version: 66.04
glider: 167
mission: 2
dive: 673
start: 9 9 109 16 34 34
data:
$ID,167
$MISSION,2
$DIVE,673
$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,-22572.814
$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,85
$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
$GPS1,162606,2524.119,12301.073,33,1.0,34,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.0
$GPS2,163414,2524.309,12301.193,14,1.5,14,-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,198.4,51434,-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,17,-1.50,-121.7,0.0,0.0,0,44,0.00,0.00,-25.62,0.000,2,0.000,0.000,139,2424,2237
$GC,50,-1.50,-121.7,3.2,-1.5,4,119,7.97,2.10,-54.55,0.000,4,0.225,0.035,2096,989,3989
$GC,252,-0.79,-121.7,64.0,-40.0,38,259,0.88,2.10,0.00,0.000,6,0.183,0.029,2322,2391,3992
$GC,601,-1.14,-121.7,112.0,-11.7,99,607,0.28,2.10,0.00,0.000,4,0.057,0.043,2196,3753,3995
$GC,778,-0.87,-121.7,150.9,-24.0,129,786,0.35,1.92,0.00,0.000,6,0.166,0.021,2293,2372,3996
$GC,1128,-1.22,-121.7,192.1,-9.1,190,1134,0.28,2.17,0.00,0.000,4,0.057,0.044,2176,3756,3997
$GC,1306,-1.00,-121.7,225.3,-19.0,221,1314,0.28,1.88,0.00,0.000,6,0.162,0.022,2250,2426,3997
$GC,1657,-1.22,-121.7,273.1,-13.4,282,1664,0.17,2.08,0.00,0.000,4,0.066,0.044,2178,3750,3997
$GC,1774,-1.00,-121.7,297.5,-23.7,302,1781,0.28,1.88,0.00,0.000,6,0.163,0.022,2253,2424,3996
$GC,2110,-1.27,-121.7,338.4,-11.6,334,2114,0.20,2.08,0.00,0.000,4,0.064,0.045,2166,3743,3997
$GC,2307,-1.11,-121.7,374.3,-17.5,351,2315,0.20,1.83,0.00,0.000,6,0.163,0.022,2218,2458,3997
$GC,2634,-1.26,-121.7,414.3,-12.6,382,2636,0.12,0.00,0.00,0.000,6,0.077,0.000,2165,2457,3995
$GC,2952,-1.20,-121.7,464.3,-15.3,412,2955,0.00,2.03,0.00,0.000,4,0.000,0.046,2159,3747,3993
$GC,3195,-1.09,-121.7,501.2,-15.9,433,3203,0.25,1.85,0.00,0.000,6,0.163,0.024,2226,2463,3993
$GC,3514,-1.32,-121.7,534.8,-11.2,449,3518,0.17,2.05,0.00,0.000,4,0.072,0.048,2149,3751,3990
$GC,3633,-1.17,-121.7,556.0,-19.0,454,3637,0.20,1.83,0.00,0.000,6,0.171,0.024,2200,2488,3990
$GC,3967,-1.33,-121.7,600.3,-13.0,470,3972,0.15,2.00,0.00,0.000,4,0.074,0.048,2137,3745,3987
$GC,4103,-1.17,-121.7,624.4,-17.8,476,4111,0.25,1.83,0.00,0.000,6,0.169,0.024,2202,2487,3986
$GC,4445,-1.35,-121.7,662.0,-9.7,492,4449,0.17,2.00,0.00,0.000,4,0.068,0.048,2126,3740,3983
$GC,4607,-1.18,-121.7,687.8,-16.0,499,4611,0.22,1.80,0.00,0.000,6,0.175,0.025,2199,2530,3981
$GC,4946,-1.36,-121.7,725.1,-12.0,515,4950,0.17,1.95,0.00,0.000,4,0.073,0.050,2124,3746,3980
