version: 66.04
glider: 167
mission: 2
dive: 665
start: 9 8 109 9 41 15
data:
$ID,167
$MISSION,2
$DIVE,665
$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,-22405.242
$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,93
$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
$GPS1,093237,2521.642,12258.660,38,1.0,38,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-63.3
$GPS2,094055,2521.677,12258.938,11,1.2,16,-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,215.4,47334,-25.0,-13.200
$D_GRID,1355
$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,-23.05,0.000,2,0.000,0.000,140,2365,2169
$GC,47,-1.50,-121.7,3.1,-2.4,4,118,8.05,2.22,-54.55,0.000,4,0.230,0.052,2081,3764,3990
$GC,375,-0.73,-121.7,112.9,-31.4,61,382,0.95,1.95,0.00,0.000,6,0.176,0.021,2342,2373,3993
$GC,723,-1.14,-121.7,149.5,-10.5,122,731,0.32,2.17,0.00,0.000,4,0.053,0.044,2193,3766,3996
$GC,779,-0.95,-121.7,158.9,-19.0,131,785,0.28,1.98,0.00,0.000,6,0.159,0.021,2269,2362,3996
$GC,1127,-1.15,-121.7,209.8,-11.2,192,1133,0.17,2.17,0.00,0.000,4,0.064,0.043,2192,3757,3997
$GC,1237,-0.91,-121.7,230.3,-21.0,211,1244,0.32,1.90,0.00,0.000,6,0.157,0.021,2283,2403,3997
$GC,1588,-1.23,-121.7,271.6,-12.0,272,1594,0.25,2.12,0.00,0.000,4,0.061,0.044,2177,3761,3997
$GC,1699,-1.09,-121.7,291.9,-20.1,291,1706,0.20,1.88,0.00,0.000,6,0.162,0.022,2230,2430,3997
$GC,2036,-1.23,-121.7,339.3,-13.5,326,2040,0.15,2.08,0.00,0.000,4,0.070,0.044,2165,3755,3997
$GC,2120,-1.04,-121.7,356.4,-20.8,333,2126,0.28,1.85,0.00,0.000,6,0.161,0.021,2240,2441,3997
$GC,2448,-1.25,-121.7,398.2,-11.7,364,2452,0.17,2.08,0.00,0.000,4,0.065,0.046,2164,3766,3997
$GC,2476,-1.25,-121.7,402.4,-14.6,366,2483,0.00,1.90,0.00,0.000,6,0.000,0.021,2163,2407,3997
$GC,2803,-1.19,-121.7,464.3,-18.5,397,2808,0.12,2.15,0.00,0.000,4,0.170,0.046,2192,3767,3996
$GC,2934,-1.19,-121.7,488.3,-17.1,408,2937,0.00,1.83,0.00,0.000,6,0.000,0.024,2192,2485,3995
$GC,3260,-1.27,-121.7,543.8,-16.6,427,3264,0.00,2.03,0.00,0.000,4,0.000,0.049,2192,3766,3993
$GC,3341,-1.33,-121.7,558.5,-17.3,430,3345,0.12,1.83,0.00,0.000,6,0.078,0.023,2141,2494,3993
$GC,3663,-1.25,-121.7,624.7,-19.3,446,3669,0.15,2.00,0.00,0.000,4,0.168,0.046,2175,3757,3991
$GC,3756,-1.25,-121.7,641.1,-17.3,450,3760,0.00,1.80,0.00,0.000,6,0.000,0.024,2175,2505,3990
$GC,4090,-1.31,-121.7,697.1,-16.5,466,4094,0.00,2.00,0.00,0.000,4,0.000,0.050,2175,3766,3987
$GC,4210,-1.35,-121.7,716.7,-16.3,471,4213,0.00,1.80,0.00,0.000,6,0.000,0.025,2175,2518,3986
$GC,4539,-1.45,-121.7,768.1,-15.9,487,4543,0.17,1.98,0.00,0.000,4,0.074,0.047,2100,3764,3984
$GC,4636,-1.16,-121.7,789.9,-25.5,491,4640,0.32,1.80,0.00,0.000,6,0.173,0.025,2201,2546,3983
$GC,4967,-1.36,-121.7,843.9,-15.9,507,4971,0.17,1.92,0.00,0.000,4,0.072,0.049,2127,3753,3981
$GC,5003,-1.29,-121.7,851.0,-19.3,508,5007,0.15,1.75,0.00,0.000,6,0.175,0.025,2163,2547,3980
$GC,5326,-1.36,-121.7,908.1,-17.8,524,5330,0.00,1.95,0.00,0.000,4,0.000,0.050,2156,3753,3978
$GC,5429,-1.36,-121.7,927.7,-19.7,528,5433,0.00,1.73,0.00,0.000,6,0.000,0.025,2156,2565,3977
$GC,5753,-1.36,-121.7,988.7,-18.8,544,5757,0.00,1.90,0.00,0.000,4,0.000,0.051,2152,3754,3975
$STATE,5763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5763,begin apogee
$GC,5773,-0.27,0.0,991.3,18.5,544,5871,1.12,0.00,94.22,1.405,6,0.158,0.000,2481,2365,3532
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5876,1.50,121.7,1000.2,0.0,549,5988,1.60,2.15,104.78,1.368,4,0.050,0.025,3073,996,3034
$GC,6248,0.79,155.4,990.0,10.8,565,6285,0.95,2.12,28.45,1.322,6,0.218,0.035,2837,2379,2898
