,0.28,1.75,0.00,0.000,6,0.164,0.023,2226,2526,3994
$GC,3128,-1.28,-121.7,513.2,-12.7,409,3132,0.17,1.92,0.00,0.000,4,0.071,0.048,2149,3748,3993
$GC,3349,-1.13,-121.7,551.4,-16.7,418,3356,0.17,1.75,0.00,0.000,6,0.166,0.024,2213,2553,3991
$GC,3666,-1.30,-121.7,586.4,-9.9,434,3670,0.15,1.90,0.00,0.000,4,0.076,0.048,2152,3751,3989
$GC,3782,-1.19,-121.7,603.1,-15.4,439,3786,0.17,1.73,0.00,0.000,6,0.171,0.024,2196,2556,3988
$GC,4119,-1.32,-121.7,643.4,-11.6,455,4123,0.12,1.90,0.00,0.000,4,0.083,0.048,2145,3756,3986
$GC,4212,-1.18,-121.7,657.9,-15.9,459,4217,0.20,1.70,0.00,0.000,6,0.176,0.025,2194,2579,3985
$GC,4550,-1.32,-121.7,699.2,-12.1,475,4556,0.12,1.85,0.00,0.000,4,0.084,0.049,2146,3750,3981
$GC,4717,-1.21,-121.7,728.6,-18.1,482,4721,0.17,1.67,0.00,0.000,6,0.174,0.025,2188,2590,3981
$GC,5045,-1.33,-121.7,773.9,-13.8,498,5049,0.12,1.85,0.00,0.000,4,0.081,0.050,2139,3750,3978
$GC,5086,-1.22,-121.7,780.5,-16.9,499,5092,0.17,1.67,0.00,0.000,6,0.177,0.025,2182,2593,3978
$GC,5403,-1.32,-121.7,824.6,-13.6,515,5408,0.00,1.88,0.00,0.000,4,0.000,0.051,2179,3753,3976
$GC,5488,-1.32,-121.7,836.7,-14.0,518,5495,0.00,1.65,0.00,0.000,6,0.000,0.026,2179,2617,3975
$GC,5807,-1.41,-121.7,876.6,-12.4,534,5812,0.15,1.83,0.00,0.000,4,0.084,0.051,2123,3757,3973
$GC,5887,-1.25,-121.7,889.9,-16.8,537,5891,0.20,1.65,0.00,0.000,6,0.179,0.026,2173,2624,3973
$GC,6210,-1.33,-121.7,934.3,-13.6,553,6214,0.00,1.83,0.00,0.000,4,0.000,0.052,2166,3750,3971
$GC,6267,-1.33,-121.7,942.9,-15.2,555,6271,0.00,1.65,0.00,0.000,6,0.000,0.026,2166,2617,3971
$STATE,6586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6587,begin apogee
$GC,6597,-0.27,0.0,990.4,15.8,571,6701,1.12,0.00,95.12,1.384,6,0.161,0.000,2485,2407,3532
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6701,begin climb
$GC,6705,1.50,121.7,997.7,0.0,576,6818,1.62,2.28,105.12,1.371,4,0.059,0.046,3063,3758,3035
$GC,7073,0.54,121.7,973.2,17.4,592,7079,1.27,2.08,0.00,0.000,6,0.225,0.022,2759,2338,3031
$GC,7390,0.63,192.9,943.0,8.0,607,7454,0.00,2.40,59.15,1.340,4,0.000,0.050,2759,3744,2745
$GC,7709,0.63,192.9,900.9,14.1,621,7712,0.00,2.00,0.00,0.000,6,0.000,0.024,2762,2379,2739
$GC,8037,0.73,192.9,857.8,13.9,637,8041,0.15,2.20,0.00,0.000,4,0.077,0.051,2821,3749,2737
$GC,8296,0.52,192.9,812.1,17.5,648,8303,0.30,2.00,0.00,0.000,6,0.189,0.025,2752,2376,2735
$GC,8615,0.69,212.7,771.3,11.8,664,8638,0.15,2.30,16.73,1.220,4,0.083,0.051,2810,3757,2663
$GC,8785,0.55,212.7,746.2,14.5,671,8790,0.22,2.03,0.00,0.000,6,0.187,0.025,2763,2373,2661
$GC,9103,0.77,263.6,714.4,9.5,686,9152,0.17,2.28,42.75,1.222,4,0.075,0.048,2828,3752,2457
$GC,9265,0.68,263.6,688.6,16.6,693,9272,0.15,2.00,0.00,0.000,6,0.192,0.025,2803,2390,2452
