version: 66.04
glider: 167
mission: 2
dive: 668
start: 9 8 109 21 48 4
data:
$ID,167
$MISSION,2
$DIVE,668
$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,-22469.057
$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,81
$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
$GPS1,213638,2522.010,12300.219,25,1.4,27,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-67.9
$GPS2,214746,2522.314,12300.639,14,99.0,33,-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,219.1,47924,-25.0,-13.200
$D_GRID,1249
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.50,-121.7,0.0,0.0,0,43,0.00,0.00,-22.77,0.000,2,0.000,0.000,138,2470,2174
$GC,47,-1.50,-121.7,3.1,-2.3,4,119,8.05,2.22,-57.72,0.000,4,0.229,0.035,2094,985,3989
$GC,240,-0.95,-121.7,58.4,-37.0,37,247,0.68,2.12,0.00,0.000,6,0.173,0.035,2269,2386,3991
$GC,588,-1.03,-121.7,123.3,-17.0,98,594,0.00,2.10,0.00,0.000,4,0.000,0.041,2260,3763,3993
$GC,749,-1.03,-121.7,147.9,-16.2,126,755,0.00,1.95,0.00,0.000,6,0.000,0.021,2260,2363,3994
$GC,1097,-1.18,-121.7,206.2,-16.7,187,1103,0.17,0.00,0.00,0.000,6,0.064,0.000,2178,2360,3995
$GC,1445,-1.08,-121.7,278.9,-18.5,248,1451,0.20,2.17,0.00,0.000,4,0.161,0.044,2232,3753,3996
$GC,1599,-1.16,-121.7,304.2,-13.9,272,1603,0.00,1.90,0.00,0.000,6,0.000,0.022,2232,2401,3995
$GC,1931,-1.31,-121.7,355.7,-17.1,303,1936,0.20,2.12,0.00,0.000,4,0.062,0.045,2140,3752,3995
$GC,2174,-1.08,-121.7,416.4,-24.9,324,2181,0.32,1.85,0.00,0.000,6,0.164,0.023,2228,2448,3995
$GC,2501,-1.27,-121.7,464.2,-12.6,355,2506,0.17,2.05,0.00,0.000,4,0.069,0.045,2152,3753,3994
$GC,2587,-1.15,-121.7,478.7,-17.6,362,2594,0.20,1.85,0.00,0.000,6,0.164,0.024,2204,2456,3993
$GC,2912,-1.28,-121.7,522.1,-13.0,385,2916,0.12,2.05,0.00,0.000,4,0.079,0.054,2152,3751,3992
$GC,3077,-1.18,-121.7,548.7,-17.5,392,3082,0.17,1.83,0.00,0.000,6,0.168,0.024,2196,2487,3991
$GC,3414,-1.30,-121.7,604.1,-17.3,408,3419,0.12,2.00,0.00,0.000,4,0.081,0.048,2144,3753,3987
$GC,3565,-1.15,-121.7,636.7,-21.3,414,3570,0.17,1.83,0.00,0.000,6,0.170,0.025,2203,2515,3986
$GC,3891,-1.33,-121.7,682.7,-13.1,430,3895,0.15,1.98,0.00,0.000,4,0.073,0.049,2145,3759,3983
$GC,3967,-1.23,-121.7,695.2,-17.6,433,3971,0.10,1.83,0.00,0.000,6,0.176,0.025,2174,2520,3982
$GC,4298,-1.31,-121.7,739.2,-11.7,449,4301,0.00,1.98,0.00,0.000,4,0.000,0.051,2174,3761,3980
$GC,4439,-1.37,-121.7,756.1,-11.0,455,4443,0.00,1.77,0.00,0.000,6,0.000,0.026,2174,2543,3978
$GC,4774,-1.47,-121.7,795.6,-12.3,471,4778,0.17,1.95,0.00,0.000,4,0.077,0.051,2097,3761,3975
$GC,4809,-1.26,-121.7,801.5,-18.3,472,4813,0.28,1.77,0.00,0.000,6,0.178,0.025,2168,2543,3975
$GC,5133,-1.33,-121.7,851.3,-14.6,488,5137,0.00,1.95,0.00,0.000,4,0.000,0.051,2166,3747,3973
$GC,5241,-1.33,-121.7,869.3,-17.4,492,5247,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2563,3972
$GC,5559,-1.42,-121.7,917.4,-15.1,508,5563,0.12,1.90,0.00,0.000,4,0.087,0.049,2111,3754,3969
$GC,5724,-1.24,-121.7,949.3,-19.3,515,5732,0.25,1.73,0.00,0.000,6,0.176,0.026,2175,2573,3968
$STATE,6030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6030,begin apogee
$GC,6039,-0.27,0.0,990.4,12.7,530,6135,1.08,0.00,92.28,1.404,6,0.153,0.000,2489,2420,3532
$STATE,6136,end apogee,CONTROL_FINISHED_OK
$STATE,6136,begin climb
$GC,6140,1.50,121.7,993.5,0.0,535,6253,1.58,2.30,104.43,1.364,4,0.050,0.025,3073,996,3035
$GC,6507,0.75,121.7,968.3,14.3,551,6513,0.95,2.10,0.00,0.000,6,0.206,0.033,2828,2369,3030
$GC,6832,0.65,193.4,939.3,8.0,567,6897,0.15,2.20,59.25,1.337,4,0.194,0.030,2797,1015,2743
