version: 66.04
glider: 167
mission: 2
dive: 663
start: 9 8 109 1 38 44
data:
$ID,167
$MISSION,2
$DIVE,663
$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,-22358.27
$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,43
$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
$GPS1,013000,2522.356,12257.535,38,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-66.2
$GPS2,013825,2522.429,12257.564,15,1.3,32,-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,204.4,49255,-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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.48,0.000,2,0.000,0.000,138,2431,2124
$GC,50,-1.50,-121.7,3.1,-1.6,4,125,8.05,2.10,-61.62,0.000,4,0.227,0.051,2086,3757,3989
$GC,307,-0.64,-121.7,95.1,-37.1,48,314,1.05,1.98,0.00,0.000,6,0.182,0.021,2371,2342,3991
$GC,656,-1.23,-121.7,129.8,-6.9,109,664,0.47,2.20,0.00,0.000,4,0.047,0.044,2172,3750,3995
$GC,909,-0.95,-121.7,186.8,-22.5,153,917,0.35,1.88,0.00,0.000,6,0.163,0.022,2269,2423,3996
$GC,1262,-1.17,-121.7,233.1,-10.4,214,1269,0.17,2.08,0.00,0.000,4,0.065,0.044,2188,3753,3996
$GC,1380,-1.02,-121.7,251.9,-17.4,234,1387,0.22,1.90,0.00,0.000,6,0.153,0.021,2250,2401,3996
$GC,1729,-1.18,-121.7,296.2,-13.1,295,1735,0.15,0.00,0.00,0.000,6,0.071,0.000,2189,2400,3996
$GC,2061,-1.18,-121.7,349.4,-14.1,328,2066,0.00,2.12,0.00,0.000,4,0.000,0.045,2181,3763,3996
$GC,2312,-1.03,-121.7,394.1,-18.6,350,2317,0.22,1.88,0.00,0.000,6,0.156,0.023,2242,2444,3995
$GC,2646,-1.31,-121.7,433.2,-10.6,381,2651,0.20,2.08,0.00,0.000,4,0.064,0.047,2153,3762,3993
$GC,2768,-1.14,-121.7,454.9,-19.5,391,2773,0.20,1.85,0.00,0.000,6,0.163,0.023,2204,2472,3992
$GC,3101,-1.28,-121.7,499.1,-11.3,422,3107,0.12,2.03,0.00,0.000,4,0.077,0.048,2153,3753,3991
$GC,3307,-1.12,-121.7,536.6,-20.0,432,3311,0.25,1.80,0.00,0.000,6,0.163,0.024,2219,2505,3990
$GC,3646,-1.34,-121.7,578.5,-12.4,448,3650,0.17,1.98,0.00,0.000,4,0.069,0.048,2140,3752,3987
$GC,3753,-1.19,-121.7,598.7,-19.6,452,3760,0.20,1.77,0.00,0.000,6,0.168,0.025,2191,2516,3986
$GC,4071,-1.32,-121.7,644.5,-13.7,468,4076,0.12,1.95,0.00,0.000,4,0.081,0.047,2140,3750,3984
$GC,4235,-1.17,-121.7,673.0,-18.5,475,4239,0.22,1.75,0.00,0.000,6,0.169,0.025,2197,2541,3982
$GC,4572,-1.33,-121.7,714.2,-12.5,491,4576,0.15,1.92,0.00,0.000,4,0.077,0.049,2140,3748,3980
$GC,4646,-1.20,-121.7,726.7,-18.5,494,4650,0.20,1.73,0.00,0.000,6,0.173,0.025,2190,2557,3979
$GC,4980,-1.36,-121.7,770.7,-12.6,510,4984,0.15,1.90,0.00,0.000,4,0.075,0.048,2127,3754,3976
$GC,5157,-1.20,-121.7,803.6,-18.9,517,5164,0.25,1.70,0.00,0.000,6,0.171,0.025,2192,2580,3974
$GC,5474,-1.36,-121.7,843.1,-12.7,533,5478,0.15,1.85,0.00,0.000,4,0.079,0.048,2136,3746,3972
$GC,5503,-1.36,-121.7,847.4,-15.0,534,5506,0.00,1.67,0.00,0.000,6,0.000,0.025,2137,2591,3972
$GC,5834,-1.30,-121.7,900.6,-17.2,550,5838,0.00,1.88,0.00,0.000,4,0.000,0.050,2129,3753,3970
$GC,5891,-1.18,-121.7,911.3,-17.9,552,5896,0.28,1.67,0.00,0.000,6,0.172,0.024,2200,2593,3970
$GC,6215,-1.39,-121.7,955.8,-14.8,568,6220,0.17,1.85,0.00,0.000,4,0.077,0.050,2127,3750,3969
$GC,6244,-1.39,-121.7,960.4,-15.8,569,6247,0.00,1.67,0.00,0.000,6,0.000,0.026,2126,2600,3968
$STATE,6403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6403,begin apogee
$GC,6412,-0.27,0.0,994.4,21.5,577,6510,1.30,0.00,92.68,1.414,6,0.166,0.000,2489,2407,3532
$STATE,6510,end apogee,CONTROL_FINISHED_OK
$STATE,6511,begin climb
$GC,6516,1.50,121.7,1002.8,0.0,582,6630,1.58,2.35,104.90,1.380,4,0.051,0.026,3072,956,3034