$GC,5025,-1.18,-121.7,739.3,-19.1,518,5029,0.28,1.77,0.00,0.000,6,0.172,0.024,2195,2520,3979
$GC,5353,-1.36,-121.7,780.2,-11.6,534,5357,0.15,1.98,0.00,0.000,4,0.077,0.051,2137,3750,3976
$GC,5432,-1.24,-121.7,793.1,-17.3,537,5436,0.15,1.77,0.00,0.000,6,0.178,0.026,2173,2538,3975
$GC,5756,-1.34,-121.7,839.0,-14.0,553,5759,0.00,1.92,0.00,0.000,4,0.000,0.049,2166,3745,3974
$GC,5928,-1.34,-121.7,864.4,-15.6,560,5932,0.00,1.75,0.00,0.000,6,0.000,0.026,2166,2549,3973
$GC,6252,-1.42,-121.7,908.0,-13.7,576,6256,0.12,1.92,0.00,0.000,4,0.086,0.050,2111,3746,3971
$GC,6332,-1.22,-121.7,922.3,-18.3,579,6336,0.28,1.73,0.00,0.000,6,0.177,0.026,2181,2570,3971
$GC,6659,-1.37,-121.7,963.4,-12.9,595,6663,0.12,1.90,0.00,0.000,4,0.085,0.052,2136,3745,3969
$STATE,6818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6818,begin apogee
$GC,6829,-0.27,0.0,990.8,17.5,602,6926,1.23,0.00,93.22,1.420,6,0.166,0.000,2482,2355,3532
$STATE,6927,end apogee,CONTROL_FINISHED_OK
$STATE,6927,begin climb
$GC,6932,1.50,121.7,996.8,0.0,607,7045,1.60,2.17,105.47,1.380,4,0.048,0.026,3074,990,3034
$GC,7303,0.73,121.7,972.8,15.0,623,7310,1.00,2.12,0.00,0.000,6,0.211,0.037,2821,2360,3030
$GC,7620,0.60,161.1,939.8,10.3,639,7663,0.17,2.17,32.95,1.332,4,0.193,0.030,2775,996,2874
$GC,7703,0.62,178.1,930.9,12.0,642,7725,0.00,2.15,16.00,1.256,6,0.000,0.032,2775,2376,2804
$GC,8045,0.63,188.4,887.6,12.5,659,8059,0.00,2.22,9.20,1.170,4,0.000,0.051,2775,3765,2763
$GC,8242,0.54,188.4,858.3,14.5,667,8248,0.00,2.03,0.00,0.000,6,0.000,0.025,2776,2393,2761
$GC,8558,0.55,194.7,817.3,12.7,683,8570,0.00,2.25,6.47,1.064,4,0.000,0.049,2776,3760,2738
$GC,8605,0.46,194.7,810.9,14.9,685,8609,0.22,2.03,0.00,0.000,6,0.182,0.025,2728,2377,2737
$GC,8927,0.73,242.3,777.4,9.7,701,8974,0.20,2.33,41.20,1.269,4,0.074,0.051,2812,3754,2543
$GC,9156,0.62,242.3,740.5,16.7,711,9160,0.15,1.98,0.00,0.000,6,0.192,0.025,2785,2409,2538
$GC,9484,0.73,242.3,693.6,14.5,727,9488,0.00,2.12,0.00,0.000,4,0.000,0.028,2787,985,2537
$GC,9541,0.90,242.3,685.7,13.5,729,9546,0.22,2.20,0.00,0.000,6,0.067,0.031,2874,2425,2536
$GC,9860,0.75,242.3,627.9,18.8,744,9864,0.17,2.12,0.00,0.000,4,0.180,0.050,2824,3758,2536
$GC,10020,0.62,242.3,597.4,18.1,751,10025,0.17,1.92,0.00,0.000,6,0.191,0.025,2786,2431,2535
$GC,10350,0.73,244.3,550.5,13.1,767,10354,0.00,2.10,0.00,0.000,4,0.000,0.049,2786,3753,2534
$GC,10412,0.73,244.3,540.2,16.7,769,10419,0.00,1.92,0.00,0.000,6,0.000,0.025,2788,2430,2534