$GC,6612,0.65,176.5,951.5,11.7,583,6637,0.17,2.15,18.58,1.287,4,0.199,0.028,2790,1012,2812
$GC,6721,0.72,201.0,939.1,11.4,587,6749,0.00,2.10,21.60,1.287,6,0.000,0.031,2790,2376,2712
$GC,7059,0.73,210.5,895.5,12.5,604,7073,0.00,2.22,9.45,1.171,4,0.000,0.051,2790,3743,2673
$GC,7311,0.65,210.5,858.2,15.2,615,7315,0.00,1.95,0.00,0.000,6,0.000,0.025,2799,2406,2670
$GC,7640,0.65,210.5,813.3,14.3,631,7644,0.00,2.15,0.00,0.000,4,0.000,0.050,2799,3752,2669
$GC,7669,0.57,210.5,808.5,16.5,632,7674,0.17,1.95,0.00,0.000,6,0.188,0.025,2765,2412,2668
$GC,7998,0.70,210.5,763.2,13.8,648,8003,0.12,2.15,0.00,0.000,4,0.084,0.047,2813,3763,2668
$GC,8117,0.55,210.5,742.8,18.0,653,8122,0.25,1.95,0.00,0.000,6,0.186,0.025,2757,2424,2667
$GC,8436,0.73,229.5,702.4,11.8,668,8459,0.17,2.22,16.38,1.184,4,0.076,0.050,2828,3764,2595
$GC,8511,0.57,229.5,689.7,19.5,671,8515,0.28,1.95,0.00,0.000,6,0.185,0.025,2766,2453,2594
$GC,8840,0.75,245.3,648.8,12.1,687,8864,0.17,2.12,13.65,1.131,4,0.074,0.050,2831,3749,2531
$GC,8992,0.61,245.3,622.3,18.6,693,8996,0.25,1.88,0.00,0.000,6,0.184,0.026,2776,2469,2529
$GC,9316,0.77,245.3,576.8,13.4,709,9320,0.15,2.08,0.00,0.000,4,0.077,0.051,2832,3757,2528
$GC,9454,0.64,245.3,551.8,18.5,715,9458,0.20,1.85,0.00,0.000,6,0.186,0.025,2791,2486,2528
$GC,9789,0.78,245.3,504.2,13.3,731,9793,0.12,2.03,0.00,0.000,4,0.080,0.051,2838,3757,2526
$GC,9892,0.64,245.3,486.4,17.6,738,9896,0.22,1.83,0.00,0.000,6,0.186,0.025,2790,2492,2527
$GC,10224,0.82,278.5,445.1,10.8,769,10258,0.17,2.08,28.12,1.042,4,0.073,0.051,2856,3763,2395
$GC,10299,0.70,278.5,433.1,18.7,775,10306,0.22,1.85,0.00,0.000,6,0.185,0.025,2809,2495,2393
$GC,10625,0.84,278.5,388.8,13.7,806,10627,0.12,0.00,0.00,0.000,6,0.086,0.000,2856,2493,2391
$GC,10949,0.84,278.5,335.3,17.2,836,10952,0.00,2.00,0.00,0.000,4,0.000,0.048,2856,3755,2390
$GC,11008,0.73,278.5,323.5,20.1,841,11012,0.17,1.83,0.00,0.000,6,0.183,0.024,2823,2481,2390
$GC,11346,0.87,278.5,271.1,15.6,888,11353,0.12,2.03,0.00,0.000,4,0.087,0.047,2873,3755,2390
$GC,11505,0.76,278.5,238.5,20.1,915,11511,0.20,1.80,0.00,0.000,6,0.180,0.025,2830,2505,2389
$GC,11853,0.91,290.0,188.3,12.4,976,11872,0.12,2.00,10.40,0.787,4,0.083,0.047,2881,3757,2348
$GC,11937,0.81,290.0,175.8,15.2,990,11945,0.17,1.75,0.00,0.000,6,0.185,0.023,2845,2525,2347
$GC,12287,0.99,315.0,131.3,11.4,1051,12312,0.15,0.00,21.20,0.769,6,0.078,0.000,2905,2522,2246
$GC,12653,0.99,315.0,79.3,17.9,1115,12659,0.00,2.28,0.00,0.000,4,0.000,0.027,2914,990,2243
$GC,12916,1.39,458.8,51.6,2.8,1161,13037,0.32,2.42,112.00,0.688,6,0.058,0.031,3034,2583,1660
$STATE,13245,end climb,SURFACE_DEPTH_REACHED
$STATE,13245,begin surface coast
$FINISH,1.9,1.005236
$STATE,13266,end surface coast,CONTROL_FINISHED_OK
$STATE,13266,begin surface
$SM_CCo,13289,10.05,0.578,0,0,1594,475.15
$SM_GC,4.12,0.00,0.00,10.05,0.000,0.000,0.578,144,2382,1594,-7.61,-0.03,475.15
$IRIDIUM_FIX,2515.12,12259.73,031298,050509
$TT8_MAMPS,0.029146
$HUMID,1858
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.00
$XPDR_PINGS,7
$24V_AH,23.1,113.824
$10V_AH,10.5,59.187
$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,28.000,111.900,478.825,10.050,0.000,31.508,31.822,252.896,9.750,0.000,0.000,16.663,2207.855,7920.570,557.644,2298.527,803.677,0.000,1739.681,0.000,2239.329,0.000,54.428,0.000
$DEVICE_MAMPS,230.100,52.156,1405.144,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,827.161,851.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66254,1222
$CAP_FILE_SIZE,144728,0
$CFSIZE,260165632,174366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.264, 23.7,1
$GPS,080909,132407,2522.160,12258.587,28,1.2,29,-3.7