version: 66.04
glider: 167
mission: 2
dive: 671
start: 9 9 109 8 42 10
data:
$ID,167
$MISSION,2
$DIVE,671
$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,-22545.982
$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,104
$R_STBD_OVSHOOT,44
$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
$GPS1,083124,2523.932,12300.847,24,1.2,42,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-67.7
$GPS2,084150,2524.087,12301.227,13,1.8,13,-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,217.5,51020,-25.0,-13.200
$D_GRID,1116
$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,18,-1.50,-121.7,0.0,0.0,0,43,0.00,0.00,-22.77,0.000,2,0.000,0.000,140,2390,2170
$GC,47,-1.50,-121.7,3.0,-1.5,4,116,7.93,2.08,-56.05,0.000,4,0.224,0.036,2097,1016,3989
$GC,304,-1.14,-121.7,87.3,-27.9,48,311,0.45,2.08,0.00,0.000,6,0.166,0.031,2211,2391,3992
$GC,652,-0.92,-121.7,152.0,-23.2,109,659,0.22,0.00,0.00,0.000,6,0.170,0.000,2278,2392,3994
$GC,1001,-1.18,-121.7,206.9,-13.9,170,1007,0.20,2.10,0.00,0.000,4,0.065,0.044,2189,3749,3996
$GC,1173,-1.00,-121.7,238.1,-19.7,200,1180,0.25,1.92,0.00,0.000,6,0.158,0.021,2258,2379,3996
$GC,1521,-1.23,-121.7,283.0,-14.8,261,1529,0.20,2.15,0.00,0.000,4,0.063,0.044,2166,3754,3996
$GC,1628,-1.08,-121.7,304.6,-21.1,278,1633,0.25,1.90,0.00,0.000,6,0.156,0.021,2234,2407,3996
$GC,1961,-1.28,-121.7,352.2,-13.0,309,1965,0.20,2.10,0.00,0.000,4,0.066,0.044,2141,3754,3996
$GC,2117,-1.01,-121.7,387.6,-24.2,322,2124,0.40,1.88,0.00,0.000,6,0.169,0.022,2250,2433,3994
$GC,2444,-1.33,-121.7,432.8,-11.5,353,2448,0.25,2.05,0.00,0.000,4,0.062,0.046,2143,3747,3994
$GC,2595,-1.13,-121.7,461.7,-21.0,366,2600,0.28,1.85,0.00,0.000,6,0.167,0.023,2216,2456,3992
$GC,2936,-1.30,-121.7,512.6,-13.9,394,2940,0.17,2.05,0.00,0.000,4,0.071,0.047,2137,3754,3991
$GC,3038,-1.10,-121.7,531.9,-19.8,398,3043,0.32,1.85,0.00,0.000,6,0.167,0.023,2224,2461,3990
$GC,3362,-1.33,-121.7,569.5,-11.5,414,3366,0.20,2.03,0.00,0.000,4,0.070,0.048,2140,3748,3987
$GC,3487,-1.15,-121.7,592.8,-20.3,419,3491,0.25,1.80,0.00,0.000,6,0.170,0.024,2205,2500,3986
$GC,3810,-1.32,-121.7,638.0,-13.4,435,3814,0.15,2.00,0.00,0.000,4,0.073,0.049,2146,3759,3983
$GC,3936,-1.19,-121.7,661.3,-20.6,440,3940,0.20,1.83,0.00,0.000,6,0.170,0.025,2196,2501,3982
$GC,4261,-1.34,-121.7,704.3,-12.0,456,4266,0.15,2.00,0.00,0.000,4,0.078,0.050,2137,3755,3980
$GC,4365,-1.23,-121.7,720.5,-15.5,460,4369,0.17,1.80,0.00,0.000,6,0.172,0.025,2180,2515,3979
$GC,4687,-1.34,-121.7,768.8,-15.9,476,4691,0.00,1.98,0.00,0.000,4,0.000,0.051,2178,3758,3976
$GC,4830,-1.39,-121.7,792.6,-17.6,482,4834,0.10,1.80,0.00,0.000,6,0.067,0.026,2131,2550,3975
$GC,5162,-1.33,-121.7,853.8,-19.4,498,5165,0.00,1.92,0.00,0.000,4,0.000,0.051,2126,3757,3973
$GC,5354,-1.17,-121.7,894.6,-20.4,506,5358,0.28,1.75,0.00,0.000,6,0.170,0.026,2198,2559,3972
$GC,5682,-1.39,-121.7,937.8,-10.6,522,5686,0.17,1.92,0.00,0.000,4,0.076,0.051,2126,3756,3970
$GC,5825,-1.28,-121.7,961.9,-16.1,528,5830,0.12,1.75,0.00,0.000,6,0.171,0.025,2161,2577,3969
$STATE,6067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6067,begin apogee
$GC,6077,-0.27,0.0,990.7,9.6,540,6181,1.10,0.00,94.62,1.387,6,0.145,0.000,2489,2403,3532
$STATE,6181,end apogee,CONTROL_FINISHED_OK
$STATE,6181,begin climb
$GC,6185,1.50,121.7,993.3,0.0,545,6298,1.58,2.33,104.43,1.365,4,0.051,0.026,3071,956,3035
$GC,6557,0.72,121.7,955.8,18.6,561,6563,1.00,2.17,0.00,0.000,6,0.209,0.035,2817,2368,3030
