version: 66.04
glider: 167
mission: 2
dive: 669
start: 9 9 109 1 41 4
data:
$ID,167
$MISSION,2
$DIVE,669
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,200
$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,-22501.029
$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,90
$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
$GPS1,013207,2522.963,12300.205,34,1.2,35,-3.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.2
$GPS2,014043,2523.113,12300.275,14,1.8,31,-3.7
$SPEED_LIMITS,0.173,0.239
$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,210.9,49485,-20.0,-10.000
$D_GRID,1292
$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,18,-1.23,-121.7,0.0,0.0,0,40,0.00,0.00,-20.35,0.000,2,0.000,0.000,143,2371,2101
$GC,45,-1.23,-121.7,3.0,-1.2,3,123,8.25,2.22,-61.60,0.000,4,0.223,0.054,2169,3757,3990
$GC,380,-0.67,-121.7,102.9,-20.8,61,388,0.68,1.95,0.00,0.000,6,0.165,0.021,2359,2372,3992
$GC,729,-0.97,-121.7,131.9,-6.3,122,735,0.22,1.98,0.00,0.000,4,0.057,0.021,2258,998,3995
$GC,924,-0.97,-121.7,159.9,-13.3,156,930,0.00,2.10,0.00,0.000,6,0.000,0.029,2258,2409,3996
$GC,1271,-0.90,-121.7,204.6,-11.6,217,1279,0.12,2.08,0.00,0.000,4,0.160,0.044,2288,3748,3997
$GC,1399,-0.97,-121.7,216.8,-9.5,238,1405,0.00,1.90,0.00,0.000,6,0.000,0.022,2288,2399,3996
$GC,1747,-1.10,-121.7,246.3,-6.7,299,1754,0.17,2.12,0.00,0.000,4,0.067,0.045,2205,3750,3996
$GC,1889,-0.79,-121.7,268.7,-18.4,323,1896,0.40,1.85,0.00,0.000,6,0.153,0.023,2321,2444,3996
$GC,2241,-1.09,-121.7,303.8,-11.4,382,2246,0.22,2.05,0.00,0.000,4,0.063,0.045,2221,3750,3996
$GC,2411,-0.93,-121.7,332.8,-16.4,396,2417,0.20,1.80,0.00,0.000,6,0.149,0.022,2277,2481,3996
$GC,2737,-1.07,-121.7,369.1,-10.7,427,2739,0.12,0.00,0.00,0.000,6,0.077,0.000,2225,2480,3995
$GC,3055,-1.07,-121.7,413.5,-13.0,457,3059,0.00,2.00,0.00,0.000,4,0.000,0.048,2219,3758,3993
$GC,3264,-0.98,-121.7,444.3,-14.3,475,3271,0.17,1.80,0.00,0.000,6,0.149,0.024,2266,2504,3993
$GC,3591,-1.14,-121.7,476.5,-8.7,506,3595,0.17,1.98,0.00,0.000,4,0.070,0.047,2194,3756,3992
$GC,3678,-0.98,-121.7,487.5,-13.3,513,3685,0.22,1.75,0.00,0.000,6,0.152,0.024,2256,2533,3991
$GC,4013,-1.12,-121.7,513.8,-7.7,536,4017,0.12,1.92,0.00,0.000,4,0.076,0.048,2205,3746,3989
$GC,4106,-1.04,-121.7,524.2,-12.1,540,4114,0.15,1.73,0.00,0.000,6,0.153,0.024,2245,2550,3989
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4283,-0.27,0.0,541.6,9.8,548,4377,0.77,0.00,90.50,1.051,6,0.133,0.000,2485,2397,3532
$STATE,4378,end apogee,CONTROL_FINISHED_OK
$STATE,4378,begin climb
$GC,4382,1.23,121.7,544.8,0.0,553,4490,1.33,0.00,97.32,1.019,6,0.049,0.000,2979,2397,3034
$GC,4798,0.49,155.5,529.8,8.1,573,4832,0.88,2.20,27.00,0.996,4,0.196,0.049,2743,3757,2897
$GC,4885,0.34,198.1,524.2,7.7,577,4929,0.22,2.10,34.45,0.995,6,0.179,0.021,2689,2326,2723
$GC,5243,0.58,245.6,500.8,7.4,594,5287,0.17,2.38,38.05,1.001,4,0.077,0.047,2764,3755,2529
$GC,5415,0.48,245.6,477.7,15.6,608,5419,0.15,2.05,0.00,0.000,6,0.173,0.022,2734,2359,2525
$GC,5746,0.60,245.6,433.8,13.6,639,5751,0.12,2.22,0.00,0.000,4,0.084,0.048,2788,3757,2522
$GC,5885,0.42,245.6,409.2,18.6,650,5892,0.30,2.00,0.00,0.000,6,0.170,0.023,2715,2365,2522
$GC,6211,0.60,245.6,368.9,11.5,681,6216,0.17,2.20,0.00,0.000,4,0.074,0.047,2787,3750,2519
$GC,6351,0.44,245.6,347.4,16.5,692,6357,0.28,1.95,0.00,0.000,6,0.169,0.023,2720,2390,2519
$GC,6679,0.66,269.4,313.8,8.7,723,6700,0.20,0.00,18.42,0.901,6,0.069,0.000,2802,2386,2433
$GC,7028,0.66,269.4,271.7,12.1,775,7034,0.00,2.15,0.00,0.000,4,0.000,0.047,2802,3747,2429
$GC,7133,0.53,269.4,256.6,16.1,793,7141,0.22,1.95,0.00,0.000,6,0.164,0.022,2748,2380,2428
$GC,7483,0.69,269.4,212.5,13.9,854,7490,0.15,2.17,0.00,0.000,4,0.072,0.047,2810,3751,2427
$GC,7745,0.54,269.4,168.4,15.8,900,7752,0.25,1.92,0.00,0.000,6,0.163,0.022,2751,2402,2427
$GC,8095,0.74,302.8,136.4,8.2,961,8128,0.17,2.22,26.92,0.771,4,0.071,0.047,2826,3755,2297
$GC,8368,0.64,302.8,96.7,14.9,1008,8374,0.17,1.92,0.00,0.000,6,0.164,0.022,2789,2410,2293
$GC,8716,0.90,347.3,69.3,7.5,1069,8757,0.20,0.00,35.15,0.707,6,0.064,0.000,2880,2407,2114
$GC,9101,1.06,395.3,28.8,7.4,1136,9144,0.12,2.17,37.60,0.661,4,0.079,0.026,2938,995,1919
$STATE,9365,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,1.9,1.012702
$STATE,9398,end surface coast,CONTROL_FINISHED_OK
$STATE,9398,begin surface
$SM_CCo,9421,59.62,0.627,0,0,1594,475.15
$SM_GC,3.20,0.00,0.00,59.62,0.000,0.000,0.627,141,2389,1594,-7.62,0.17,475.15
$IRIDIUM_FIX,2512.73,12301.73,031298,212120
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.10
$XPDR_PINGS,11
$24V_AH,23.5,114.484
$10V_AH,10.6,59.510
$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,24.675,65.175,405.425,59.625,0.000,27.552,32.433,259.268,6.250,0.000,0.000,31.344,2020.544,4714.454,556.515,1968.824,729.470,0.000,1527.554,0.000,1915.818,0.000,24.393,0.000
$DEVICE_MAMPS,223.197,54.457,1050.790,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.104,878.519,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63202,1188
$CAP_FILE_SIZE,110884,0
$CFSIZE,260165632,174100480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.371, 14.1,1
$GPS,090909,042031,2524.309,12300.298,40,1.3,40,-3.7