$GC,9583,0.80,263.6,643.1,14.2,709,9588,0.10,2.17,0.00,0.000,4,0.090,0.048,2840,3749,2450
$GC,9775,0.69,263.6,607.1,18.9,717,9782,0.17,1.95,0.00,0.000,6,0.188,0.025,2806,2410,2450
$GC,10093,0.80,263.6,560.9,14.7,733,10097,0.00,2.12,0.00,0.000,4,0.000,0.049,2806,3750,2449
$GC,10146,0.80,263.6,552.0,16.6,735,10149,0.00,1.92,0.00,0.000,6,0.000,0.025,2814,2426,2449
$GC,10475,0.89,263.6,497.2,16.5,751,10480,0.15,2.12,0.00,0.000,4,0.080,0.050,2875,3749,2448
$GC,10657,0.70,263.6,456.5,23.8,766,10663,0.30,1.88,0.00,0.000,6,0.183,0.026,2807,2458,2447
$GC,10983,0.83,263.6,404.2,15.0,797,10985,0.12,0.00,0.00,0.000,6,0.087,0.000,2853,2455,2446
$GC,11303,0.83,263.6,356.9,13.4,827,11307,0.00,2.05,0.00,0.000,4,0.000,0.050,2854,3747,2447
$GC,11542,0.74,263.6,321.4,15.4,848,11547,0.10,1.90,0.00,0.000,6,0.165,0.025,2822,2460,2447
$GC,11879,0.85,269.8,282.0,12.7,891,11892,0.00,2.25,5.00,0.723,4,0.000,0.028,2828,987,2432
$GC,11958,1.02,269.8,271.2,14.2,904,11965,0.22,2.28,0.00,0.000,6,0.067,0.031,2915,2471,2432
$GC,12306,0.89,269.8,204.1,19.2,965,12312,0.17,2.25,0.00,0.000,4,0.175,0.028,2872,989,2432
$GC,12553,0.98,278.3,171.2,12.6,1008,12570,0.00,2.25,8.70,0.754,6,0.000,0.032,2872,2458,2397
$GC,12915,1.08,313.9,121.7,10.6,1071,12952,0.15,2.05,29.95,0.770,4,0.078,0.048,2931,3750,2250
$GC,13108,0.94,313.9,92.1,16.1,1104,13114,0.22,1.88,0.00,0.000,6,0.179,0.024,2882,2444,2247
$GC,13455,1.40,498.8,70.8,-0.2,1165,13607,0.38,2.25,143.95,0.699,4,0.058,0.027,3037,976,1497
$GC,13720,1.46,498.8,36.6,18.7,1210,13726,0.00,2.22,0.00,0.000,6,0.000,0.031,3037,2430,1490
$STATE,13891,end climb,SURFACE_DEPTH_REACHED
$STATE,13891,begin surface coast
$FINISH,1.8,1.020219
$STATE,13907,end surface coast,CONTROL_FINISHED_OK
$STATE,13907,begin surface
$SM_CCo,13989,0.00,0.000,0,0,1485,501.88
$SM_GC,2.97,7.90,0.00,0.00,0.054,0.000,0.000,138,2431,1485,-7.61,1.36,501.88
$IRIDIUM_FIX,2512.73,12256.43,021298,171736
$TT8_MAMPS,0.029146
$HUMID,1818
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,10
$24V_AH,23.0,113.306
$10V_AH,10.5,58.938
$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,27.875,107.300,506.475,0.000,0.000,30.371,33.170,222.922,10.500,0.000,0.000,13.382,2251.879,8329.434,597.626,2471.300,788.721,0.000,1841.068,0.000,2404.737,0.000,58.793,0.000
$DEVICE_MAMPS,229.333,52.156,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,840.229,865.197,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66326,1243
$CAP_FILE_SIZE,147317,0
$CFSIZE,260165632,174600192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.241, 23.9,1
$GPS,080909,013000,2522.356,12257.535,38,1.1,39,-3.7