$GC,6888,0.74,138.2,991.3,12.0,598,6910,1.00,2.17,14.57,1.271,6,0.217,0.034,2822,2370,2967
$GC,7243,0.64,196.8,962.1,9.0,615,7298,0.15,2.25,49.65,1.352,4,0.199,0.031,2792,959,2728
$GC,7554,0.64,196.8,921.3,15.8,629,7558,0.00,2.17,0.00,0.000,6,0.000,0.034,2792,2363,2724
$GC,7889,0.64,196.8,872.1,15.6,645,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2363,2721
$GC,8196,0.64,196.8,825.6,15.7,660,8200,0.00,2.22,0.00,0.000,4,0.000,0.051,2792,3766,2721
$GC,8457,0.52,196.8,780.3,15.9,671,8462,0.20,2.10,0.00,0.000,6,0.188,0.028,2751,2346,2719
$GC,8775,0.72,231.3,744.3,10.7,686,8811,0.17,2.38,28.90,1.247,4,0.077,0.051,2825,3758,2587
$GC,8942,0.55,231.3,718.0,17.0,693,8947,0.28,2.05,0.00,0.000,6,0.188,0.027,2760,2379,2584
$GC,9260,0.75,239.0,679.5,12.6,708,9274,0.17,2.30,7.07,1.041,4,0.075,0.051,2826,3766,2557
$GC,9450,0.59,239.0,646.6,17.4,716,9455,0.25,2.03,0.00,0.000,6,0.185,0.027,2772,2393,2555
$GC,9768,0.76,249.9,607.2,12.4,731,9783,0.15,2.20,10.07,1.085,4,0.080,0.051,2828,3755,2513
$GC,9971,0.63,249.9,569.9,18.9,739,9975,0.20,1.95,0.00,0.000,6,0.188,0.025,2788,2420,2510
$GC,10299,0.76,249.9,520.2,15.6,755,10304,0.12,2.15,0.00,0.000,4,0.081,0.051,2836,3753,2510
$GC,10335,0.63,249.9,513.9,20.1,756,10341,0.22,1.92,0.00,0.000,6,0.189,0.025,2788,2430,2510
$GC,10664,0.77,249.9,465.9,13.8,783,10670,0.12,0.00,0.00,0.000,6,0.083,0.000,2836,2427,2509
$GC,10996,0.77,249.9,415.1,14.9,814,10999,0.00,2.12,0.00,0.000,4,0.000,0.051,2836,3755,2508
$GC,11222,0.66,249.9,378.0,16.5,834,11226,0.15,1.95,0.00,0.000,6,0.172,0.026,2792,2443,2508
$GC,11555,0.81,249.9,336.1,13.5,865,11559,0.15,2.12,0.00,0.000,4,0.076,0.050,2850,3764,2508
$GC,11646,0.65,249.9,318.9,19.5,872,11653,0.28,1.92,0.00,0.000,6,0.186,0.025,2790,2443,2508
$GC,11984,0.83,249.9,266.7,13.9,922,11992,0.17,2.12,0.00,0.000,4,0.074,0.050,2865,3764,2508
$GC,12148,0.66,249.9,236.7,19.8,949,12154,0.30,1.88,0.00,0.000,6,0.182,0.025,2796,2471,2508
$GC,12497,0.90,295.5,194.4,9.9,1010,12540,0.17,2.15,37.20,0.860,4,0.075,0.050,2871,3754,2326
$GC,12652,0.78,295.5,167.5,17.9,1036,12659,0.17,1.83,0.00,0.000,6,0.181,0.024,2838,2495,2323
$GC,13001,0.95,318.4,119.5,11.5,1097,13025,0.15,0.00,19.00,0.769,6,0.077,0.000,2895,2492,2232
$GC,13369,1.09,369.3,74.8,9.5,1161,13417,0.10,2.30,40.53,0.731,4,0.092,0.028,2944,966,2026
$GC,13578,1.26,406.4,55.0,10.5,1197,13616,0.12,2.38,30.10,0.693,6,0.082,0.031,2992,2513,1874
$GC,13961,1.26,406.4,5.2,15.4,1263,13967,0.00,1.92,0.00,0.000,4,0.000,0.046,2992,3761,1869
$STATE,13970,end climb,SURFACE_DEPTH_REACHED
$STATE,13971,begin surface coast
$FINISH,2.0,1.021251
$STATE,13988,end surface coast,CONTROL_FINISHED_OK
$STATE,13989,begin surface
$SM_CCo,14014,50.92,0.638,0,0,1595,475.15
$SM_GC,3.37,0.00,0.00,50.92,0.000,0.000,0.638,144,2357,1595,-7.61,-0.76,475.15
$IRIDIUM_FIX,2512.73,12259.73,021298,212111
$TT8_MAMPS,0.029146
$HUMID,1807
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,13
$24V_AH,23.1,113.479
$10V_AH,10.5,59.023
$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,28.975,104.425,434.675,50.925,0.000,28.688,31.809,246.887,11.500,0.000,0.000,32.172,2317.240,8311.438,573.902,2516.250,839.210,0.000,1824.417,0.000,2434.951,0.000,60.254,0.000
$DEVICE_MAMPS,227.032,51.389,1414.348,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,860.275,871.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69511,1268
$CAP_FILE_SIZE,150002,0
$CFSIZE,260165632,174518272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 31.7,1
$GPS,080909,053431,2522.350,12257.515,38,1.1,39,-3.7