version: 66.04
glider: 167
mission: 2
dive: 674
start: 9 9 109 20 46 34
data:
$ID,167
$MISSION,2
$DIVE,674
$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,-22587.941
$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,73
$R_STBD_OVSHOOT,37
$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
$GPS1,203807,2523.644,12301.977,31,1.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-66.6
$GPS2,204614,2523.807,12302.363,14,1.6,14,-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,222.9,50277,-25.0,-13.200
$D_GRID,1063
$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,16,-1.50,-121.7,0.0,0.0,0,46,0.00,0.00,-28.05,0.000,2,0.000,0.000,137,2384,2305
$GC,52,-1.50,-121.7,3.4,-2.4,5,114,8.15,2.12,-48.10,0.000,4,0.232,0.038,2093,984,3990
$GC,215,-0.95,-121.7,50.4,-38.3,32,222,0.70,2.15,0.00,0.000,6,0.175,0.035,2273,2395,3992
$GC,563,-1.12,-121.7,123.9,-14.6,93,569,0.15,2.10,0.00,0.000,4,0.068,0.044,2205,3753,3994
$GC,685,-0.96,-121.7,146.5,-17.2,114,693,0.22,1.98,0.00,0.000,6,0.155,0.021,2266,2349,3996
$GC,1034,-1.19,-121.7,193.6,-9.1,175,1041,0.17,2.20,0.00,0.000,4,0.067,0.042,2181,3761,3997
$GC,1100,-1.01,-121.7,204.2,-18.3,186,1108,0.25,1.90,0.00,0.000,6,0.156,0.021,2250,2405,3997
$GC,1451,-1.17,-121.7,249.8,-12.9,247,1461,0.15,2.12,0.00,0.000,4,0.071,0.044,2188,3764,3997
$GC,1645,-1.04,-121.7,285.6,-18.2,280,1652,0.20,1.88,0.00,0.000,6,0.157,0.022,2242,2437,3997
$GC,1978,-1.24,-121.7,333.8,-14.0,319,1982,0.17,2.08,0.00,0.000,4,0.067,0.045,2166,3757,3997
$GC,2093,-1.09,-121.7,356.3,-19.9,329,2098,0.17,1.85,0.00,0.000,6,0.160,0.022,2227,2479,3997
$GC,2425,-1.26,-121.7,408.2,-14.4,360,2429,0.15,2.03,0.00,0.000,4,0.074,0.046,2162,3764,3997
$GC,2489,-1.12,-121.7,419.6,-19.1,365,2495,0.20,1.85,0.00,0.000,6,0.163,0.023,2214,2467,3997
$GC,2815,-1.26,-121.7,469.2,-14.8,396,2819,0.12,2.05,0.00,0.000,4,0.080,0.048,2162,3763,3995
$GC,2912,-1.17,-121.7,486.5,-17.9,404,2919,0.15,1.83,0.00,0.000,6,0.169,0.024,2199,2494,3994
$GC,3235,-1.29,-121.7,535.7,-15.2,424,3238,0.00,1.98,0.00,0.000,4,0.000,0.047,2192,3752,3993
$GC,3465,-1.35,-121.7,575.5,-17.0,434,3469,0.15,1.80,0.00,0.000,6,0.074,0.025,2133,2507,3991
$GC,3803,-1.23,-121.7,643.7,-20.3,450,3807,0.17,2.00,0.00,0.000,4,0.165,0.049,2178,3757,3988
$GC,3876,-1.23,-121.7,657.3,-16.0,453,3879,0.00,1.77,0.00,0.000,6,0.000,0.025,2179,2526,3987
$GC,4204,-1.31,-121.7,705.1,-13.3,469,4208,0.00,1.95,0.00,0.000,4,0.000,0.051,2179,3753,3985
$GC,4367,-1.38,-121.7,727.2,-13.3,476,4371,0.12,1.75,0.00,0.000,6,0.081,0.026,2130,2554,3983
$GC,4705,-1.30,-121.7,782.9,-16.8,492,4707,0.12,0.00,0.00,0.000,6,0.173,0.000,2159,2552,3981
$GC,5010,-1.35,-121.7,830.1,-14.9,507,5014,0.00,1.95,0.00,0.000,4,0.000,0.051,2152,3774,3979
$GC,5151,-1.35,-121.7,851.6,-15.1,513,5154,0.00,1.77,0.00,0.000,6,0.000,0.025,2152,2559,3977
$GC,5480,-1.35,-121.7,899.0,-15.0,529,5485,0.00,1.92,0.00,0.000,4,0.000,0.052,2152,3770,3975
$GC,5598,-1.35,-121.7,918.0,-16.4,534,5602,0.00,1.75,0.00,0.000,6,0.000,0.027,2152,2578,3974
$GC,5927,-1.35,-121.7,967.3,-15.2,550,5931,0.00,1.90,0.00,0.000,4,0.000,0.052,2149,3743,3972
$GC,6051,-1.35,-121.7,987.6,-15.9,555,6055,0.00,1.70,0.00,0.000,6,0.000,0.027,2149,2583,3971
$STATE,6081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6081,begin apogee
$GC,6090,-0.27,0.0,992.4,15.0,557,6187,1.20,0.00,93.75,1.414,6,0.160,0.000,2489,2410,3531
$STATE,6188,end apogee,CONTROL_FINISHED_OK
$STATE,6188,begin climb
$GC,6193,1.50,121.7,996.9,0.0,562,6307,1.58,2.38,104.93,1.377,4,0.051,0.026,3072,949,3035
