version: 66.04
glider: 167
mission: 2
dive: 666
start: 9 8 109 13 35 34
data:
$ID,167
$MISSION,2
$DIVE,666
$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,-22419.762
$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,75
$R_STBD_OVSHOOT,38
$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
$GPS1,132407,2522.160,12258.587,28,1.2,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.8
$GPS2,133514,2522.217,12258.566,13,1.3,13,-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,208.3,48450,-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,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.52,0.000,2,0.000,0.000,144,2381,2140
$GC,45,-1.50,-121.7,3.0,-1.5,4,119,8.05,2.10,-57.95,0.000,4,0.229,0.036,2088,970,3989
$GC,377,-1.08,-121.7,104.6,-26.0,61,384,0.52,2.12,0.00,0.000,6,0.165,0.029,2224,2395,3992
$GC,723,-1.02,-121.7,165.3,-16.6,122,729,0.00,2.08,0.00,0.000,4,0.000,0.042,2217,3751,3995
$GC,951,-0.95,-121.7,208.6,-17.8,162,958,0.20,1.95,0.00,0.000,6,0.154,0.021,2273,2354,3996
$GC,1303,-1.21,-121.7,252.1,-12.4,223,1309,0.20,2.20,0.00,0.000,4,0.062,0.044,2179,3762,3996
$GC,1387,-1.08,-121.7,266.5,-17.9,237,1393,0.17,1.92,0.00,0.000,6,0.162,0.021,2224,2393,3996
$GC,1728,-1.22,-121.7,320.1,-15.1,286,1733,0.12,2.12,0.00,0.000,4,0.077,0.044,2168,3753,3996
$GC,1909,-1.06,-121.7,357.2,-21.9,301,1915,0.25,1.88,0.00,0.000,6,0.161,0.023,2236,2430,3996
$GC,2237,-1.25,-121.7,398.7,-11.9,332,2241,0.17,2.08,0.00,0.000,4,0.068,0.044,2163,3753,3995
$GC,2377,-1.09,-121.7,421.4,-17.2,344,2381,0.25,1.88,0.00,0.000,6,0.160,0.023,2230,2435,3995
$GC,2709,-1.31,-121.7,457.9,-10.9,375,2713,0.20,2.08,0.00,0.000,4,0.063,0.046,2146,3757,3993
$GC,2758,-1.17,-121.7,465.2,-17.4,379,2762,0.22,1.85,0.00,0.000,6,0.168,0.024,2204,2464,3992
$GC,3098,-1.30,-121.7,516.7,-15.6,406,3102,0.12,2.03,0.00,0.000,4,0.079,0.048,2152,3744,3991
$GC,3214,-1.16,-121.7,539.6,-20.8,411,3218,0.20,1.83,0.00,0.000,6,0.172,0.024,2202,2478,3990
$GC,3551,-1.34,-121.7,587.9,-13.3,427,3555,0.17,2.03,0.00,0.000,4,0.068,0.048,2126,3756,3987
$GC,3671,-1.14,-121.7,610.7,-19.7,432,3675,0.25,1.83,0.00,0.000,6,0.169,0.024,2211,2511,3986
$GC,4002,-1.35,-121.7,649.8,-11.1,448,4007,0.20,1.98,0.00,0.000,4,0.069,0.048,2126,3754,3983
$GC,4136,-1.17,-121.7,673.0,-17.9,453,4143,0.28,1.77,0.00,0.000,6,0.171,0.025,2198,2526,3982
$GC,4457,-1.36,-121.7,709.7,-11.2,469,4461,0.17,1.95,0.00,0.000,4,0.074,0.049,2124,3751,3980
$GC,4583,-1.19,-121.7,731.8,-18.5,474,4587,0.20,1.77,0.00,0.000,6,0.169,0.025,2191,2549,3979
$GC,4906,-1.35,-121.7,771.8,-11.0,490,4910,0.15,1.92,0.00,0.000,4,0.079,0.048,2128,3760,3976
$GC,4963,-1.23,-121.7,780.4,-15.8,492,4968,0.20,1.75,0.00,0.000,6,0.173,0.025,2178,2557,3975
$GC,5286,-1.34,-121.7,819.2,-11.7,508,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2557,3974
$GC,5597,-1.47,-121.7,855.4,-11.5,523,5601,0.20,1.92,0.00,0.000,4,0.073,0.051,2098,3756,3971
$GC,5666,-1.22,-121.7,867.4,-19.5,526,5670,0.28,1.77,0.00,0.000,6,0.174,0.025,2184,2569,3971
$GC,6002,-1.37,-121.7,909.9,-12.3,542,6007,0.15,1.90,0.00,0.000,4,0.078,0.051,2126,3753,3969
$GC,6144,-1.22,-121.7,932.6,-17.3,548,6148,0.22,1.73,0.00,0.000,6,0.177,0.027,2182,2579,3968
$GC,6482,-1.37,-121.7,971.9,-10.7,564,6487,0.15,1.88,0.00,0.000,4,0.081,0.051,2126,3751,3966
$GC,6600,-1.27,-121.7,988.0,-14.3,569,6605,0.17,1.70,0.00,0.000,6,0.177,0.026,2169,2591,3966
$STATE,6615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6615,begin apogee
$GC,6624,-0.27,0.0,990.4,13.6,570,6720,1.10,0.00,92.53,1.412,6,0.155,0.000,2487,2391,3532
