version: 66.04
glider: 167
mission: 2
dive: 664
start: 9 8 109 5 42 55
data:
$ID,167
$MISSION,2
$DIVE,664
$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,-22387.951
$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,83
$R_STBD_OVSHOOT,35
$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
$GPS1,053431,2522.350,12257.515,38,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-65.9
$GPS2,054236,2522.602,12257.619,12,1.1,28,-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,199.6,49539,-25.0,-13.200
$D_GRID,1248
$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,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.50,0.000,2,0.000,0.000,145,2356,2180
$GC,48,-1.50,-121.7,3.1,-1.2,4,120,8.10,2.03,-56.30,0.000,4,0.232,0.038,2091,983,3990
$GC,236,-0.89,-121.7,62.8,-41.9,36,243,0.75,2.12,0.00,0.000,6,0.172,0.031,2288,2396,3992
$GC,585,-1.08,-121.7,120.4,-12.5,97,591,0.17,2.10,0.00,0.000,4,0.069,0.044,2205,3756,3995
$GC,622,-0.95,-121.7,126.5,-17.8,103,629,0.25,1.98,0.00,0.000,6,0.158,0.021,2274,2351,3996
$GC,971,-1.18,-121.7,176.0,-11.5,164,978,0.17,2.20,0.00,0.000,4,0.064,0.051,2192,3748,3997
$GC,1155,-1.08,-121.7,210.2,-19.0,196,1162,0.15,1.88,0.00,0.000,6,0.160,0.021,2231,2416,3997
$GC,1505,-1.23,-121.7,263.6,-15.5,257,1511,0.15,2.10,0.00,0.000,4,0.071,0.044,2166,3762,3998
$GC,1680,-1.01,-121.7,306.4,-25.2,285,1684,0.32,1.85,0.00,0.000,6,0.158,0.022,2256,2448,3997
$GC,2011,-1.28,-121.7,357.7,-14.4,316,2016,0.22,2.05,0.00,0.000,4,0.059,0.045,2162,3753,3998
$GC,2091,-1.12,-121.7,373.6,-20.6,322,2099,0.20,1.83,0.00,0.000,6,0.165,0.022,2214,2459,3997
$GC,2418,-1.25,-121.7,421.2,-12.8,353,2422,0.12,2.03,0.00,0.000,4,0.077,0.046,2163,3747,3997
$GC,2584,-1.11,-121.7,451.1,-17.4,367,2590,0.22,1.80,0.00,0.000,6,0.165,0.024,2222,2489,3996
$GC,2911,-1.31,-121.7,488.1,-11.4,398,2915,0.17,2.00,0.00,0.000,4,0.070,0.048,2152,3756,3994
$GC,2985,-1.19,-121.7,500.2,-17.2,404,2991,0.17,1.80,0.00,0.000,6,0.166,0.023,2196,2500,3993
$GC,3303,-1.31,-121.7,545.7,-14.9,420,3307,0.12,1.98,0.00,0.000,4,0.081,0.048,2146,3747,3992
$GC,3383,-1.15,-121.7,561.0,-20.7,423,3387,0.22,1.77,0.00,0.000,6,0.170,0.025,2203,2517,3990
$GC,3705,-1.31,-121.7,607.4,-14.3,439,3709,0.15,1.95,0.00,0.000,4,0.074,0.048,2146,3745,3989
$GC,3851,-1.18,-121.7,635.0,-20.4,445,3855,0.20,1.75,0.00,0.000,6,0.170,0.025,2196,2536,3986
$GC,4182,-1.35,-121.7,685.1,-14.4,461,4186,0.15,1.95,0.00,0.000,4,0.077,0.050,2139,3757,3984
$GC,4252,-1.23,-121.7,697.7,-19.0,464,4256,0.12,1.77,0.00,0.000,6,0.171,0.025,2175,2566,3983
$GC,4589,-1.32,-121.7,750.5,-13.9,480,4593,0.00,1.88,0.00,0.000,4,0.000,0.050,2168,3744,3981
$GC,4727,-1.32,-121.7,774.5,-16.1,486,4732,0.00,1.70,0.00,0.000,6,0.000,0.026,2169,2579,3980
$GC,5060,-1.37,-121.7,823.1,-13.9,502,5064,0.00,1.88,0.00,0.000,4,0.000,0.051,2166,3758,3978
$GC,5163,-1.37,-121.7,838.1,-14.7,506,5167,0.00,1.73,0.00,0.000,6,0.000,0.027,2166,2599,3976
$GC,5486,-1.43,-121.7,885.3,-15.1,522,5490,0.12,1.85,0.00,0.000,4,0.087,0.051,2113,3752,3975
$GC,5583,-1.23,-121.7,903.7,-20.4,526,5587,0.28,1.67,0.00,0.000,6,0.176,0.027,2183,2609,3974
$GC,5914,-1.36,-121.7,947.2,-12.3,542,5918,0.12,1.83,0.00,0.000,4,0.083,0.052,2138,3752,3972
$GC,5984,-1.26,-121.7,958.7,-17.1,545,5988,0.15,1.67,0.00,0.000,6,0.180,0.027,2172,2611,3972
$STATE,6210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6210,begin apogee
$GC,6219,-0.27,0.0,991.9,13.8,556,6316,1.08,0.00,93.47,1.415,6,0.153,0.000,2486,2393,3532
$STATE,6317,end apogee,CONTROL_FINISHED_OK
$STATE,6317,begin climb