$GC,6562,0.74,122.8,973.2,13.1,578,6567,0.98,2.20,0.00,0.000,6,0.212,0.034,2825,2376,3030
$GC,6885,0.65,211.0,949.4,6.8,594,6969,0.15,2.33,74.62,1.351,4,0.197,0.028,2790,952,2670
$GC,7197,0.75,220.6,915.0,12.5,608,7212,0.00,2.17,8.62,1.146,6,0.000,0.032,2789,2360,2634
$GC,7532,0.80,220.6,868.2,14.4,624,7536,0.15,2.22,0.00,0.000,4,0.076,0.050,2847,3762,2630
$GC,7698,0.55,220.6,836.6,19.8,631,7703,0.35,2.08,0.00,0.000,6,0.186,0.025,2763,2357,2629
$GC,8022,0.70,232.3,794.8,12.4,647,8038,0.12,2.28,10.88,1.179,4,0.083,0.049,2812,3765,2585
$GC,8247,0.58,232.3,750.5,19.7,656,8252,0.20,2.05,0.00,0.000,6,0.183,0.027,2765,2395,2582
$GC,8571,0.73,232.3,702.2,14.5,672,8575,0.15,2.20,0.00,0.000,4,0.076,0.049,2822,3763,2580
$GC,8689,0.58,232.3,680.4,17.8,677,8693,0.22,2.03,0.00,0.000,6,0.184,0.026,2772,2385,2580
$GC,9011,0.72,232.3,637.5,13.5,693,9016,0.12,2.20,0.00,0.000,4,0.083,0.048,2820,3756,2579
$GC,9202,0.59,232.3,604.3,17.0,701,9206,0.22,1.95,0.00,0.000,6,0.183,0.026,2771,2424,2579
$GC,9526,0.79,269.1,567.0,10.5,717,9561,0.17,2.20,30.35,1.135,4,0.075,0.050,2845,3764,2434
$GC,9609,0.62,269.1,554.5,17.3,720,9613,0.28,2.00,0.00,0.000,6,0.182,0.026,2784,2422,2432
$GC,9938,0.79,269.1,512.6,13.4,736,9943,0.15,2.15,0.00,0.000,4,0.073,0.049,2840,3758,2430
$GC,10051,0.67,269.1,491.9,20.8,742,10058,0.20,1.90,0.00,0.000,6,0.181,0.024,2800,2443,2429
$GC,10377,0.79,269.1,444.2,15.0,773,10381,0.10,2.10,0.00,0.000,4,0.088,0.050,2837,3760,2429
$GC,10412,0.70,269.1,438.0,18.4,776,10416,0.15,1.95,0.00,0.000,6,0.189,0.025,2810,2423,2429
$GC,10744,0.81,269.1,385.4,15.1,807,10748,0.00,2.12,0.00,0.000,4,0.000,0.050,2810,3757,2428
$GC,10975,0.81,269.1,346.6,16.8,827,10981,0.00,1.88,0.00,0.000,6,0.000,0.025,2818,2456,2428
$GC,11305,0.93,275.6,301.3,12.7,858,11319,0.17,2.22,6.12,0.790,4,0.074,0.026,2898,965,2407
$GC,11357,0.93,275.6,293.6,15.0,865,11363,0.00,2.30,0.00,0.000,6,0.000,0.031,2898,2470,2407
$GC,11703,0.84,275.6,238.3,18.0,926,11710,0.17,2.05,0.00,0.000,4,0.180,0.048,2847,3762,2407
$GC,11809,0.84,275.6,220.2,17.2,944,11815,0.00,1.90,0.00,0.000,6,0.000,0.025,2856,2451,2407
$GC,12156,0.92,303.0,169.3,11.2,1005,12185,0.00,2.25,23.55,0.813,4,0.000,0.028,2865,964,2296
$GC,12443,1.08,303.8,131.2,13.1,1055,12450,0.17,2.28,0.00,0.000,6,0.074,0.031,2932,2453,2293
$GC,12792,1.05,328.3,81.1,11.4,1116,12821,0.00,2.10,20.75,0.719,4,0.000,0.048,2933,3758,2193
$GC,13082,1.16,469.8,56.3,2.9,1166,13199,0.00,1.98,110.93,0.690,6,0.000,0.021,2942,2373,1615
$STATE,13525,end climb,SURFACE_DEPTH_REACHED
$STATE,13525,begin surface coast
$FINISH,2.0,1.020193
$STATE,13549,end surface coast,CONTROL_FINISHED_OK
$STATE,13549,begin surface
$SM_CCo,13570,0.43,0.087,0,0,1595,475.15
$SM_GC,3.66,0.00,0.00,0.43,0.000,0.000,0.087,139,2368,1595,-7.63,-0.42,475.15
$IRIDIUM_FIX,2515.12,12259.73,041298,161648
$TT8_MAMPS,0.029146
$HUMID,1841
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,11
$24V_AH,23.1,115.358
$10V_AH,10.5,59.934
$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,26.200,110.025,484.500,0.425,0.000,24.568,37.225,244.191,11.000,0.000,0.000,14.499,2257.615,7975.771,554.833,2459.726,798.621,0.000,1791.768,0.000,2389.341,0.000,57.256,0.000
$DEVICE_MAMPS,232.401,52.156,1413.581,86.671,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.844,874.968,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66303,1248
$CAP_FILE_SIZE,146179,0
$CFSIZE,260165632,173686784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 45.5,1
$GPS,100909,003407,2524.068,12302.573,39,1.1,39,-3.7