$STATE,6721,end apogee,CONTROL_FINISHED_OK
$STATE,6721,begin climb
$GC,6726,1.50,121.7,991.5,0.0,575,6839,1.62,2.28,104.78,1.370,4,0.049,0.045,3074,3756,3036
$GC,7093,0.53,121.7,954.1,17.8,591,7099,1.30,2.08,0.00,0.000,6,0.221,0.023,2760,2331,3032
$GC,7416,0.59,170.4,919.4,9.7,607,7463,0.00,2.38,41.05,1.328,4,0.000,0.050,2760,3742,2837
$GC,7719,0.55,183.6,880.4,12.2,620,7735,0.00,2.03,11.60,1.207,6,0.000,0.025,2763,2379,2783
$GC,8068,0.65,188.1,837.2,12.9,637,8077,0.00,2.20,4.90,0.949,4,0.000,0.050,2763,3744,2765
$GC,8282,0.65,188.1,803.6,15.7,646,8286,0.00,2.03,0.00,0.000,6,0.000,0.027,2773,2372,2763
$GC,8605,0.72,188.1,759.3,13.3,662,8609,0.12,2.20,0.00,0.000,4,0.082,0.050,2821,3743,2763
$GC,8732,0.51,188.1,738.8,17.9,667,8738,0.30,1.98,0.00,0.000,6,0.187,0.025,2751,2398,2762
$GC,9049,0.70,224.6,703.6,10.6,683,9088,0.15,0.00,32.10,1.227,6,0.081,0.000,2810,2396,2614
$GC,9399,0.70,224.6,656.5,14.3,700,9402,0.00,2.17,0.00,0.000,4,0.000,0.051,2810,3754,2610
$GC,9659,0.59,224.6,613.2,18.1,711,9663,0.17,1.98,0.00,0.000,6,0.186,0.024,2774,2397,2609
$GC,9981,0.74,224.6,567.8,14.4,727,9985,0.12,2.17,0.00,0.000,4,0.081,0.048,2823,3755,2608
$GC,10212,0.60,224.6,525.4,18.0,737,10217,0.20,1.90,0.00,0.000,6,0.188,0.024,2779,2440,2608
$GC,10542,0.78,261.4,485.0,10.5,759,10574,0.15,0.00,29.40,1.085,6,0.078,0.000,2837,2435,2466
$GC,10893,0.78,261.4,437.2,15.7,792,10897,0.00,2.10,0.00,0.000,4,0.000,0.050,2837,3751,2462
$GC,10974,0.68,261.4,423.3,19.0,799,10978,0.17,1.92,0.00,0.000,6,0.185,0.025,2803,2430,2461
$GC,11305,0.82,261.4,374.7,15.1,830,11307,0.12,0.00,0.00,0.000,6,0.084,0.000,2853,2427,2460
$GC,11628,0.82,261.4,321.0,15.8,860,11631,0.00,2.10,0.00,0.000,4,0.000,0.049,2853,3745,2460
$GC,11868,0.71,261.4,280.5,16.5,891,11874,0.20,1.90,0.00,0.000,6,0.182,0.025,2812,2443,2459
$GC,12216,0.85,261.4,234.6,13.3,952,12224,0.12,2.10,0.00,0.000,4,0.085,0.048,2861,3755,2459
$GC,12481,0.74,261.4,186.8,17.9,998,12487,0.20,1.85,0.00,0.000,6,0.179,0.023,2819,2458,2459
$GC,12829,0.94,310.9,149.3,9.6,1059,12877,0.17,2.25,39.80,0.813,4,0.074,0.028,2900,983,2263
$GC,12955,0.94,310.9,132.2,14.3,1080,12962,0.00,2.25,0.00,0.000,6,0.000,0.031,2900,2447,2260
$GC,13304,0.94,310.9,78.4,16.4,1141,13310,0.00,2.05,0.00,0.000,4,0.000,0.051,2900,3747,2258
$GC,13377,0.90,336.4,68.5,11.4,1153,13406,0.15,1.85,20.90,0.721,6,0.176,0.023,2871,2450,2159
$GC,13751,1.31,429.7,49.6,6.4,1218,13832,0.32,2.10,73.07,0.686,4,0.058,0.047,3005,3747,1779
$STATE,14039,end climb,SURFACE_DEPTH_REACHED
$STATE,14039,begin surface coast
$FINISH,1.8,1.009098
$STATE,14057,end surface coast,CONTROL_FINISHED_OK
$STATE,14057,begin surface
$SM_CCo,14082,33.20,0.625,0,0,1595,475.15
$SM_GC,2.81,0.00,0.00,33.20,0.000,0.000,0.625,139,2373,1595,-7.63,-0.28,475.15
$IRIDIUM_FIX,2515.12,12257.73,031298,131349
$TT8_MAMPS,0.029146
$HUMID,1861
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,23.1,113.999
$10V_AH,10.5,59.273
$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,28.175,104.125,450.125,33.200,0.000,55.885,69.290,296.908,9.250,0.000,0.000,13.890,2311.518,8470.158,574.345,2476.644,940.829,0.000,1801.942,0.000,2413.760,0.000,57.420,0.000
$DEVICE_MAMPS,228.566,50.622,1412.047,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,862.639,875.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69461,1272
$CAP_FILE_SIZE,149974,0
$CFSIZE,260165632,174288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202, 31.5,1
$GPS,080909,173206,2522.242,12258.981,33,0.8,34,-3.7