version: 66.04
glider: 167
mission: 2
dive: 672
start: 9 9 109 12 32 34
data:
$ID,167
$MISSION,2
$DIVE,672
$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,-22557.803
$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,39
$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
$GPS1,122437,2523.913,12301.122,39,0.8,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-67.9
$GPS2,123214,2523.962,12301.295,11,1.5,11,-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,205.6,50773,-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,12,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,44,0.00,0.00,-25.30,0.000,2,0.000,0.000,137,2451,2225
$GC,50,-1.50,-121.7,3.2,-1.9,4,121,8.07,2.20,-54.20,0.000,4,0.231,0.036,2091,996,3990
$GC,258,-0.98,-121.7,64.5,-30.6,40,265,0.65,2.12,0.00,0.000,6,0.172,0.034,2258,2398,3992
$GC,606,-0.98,-121.7,129.5,-11.5,101,612,0.00,2.10,0.00,0.000,4,0.000,0.043,2249,3766,3995
$GC,688,-0.89,-121.7,142.4,-18.2,115,695,0.15,2.00,0.00,0.000,6,0.166,0.021,2288,2345,3996
$GC,1036,-1.21,-121.7,190.4,-10.7,176,1043,0.25,2.22,0.00,0.000,4,0.060,0.044,2178,3766,3997
$GC,1260,-0.95,-121.7,239.5,-22.1,215,1267,0.32,1.90,0.00,0.000,6,0.165,0.022,2267,2418,3997
$GC,1612,-1.18,-121.7,279.2,-11.8,276,1619,0.17,2.10,0.00,0.000,4,0.067,0.045,2189,3754,3997
$GC,1743,-1.00,-121.7,304.8,-21.1,296,1748,0.25,1.88,0.00,0.000,6,0.163,0.023,2256,2431,3997
$GC,2076,-1.26,-121.7,350.9,-12.9,327,2081,0.20,2.08,0.00,0.000,4,0.063,0.046,2166,3756,3997
$GC,2192,-1.08,-121.7,372.5,-19.7,337,2196,0.22,1.88,0.00,0.000,6,0.160,0.023,2226,2439,3997
$GC,2525,-1.24,-121.7,417.3,-12.4,368,2529,0.15,2.08,0.00,0.000,4,0.074,0.047,2162,3754,3997
$GC,2691,-1.05,-121.7,449.2,-21.0,382,2700,0.28,1.83,0.00,0.000,6,0.166,0.023,2236,2480,3996
$GC,3017,-1.28,-121.7,491.9,-12.3,413,3021,0.20,2.03,0.00,0.000,4,0.068,0.048,2151,3757,3995
$GC,3161,-1.10,-121.7,520.0,-21.8,422,3165,0.20,1.83,0.00,0.000,6,0.164,0.024,2223,2511,3994
$GC,3493,-1.32,-121.7,560.9,-11.1,438,3498,0.17,1.98,0.00,0.000,4,0.069,0.049,2149,3754,3993
$GC,3663,-1.18,-121.7,589.9,-16.5,445,3668,0.12,1.80,0.00,0.000,6,0.166,0.025,2198,2533,3992
$GC,3991,-1.32,-121.7,630.7,-13.0,461,3995,0.15,1.95,0.00,0.000,4,0.075,0.050,2140,3756,3989
$GC,4131,-1.18,-121.7,656.6,-18.8,467,4135,0.22,1.75,0.00,0.000,6,0.170,0.024,2197,2550,3988
$GC,4471,-1.32,-121.7,700.6,-13.1,483,4475,0.12,1.90,0.00,0.000,4,0.081,0.050,2149,3751,3986
$GC,4590,-1.26,-121.7,720.9,-15.6,488,4594,0.00,1.73,0.00,0.000,6,0.000,0.025,2148,2562,3985
$GC,4919,-1.26,-121.7,775.3,-17.3,504,4923,0.00,1.92,0.00,0.000,4,0.000,0.051,2141,3775,3983
$GC,4976,-1.13,-121.7,786.3,-18.8,506,4980,0.28,1.75,0.00,0.000,6,0.171,0.025,2213,2574,3982
$GC,5305,-1.38,-121.7,825.8,-11.4,522,5309,0.20,1.90,0.00,0.000,4,0.074,0.049,2126,3763,3980
$GC,5390,-1.21,-121.7,840.4,-17.6,525,5396,0.22,1.73,0.00,0.000,6,0.172,0.026,2183,2583,3979
$GC,5711,-1.36,-121.7,877.8,-11.2,541,5716,0.12,1.88,0.00,0.000,4,0.084,0.051,2137,3757,3977
$GC,5790,-1.27,-121.7,890.8,-16.5,544,5795,0.12,1.70,0.00,0.000,6,0.178,0.025,2166,2596,3976
$GC,6118,-1.35,-121.7,933.9,-12.3,560,6122,0.00,1.88,0.00,0.000,4,0.000,0.051,2165,3749,3974
$GC,6214,-1.35,-121.7,947.0,-13.2,564,6218,0.00,1.67,0.00,0.000,6,0.000,0.026,2165,2603,3974
$GC,6544,-1.44,-121.7,989.7,-12.7,580,6548,0.15,1.85,0.00,0.000,4,0.084,0.051,2102,3756,3972
$STATE,6552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6552,begin apogee
$GC,6563,-0.27,0.0,991.6,12.3,580,6668,1.38,0.00,95.75,1.396,6,0.173,0.000,2483,2358,3532
$STATE,6668,end apogee,CONTROL_FINISHED_OK
$STATE,6669,begin climb
$GC,6672,1.50,121.7,994.6,0.0,585,6785,1.60,2.33,104.95,1.377,4,0.052,0.044,3063,3753,3035