$GC,6874,0.60,169.7,919.4,9.7,576,6922,0.15,2.28,40.00,1.318,4,0.198,0.028,2788,952,2839
$GC,7122,0.69,199.2,887.3,11.1,587,7153,0.00,2.17,25.17,1.276,6,0.000,0.033,2787,2363,2719
$GC,7471,0.69,199.2,841.4,14.8,604,7475,0.00,2.22,0.00,0.000,4,0.000,0.052,2788,3764,2714
$GC,7612,0.58,199.2,817.7,17.3,610,7616,0.00,2.12,0.00,0.000,6,0.000,0.026,2790,2338,2713
$GC,7942,0.58,199.2,771.6,14.2,626,7946,0.00,2.28,0.00,0.000,4,0.000,0.049,2791,3760,2712
$GC,8073,0.47,199.2,750.2,16.6,632,8078,0.22,2.08,0.00,0.000,6,0.184,0.025,2733,2355,2711
$GC,8402,0.70,204.4,706.5,12.8,648,8412,0.17,2.08,4.57,0.885,4,0.077,0.031,2815,977,2698
$GC,8448,0.70,204.4,700.0,13.3,650,8452,0.00,2.15,0.00,0.000,6,0.000,0.034,2815,2377,2698
$GC,8783,0.72,221.7,656.5,11.9,666,8805,0.00,2.20,16.25,1.157,4,0.000,0.049,2815,3753,2627
$GC,9059,0.58,221.7,616.7,14.6,678,9064,0.20,2.03,0.00,0.000,6,0.186,0.025,2774,2372,2624
$GC,9384,0.77,263.1,582.0,10.2,694,9426,0.15,2.30,34.38,1.141,4,0.076,0.051,2831,3748,2458
$GC,9579,0.67,263.1,550.6,17.2,702,9586,0.17,2.00,0.00,0.000,6,0.185,0.025,2798,2391,2454
$GC,9898,0.81,270.9,510.9,12.6,718,9913,0.12,2.25,7.30,0.947,4,0.083,0.048,2846,3761,2427
$GC,10140,0.68,270.9,464.9,20.7,736,10146,0.20,2.00,0.00,0.000,6,0.183,0.025,2805,2398,2425
$GC,10466,0.80,270.9,411.8,16.4,767,10469,0.00,2.12,0.00,0.000,4,0.000,0.029,2814,971,2424
$GC,10506,0.99,270.9,404.8,16.3,770,10513,0.22,2.20,0.00,0.000,6,0.069,0.032,2898,2410,2424
$GC,10832,0.87,270.9,341.3,19.5,801,10837,0.15,2.15,0.00,0.000,4,0.185,0.049,2861,3761,2424
$GC,11094,0.71,270.9,290.2,20.1,827,11101,0.22,1.95,0.00,0.000,6,0.179,0.024,2811,2416,2423
$GC,11443,0.93,316.7,247.5,9.9,888,11486,0.17,2.22,37.83,0.890,4,0.076,0.048,2885,3751,2239
$GC,11517,0.80,316.7,238.2,14.5,900,11523,0.22,1.98,0.00,0.000,6,0.177,0.023,2836,2408,2236
$GC,11865,0.95,316.7,194.1,16.8,961,11874,0.15,2.15,0.00,0.000,4,0.077,0.045,2896,3761,2233
$GC,11951,0.82,316.7,175.5,22.1,975,11957,0.22,1.92,0.00,0.000,6,0.178,0.023,2847,2427,2233
$GC,12299,0.99,323.6,126.5,12.7,1036,12313,0.15,2.15,5.97,0.649,4,0.077,0.028,2917,973,2212
$GC,12425,1.08,323.6,104.6,18.9,1057,12432,0.00,2.20,0.00,0.000,6,0.000,0.032,2917,2422,2212
$GC,12773,1.22,441.1,61.0,4.7,1118,12873,0.15,2.28,93.07,0.703,4,0.071,0.026,2988,983,1732
$GC,13085,1.36,441.1,18.8,16.2,1172,13091,0.00,2.22,0.00,0.000,6,0.000,0.030,2988,2447,1724
$STATE,13190,end climb,SURFACE_DEPTH_REACHED
$STATE,13190,begin surface coast
$FINISH,1.8,1.021111
$STATE,13218,end surface coast,CONTROL_FINISHED_OK
$STATE,13218,begin surface
$SM_CCo,13240,23.92,0.624,0,0,1594,475.15
$SM_GC,2.40,0.00,0.00,23.92,0.000,0.000,0.624,137,2451,1594,-7.64,1.92,475.15
$IRIDIUM_FIX,2515.12,12316.93,041298,040445
$TT8_MAMPS,0.029146
$HUMID,1837
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,14
$24V_AH,23.1,114.840
$10V_AH,10.5,59.680
$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,27.500,106.975,463.600,23.925,0.000,66.183,84.089,231.271,11.750,0.000,0.000,13.468,2193.447,7847.497,561.746,2408.413,867.183,0.000,1771.196,0.000,2337.215,0.000,57.241,0.000
$DEVICE_MAMPS,223.964,52.156,1386.736,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,809.729,815.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63186,1195
$CAP_FILE_SIZE,144937,0
$CFSIZE,260165632,173928448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169, 41.7,1
$GPS,090909,122437,2523.913,12301.122,39,0.8,40,-3.7