$GC,7058,0.70,193.4,914.3,13.5,577,7062,0.00,2.08,0.00,0.000,6,0.000,0.034,2798,2360,2738
$GC,7391,0.72,205.1,872.4,12.4,593,7406,0.00,2.22,10.32,1.184,4,0.000,0.050,2798,3757,2695
$GC,7548,0.60,205.1,850.6,15.3,599,7552,0.00,2.00,0.00,0.000,6,0.000,0.024,2803,2398,2694
$GC,7881,0.60,205.1,805.6,13.2,615,7885,0.00,2.17,0.00,0.000,4,0.000,0.051,2803,3758,2692
$GC,7955,0.47,205.1,794.5,15.5,618,7960,0.30,2.03,0.00,0.000,6,0.182,0.025,2733,2378,2691
$GC,8279,0.74,233.6,758.8,11.1,634,8311,0.20,2.30,24.70,1.234,4,0.077,0.051,2815,3758,2579
$GC,8476,0.63,233.6,724.3,17.9,642,8483,0.15,2.03,0.00,0.000,6,0.192,0.025,2789,2378,2575
$GC,8793,0.74,233.6,674.5,15.7,658,8797,0.00,2.20,0.00,0.000,4,0.000,0.049,2789,3755,2574
$GC,8850,0.74,233.6,664.7,17.4,660,8854,0.00,1.98,0.00,0.000,6,0.000,0.025,2793,2395,2574
$GC,9174,0.84,233.6,615.2,14.8,676,9179,0.15,2.20,0.00,0.000,4,0.077,0.049,2853,3765,2572
$GC,9248,0.62,233.6,601.2,20.2,679,9252,0.32,2.00,0.00,0.000,6,0.185,0.026,2780,2401,2572
$GC,9572,0.79,248.1,559.5,12.2,695,9594,0.15,2.25,12.00,1.068,4,0.080,0.051,2837,3760,2519
$GC,9664,0.65,248.1,544.5,17.0,699,9669,0.22,2.03,0.00,0.000,6,0.183,0.025,2790,2379,2518
$GC,9992,0.82,267.8,504.9,11.8,715,10016,0.15,2.30,17.52,1.060,4,0.078,0.051,2847,3763,2439
$GC,10129,0.70,267.8,481.4,19.4,724,10136,0.20,2.03,0.00,0.000,6,0.182,0.027,2806,2390,2437
$GC,10455,0.84,268.6,435.6,13.1,755,10460,0.12,2.20,0.00,0.000,4,0.084,0.049,2854,3758,2436
$GC,10629,0.71,268.6,404.0,18.5,770,10636,0.20,1.98,0.00,0.000,6,0.182,0.025,2813,2399,2436
$GC,10956,0.85,268.6,353.0,16.2,801,10960,0.12,2.10,0.00,0.000,4,0.087,0.029,2868,1002,2435
$GC,10991,0.85,268.6,346.9,17.3,804,10995,0.00,2.15,0.00,0.000,6,0.000,0.032,2868,2400,2435
$GC,11323,0.85,268.6,286.4,16.3,841,11329,0.00,2.15,0.00,0.000,4,0.000,0.051,2868,3761,2435
$GC,11428,0.72,268.6,267.4,18.6,859,11436,0.25,1.95,0.00,0.000,6,0.177,0.026,2813,2423,2434
$GC,11778,0.89,268.6,218.0,14.4,920,11784,0.15,2.15,0.00,0.000,4,0.080,0.049,2872,3764,2434
$GC,11946,0.76,268.6,185.8,18.7,949,11953,0.22,1.95,0.00,0.000,6,0.174,0.025,2823,2421,2434
$GC,12294,1.05,344.9,138.9,7.7,1010,12365,0.22,2.22,61.33,0.790,4,0.067,0.028,2929,994,2125
$GC,12503,1.05,344.9,102.8,17.3,1046,12509,0.00,2.10,0.00,0.000,6,0.000,0.031,2928,2366,2120
$GC,12849,1.23,421.7,64.2,7.6,1107,12913,0.15,0.00,60.50,0.705,6,0.070,0.000,2988,2367,1811
$GC,13258,1.23,421.7,3.1,13.7,1178,13264,0.00,2.15,0.00,0.000,4,0.000,0.041,2988,3765,1801
$STATE,13269,end climb,SURFACE_DEPTH_REACHED
$STATE,13269,begin surface coast
$FINISH,1.9,0.997875
$STATE,13303,end surface coast,CONTROL_FINISHED_OK
$STATE,13303,begin surface
$SM_CCo,13327,38.78,0.634,0,0,1595,475.15
$SM_GC,3.16,0.00,0.00,38.78,0.000,0.000,0.634,143,2371,1595,-7.62,-0.34,475.15
$IRIDIUM_FIX,2510.35,12301.73,031298,212125
$TT8_MAMPS,0.029146
$HUMID,1834
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.1,114.348
$10V_AH,10.5,59.438
$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,26.475,110.325,442.325,38.775,0.000,60.343,117.816,227.880,11.750,0.000,0.000,34.534,2157.018,8049.847,566.208,2338.985,908.215,0.000,1745.045,0.000,2256.763,0.000,54.436,0.000
$DEVICE_MAMPS,228.566,53.690,1404.377,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.253,826.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63211,1186
$CAP_FILE_SIZE,142514,0
$CFSIZE,260165632,174145536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 22.0,1
$GPS,090909,013207,2522.963,12300.205,34,1.2,35,-3.7