$GC,7040,0.55,121.7,959.9,17.1,601,7047,1.25,2.03,0.00,0.000,6,0.219,0.023,2760,2366,3031
$GC,7358,0.61,176.9,929.0,9.2,617,7410,0.00,2.33,46.20,1.336,4,0.000,0.050,2760,3743,2810
$GC,7664,0.55,176.9,890.1,14.3,630,7671,0.00,2.03,0.00,0.000,6,0.000,0.025,2763,2377,2805
$GC,7983,0.65,197.6,852.0,11.7,646,8006,0.00,2.30,17.38,1.256,4,0.000,0.049,2763,3760,2726
$GC,8126,0.65,197.6,832.3,14.3,652,8130,0.00,2.05,0.00,0.000,6,0.000,0.025,2771,2367,2723
$GC,8456,0.74,213.8,791.9,12.0,668,8479,0.15,2.25,15.07,1.217,4,0.077,0.049,2828,3758,2658
$GC,8607,0.53,213.8,768.5,15.2,674,8611,0.32,2.03,0.00,0.000,6,0.183,0.025,2752,2378,2656
$GC,8925,0.74,249.8,734.6,10.6,689,8964,0.20,0.00,30.83,1.234,6,0.073,0.000,2827,2373,2511
$GC,9273,0.74,249.8,681.8,15.5,706,9276,0.00,2.22,0.00,0.000,4,0.000,0.051,2827,3761,2508
$GC,9470,0.60,249.8,646.9,17.9,714,9475,0.22,2.03,0.00,0.000,6,0.186,0.025,2779,2381,2506
$GC,9787,0.74,249.8,601.6,13.6,729,9792,0.12,2.20,0.00,0.000,4,0.080,0.049,2828,3750,2506
$GC,9885,0.62,249.8,583.9,19.3,733,9889,0.20,1.98,0.00,0.000,6,0.187,0.026,2788,2398,2505
$GC,10207,0.76,249.8,537.5,14.2,749,10212,0.12,2.17,0.00,0.000,4,0.080,0.050,2836,3749,2504
$GC,10422,0.62,249.8,494.6,21.2,759,10428,0.25,1.95,0.00,0.000,6,0.180,0.025,2780,2418,2504
$GC,10748,0.78,249.8,445.8,14.9,790,10752,0.15,2.15,0.00,0.000,4,0.075,0.049,2838,3755,2504
$GC,10846,0.64,249.8,427.0,20.2,798,10850,0.22,1.95,0.00,0.000,6,0.182,0.024,2790,2414,2504
$GC,11179,0.80,249.8,371.9,16.8,829,11183,0.12,2.12,0.00,0.000,4,0.079,0.028,2841,992,2503
$GC,11276,0.87,249.8,355.0,17.9,837,11280,0.00,2.20,0.00,0.000,6,0.000,0.033,2841,2428,2502
$GC,11612,0.87,251.5,306.3,13.1,868,11616,0.00,2.10,0.00,0.000,4,0.000,0.051,2841,3754,2503
$GC,11872,0.76,251.5,268.6,14.4,910,11880,0.00,1.90,0.00,0.000,6,0.000,0.024,2851,2440,2503
$GC,12221,0.76,251.5,218.5,15.5,971,12227,0.00,2.10,0.00,0.000,4,0.000,0.051,2851,3751,2503
$GC,12375,0.65,251.5,192.2,18.2,997,12381,0.28,1.85,0.00,0.000,6,0.179,0.024,2788,2463,2502
$GC,12724,0.92,294.0,153.6,10.1,1058,12767,0.20,2.10,35.22,0.811,4,0.066,0.048,2877,3758,2331
$GC,12862,0.85,294.0,131.4,17.6,1081,12869,0.12,1.85,0.00,0.000,6,0.184,0.023,2857,2476,2328
$GC,13210,1.19,419.8,88.8,4.1,1142,13317,0.25,2.33,98.45,0.736,4,0.065,0.028,2973,987,1819
$GC,13346,1.28,419.8,75.0,15.7,1164,13353,0.00,2.25,0.00,0.000,6,0.000,0.031,2973,2448,1815
$GC,13694,1.38,422.7,23.2,13.0,1225,13700,0.15,2.05,0.00,0.000,4,0.074,0.046,3029,3756,1808
$GC,13725,1.21,422.7,17.8,17.7,1230,13733,0.28,1.88,0.00,0.000,6,0.183,0.021,2969,2430,1807
$STATE,13826,end climb,SURFACE_DEPTH_REACHED
$STATE,13826,begin surface coast
$FINISH,1.8,1.008164
$STATE,13860,end surface coast,CONTROL_FINISHED_OK
$STATE,13861,begin surface
$SM_CCo,13882,43.03,0.599,2,0,1594,475.15
$SM_GC,3.09,0.00,0.00,43.03,0.000,0.000,0.599,139,2424,1594,-7.63,1.16,475.15
$IRIDIUM_FIX,2512.73,12313.63,041298,080831
$TT8_MAMPS,0.029146
$HUMID,1843
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.10
$XPDR_PINGS,7
$24V_AH,23.0,115.011
$10V_AH,10.5,59.763
$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,28.400,116.350,443.850,43.025,0.000,27.349,30.000,221.459,9.750,0.000,0.000,11.191,2288.868,8251.471,601.812,2440.810,799.150,0.000,1829.716,0.000,2375.367,0.000,54.427,0.000
$DEVICE_MAMPS,230.867,51.389,1395.940,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,849.200,867.877,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66335,1253
$CAP_FILE_SIZE,150021,0
$CFSIZE,260165632,173842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.228, 18.1,1
$GPS,090909,162606,2524.119,12301.073,33,1.0,34,-3.7