$GC,6321,1.50,121.7,995.7,0.0,561,6433,1.60,2.25,104.60,1.374,4,0.052,0.026,3074,965,3037
$GC,6691,0.73,121.7,965.4,17.4,577,6698,1.02,2.15,0.00,0.000,6,0.218,0.033,2818,2365,3032
$GC,7009,0.62,170.2,933.4,9.7,593,7057,0.15,2.22,40.92,1.332,4,0.201,0.029,2789,972,2837
$GC,7212,0.67,170.2,909.4,13.3,602,7216,0.00,2.17,0.00,0.000,6,0.000,0.034,2789,2374,2834
$GC,7546,0.67,177.6,868.7,12.7,618,7559,0.00,2.25,6.82,1.090,4,0.000,0.050,2789,3756,2808
$GC,7816,0.54,177.6,823.2,16.9,630,7820,0.17,2.05,0.00,0.000,6,0.189,0.025,2755,2362,2806
$GC,8144,0.66,194.6,781.9,12.0,646,8167,0.12,2.25,14.95,1.220,4,0.087,0.050,2803,3764,2737
$GC,8248,0.49,194.6,766.8,14.7,650,8253,0.28,2.05,0.00,0.000,6,0.189,0.024,2743,2369,2736
$GC,8566,0.71,238.8,733.1,10.0,665,8611,0.17,2.35,37.97,1.239,4,0.078,0.048,2815,3761,2557
$GC,8753,0.59,238.8,702.1,19.1,673,8758,0.17,2.03,0.00,0.000,6,0.192,0.025,2773,2400,2553
$GC,9075,0.74,243.8,658.8,12.8,689,9085,0.12,2.20,4.53,0.853,4,0.083,0.051,2822,3765,2538
$GC,9234,0.63,243.8,632.2,17.5,696,9239,0.17,2.03,0.00,0.000,6,0.190,0.027,2789,2396,2537
$GC,9568,0.75,243.8,587.9,13.3,712,9573,0.10,2.17,0.00,0.000,4,0.091,0.050,2827,3751,2536
$GC,9730,0.63,243.8,559.5,18.6,719,9734,0.20,1.95,0.00,0.000,6,0.189,0.025,2785,2410,2535
$GC,10058,0.78,243.8,514.1,13.5,735,10063,0.12,2.15,0.00,0.000,4,0.081,0.047,2834,3755,2535
$GC,10271,0.65,243.8,474.2,18.5,750,10279,0.20,1.88,0.00,0.000,6,0.186,0.025,2793,2461,2535
$GC,10599,0.78,245.1,428.7,13.1,781,10604,0.12,2.08,0.00,0.000,4,0.082,0.050,2841,3751,2534
$GC,10730,0.64,245.1,407.0,16.1,792,10736,0.25,1.83,0.00,0.000,6,0.183,0.025,2786,2489,2534
$GC,11057,0.85,287.5,372.7,10.1,823,11097,0.20,0.00,36.85,0.999,6,0.071,0.000,2865,2488,2359
$GC,11415,0.85,287.5,317.7,15.9,857,11419,0.00,2.25,0.00,0.000,4,0.000,0.029,2874,994,2354
$GC,11488,0.85,287.5,306.4,14.5,863,11494,0.00,2.33,0.00,0.000,6,0.000,0.033,2874,2496,2353
$GC,11833,0.85,287.5,252.7,16.6,920,11839,0.00,2.00,0.00,0.000,4,0.000,0.051,2875,3765,2352
$GC,12060,0.72,287.5,211.0,17.4,960,12067,0.25,1.83,0.00,0.000,6,0.180,0.026,2816,2509,2352
$GC,12408,0.93,312.8,167.6,11.4,1021,12434,0.17,2.08,20.45,0.809,4,0.071,0.049,2892,3767,2255
$GC,12455,0.84,312.8,160.2,17.8,1028,12461,0.20,1.85,0.00,0.000,6,0.179,0.024,2850,2494,2254
$GC,12802,1.04,354.4,109.5,10.2,1089,12845,0.17,2.08,33.78,0.759,4,0.071,0.048,2925,3752,2086
$GC,13100,0.95,354.4,60.9,14.7,1141,13106,0.17,1.70,0.00,0.000,6,0.177,0.023,2888,2558,2081
$GC,13447,1.35,458.7,35.3,5.6,1202,13536,0.30,2.00,81.60,0.671,4,0.058,0.048,3013,3756,1661
$STATE,13647,end climb,SURFACE_DEPTH_REACHED
$STATE,13647,begin surface coast
$FINISH,1.9,1.019866
$STATE,13665,end surface coast,CONTROL_FINISHED_OK
$STATE,13665,begin surface
$SM_CCo,13690,10.55,0.578,0,0,1594,475.15
$SM_GC,3.77,0.00,0.00,10.55,0.000,0.000,0.578,140,2364,1594,-7.63,-0.51,475.15
$IRIDIUM_FIX,2512.73,12258.43,031298,010141
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.10
$XPDR_PINGS,8
$24V_AH,23.0,113.650
$10V_AH,10.5,59.106
$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,28.275,111.575,475.950,10.550,0.000,24.735,30.292,231.151,10.000,0.000,0.000,29.053,2253.374,8120.592,567.644,2443.312,788.669,0.000,1790.316,0.000,2362.115,0.000,54.422,0.000
$DEVICE_MAMPS,232.401,52.156,1415.115,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,840.366,864.579,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66285,1240
$CAP_FILE_SIZE,148683,0
$CFSIZE,260165632,174440448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198, 66.7,1
$GPS,080909,093237,2521.642,12258.660,38,1.0,38,-3.7