$GC,10732,0.84,244.3,495.6,14.0,786,10736,0.17,2.12,0.00,0.000,4,0.071,0.049,2857,3752,2534
$GC,10912,0.65,244.3,459.4,21.0,801,10920,0.30,1.88,0.00,0.000,6,0.183,0.025,2790,2454,2533
$GC,11239,0.78,247.1,414.9,13.0,832,11251,0.12,2.12,3.67,0.670,4,0.081,0.049,2837,3751,2524
$GC,11298,0.65,247.1,405.4,17.6,837,11302,0.15,1.88,0.00,0.000,6,0.182,0.025,2793,2483,2524
$GC,11630,0.79,247.1,362.1,13.3,868,11635,0.12,2.05,0.00,0.000,4,0.082,0.049,2841,3766,2524
$GC,11704,0.65,247.1,348.5,19.5,874,11710,0.22,1.85,0.00,0.000,6,0.182,0.025,2793,2491,2523
$GC,12030,0.80,249.7,302.7,13.0,905,12043,0.15,2.08,3.90,0.649,4,0.077,0.051,2851,3751,2514
$GC,12149,0.65,249.7,284.0,15.5,923,12156,0.28,1.80,0.00,0.000,6,0.182,0.025,2789,2500,2514
$GC,12497,0.86,276.2,243.0,11.3,984,12527,0.17,2.03,23.48,0.889,4,0.073,0.047,2865,3755,2404
$GC,12688,0.72,276.2,211.5,15.5,1017,12696,0.22,1.77,0.00,0.000,6,0.181,0.025,2817,2533,2401
$GC,13038,0.92,305.7,170.4,11.1,1078,13069,0.17,2.03,24.52,0.819,4,0.071,0.050,2892,3753,2284
$GC,13117,0.78,305.7,158.7,16.3,1091,13124,0.25,1.77,0.00,0.000,6,0.176,0.024,2836,2522,2282
$GC,13465,0.98,305.7,114.6,14.8,1152,13471,0.17,2.30,0.00,0.000,4,0.070,0.027,2922,979,2280
$GC,13728,1.12,361.6,89.4,9.1,1198,13777,0.00,2.38,44.33,0.739,6,0.000,0.031,2922,2536,2058
$GC,14124,1.34,430.1,55.4,8.2,1266,14188,0.22,1.98,54.30,0.685,4,0.062,0.047,3016,3751,1776
$GC,14418,1.20,430.1,10.3,20.1,1317,14426,0.22,1.77,0.00,0.000,6,0.175,0.022,2968,2500,1770
$STATE,14457,end climb,SURFACE_DEPTH_REACHED
$STATE,14457,begin surface coast
$FINISH,1.9,1.021221
$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14481,begin surface
$SM_CCo,14505,33.00,0.624,0,0,1594,475.15
$SM_GC,2.79,0.00,0.00,33.00,0.000,0.000,0.624,137,2384,1594,-7.64,0.03,475.15
$IRIDIUM_FIX,2512.73,12259.73,041298,121216
$TT8_MAMPS,0.029146
$HUMID,1823
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,8
$24V_AH,23.0,115.184
$10V_AH,10.5,59.851
$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,29.600,119.975,458.725,33.000,0.000,30.415,33.233,244.781,10.000,0.000,0.000,14.384,2414.711,8605.269,591.504,2556.971,847.542,0.000,1882.032,0.000,2489.240,0.000,54.432,0.000
$DEVICE_MAMPS,225.498,60.593,1420.484,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,900.298,929.954,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72658,1328
$CAP_FILE_SIZE,158317,0
$CFSIZE,260165632,173752320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 61.9,1
$GPS,090909,203807,2523.644,12301.977,31,1.0,32,-3.7