version: 66.04
glider: 167
mission: 2
dive: 659
start: 9 7 109 9 50 31
data:
$ID,167
$MISSION,2
$DIVE,659
$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,-22266.262
$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,89
$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
$GPS1,094207,2522.532,12255.159,35,1.1,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.2
$GPS2,094956,2522.475,12255.469,13,1.8,13,-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,200.9,50390,-25.0,-13.200
$D_GRID,1207
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.50,-121.7,0.0,0.0,0,44,0.00,0.00,-22.73,0.000,2,0.000,0.000,140,2356,2168
$GC,50,-1.50,-121.7,3.1,-2.3,4,122,8.30,2.05,-57.12,0.000,4,0.239,0.036,2093,993,3990
$GC,174,-0.48,-121.7,34.1,-50.3,25,181,1.30,2.10,0.00,0.000,6,0.203,0.030,2417,2391,3991
$GC,523,-1.09,-121.7,76.2,-4.7,86,530,0.45,2.03,0.00,0.000,4,0.047,0.021,2224,996,3993
$GC,668,-1.02,-121.7,103.3,-19.8,111,676,0.12,2.10,0.00,0.000,6,0.171,0.028,2248,2408,3994
$GC,1016,-1.02,-121.7,169.4,-19.4,172,1022,0.00,2.08,0.00,0.000,4,0.000,0.044,2245,3759,3996
$GC,1268,-1.02,-121.7,217.5,-17.9,216,1274,0.00,1.85,0.00,0.000,6,0.000,0.021,2245,2429,3996
$GC,1615,-1.14,-121.7,266.9,-14.9,277,1621,0.00,2.05,0.00,0.000,4,0.000,0.044,2236,3751,3997
$GC,1754,-1.20,-121.7,290.3,-18.0,301,1760,0.12,1.80,0.00,0.000,6,0.075,0.022,2181,2469,3996
$GC,2084,-1.09,-121.7,360.5,-22.4,336,2088,0.17,2.00,0.00,0.000,4,0.157,0.042,2220,3751,3996
$GC,2109,-1.09,-121.7,365.4,-19.7,338,2113,0.00,1.83,0.00,0.000,6,0.000,0.021,2220,2478,3996
$GC,2441,-1.20,-121.7,422.1,-16.3,369,2444,0.00,2.00,0.00,0.000,4,0.000,0.047,2219,3761,3996
$GC,2556,-1.29,-121.7,441.0,-15.7,379,2561,0.12,1.83,0.00,0.000,6,0.059,0.024,2157,2504,3996
$GC,2898,-1.21,-121.7,509.1,-18.5,409,2902,0.12,1.98,0.00,0.000,4,0.166,0.047,2187,3756,3995
$GC,2978,-1.21,-121.7,522.9,-16.6,412,2982,0.00,1.80,0.00,0.000,6,0.000,0.024,2187,2509,3993
$GC,3301,-1.27,-121.7,572.3,-14.9,428,3305,0.00,1.95,0.00,0.000,4,0.000,0.048,2183,3751,3992
$GC,3466,-1.27,-121.7,598.3,-15.2,435,3469,0.00,1.75,0.00,0.000,6,0.000,0.025,2182,2526,3991
$GC,3794,-1.33,-121.7,647.1,-14.7,451,3798,0.00,1.92,0.00,0.000,4,0.000,0.050,2179,3749,3988
$GC,3958,-1.33,-121.7,674.4,-15.6,458,3963,0.00,1.73,0.00,0.000,6,0.000,0.025,2179,2550,3987
$GC,4287,-1.40,-121.7,724.3,-14.6,474,4297,0.15,1.90,0.00,0.000,4,0.080,0.048,2113,3746,3984
$GC,4415,-1.19,-121.7,747.8,-19.8,479,4419,0.30,1.67,0.00,0.000,6,0.167,0.025,2193,2580,3982
$GC,4746,-1.33,-121.7,793.8,-13.9,495,4747,0.12,0.00,0.00,0.000,6,0.083,0.000,2146,2580,3980
$GC,5051,-1.33,-121.7,843.9,-16.4,510,5055,0.00,1.85,0.00,0.000,4,0.000,0.051,2140,3747,3977
$GC,5190,-1.24,-121.7,866.8,-16.7,516,5194,0.15,1.67,0.00,0.000,6,0.173,0.025,2176,2593,3976
$GC,5527,-1.33,-121.7,913.8,-13.6,532,5530,0.00,1.85,0.00,0.000,4,0.000,0.050,2170,3740,3974
$GC,5607,-1.33,-121.7,926.2,-14.2,535,5610,0.00,1.65,0.00,0.000,6,0.000,0.026,2170,2603,3973
$GC,5930,-1.41,-121.7,972.4,-13.9,551,5934,0.12,1.83,0.00,0.000,4,0.084,0.050,2122,3750,3971
$STATE,6028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6028,begin apogee
$GC,6040,-0.27,0.0,990.3,18.6,555,6137,1.27,0.00,93.40,1.407,6,0.168,0.000,2483,2364,3532
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6142,1.50,121.7,995.3,0.0,560,6254,1.58,2.33,104.82,1.366,4,0.051,0.044,3058,3757,3034
$GC,6512,0.59,121.7,966.8,14.7,576,6519,1.20,2.03,0.00,0.000,6,0.225,0.022,2772,2363,3030
$GC,6831,0.66,181.6,939.6,8.9,592,6886,0.00,2.33,49.60,1.336,4,0.000,0.048,2772,3746,2790
$GC,7141,0.61,181.6,896.1,14.8,606,7145,0.00,2.00,0.00,0.000,6,0.000,0.024,2775,2387,2785
$GC,7476,0.69,181.6,850.1,13.8,622,7480,0.00,2.17,0.00,0.000,4,0.000,0.049,2775,3744,2783
$GC,7719,0.63,181.6,810.6,16.6,632,7726,0.00,1.98,0.00,0.000,6,0.000,0.025,2776,2395,2782
$GC,8037,0.71,181.6,766.6,13.3,648,8041,0.00,2.17,0.00,0.000,4,0.000,0.049,2776,3756,2781
$GC,8216,0.66,181.6,741.4,15.3,655,8224,0.00,1.98,0.00,0.000,6,0.000,0.025,2776,2400,2781
$GC,8534,0.77,203.0,702.5,11.6,671,8554,0.15,0.00,17.17,1.193,6,0.075,0.000,2834,2397,2704
$GC,8862,0.72,203.0,654.9,14.4,687,8866,0.00,2.15,0.00,0.000,4,0.000,0.050,2834,3744,2701
$GC,9053,0.53,203.0,624.5,16.4,695,9057,0.35,1.92,0.00,0.000,6,0.183,0.025,2752,2426,2700
$GC,9375,0.80,255.6,592.1,9.4,711,9422,0.22,0.00,43.80,1.154,6,0.071,0.000,2842,2421,2490
$GC,9729,0.80,255.6,539.5,15.2,728,9732,0.00,2.12,0.00,0.000,4,0.000,0.051,2842,3745,2484
$GC,9990,0.71,255.6,496.6,16.2,740,9994,0.17,1.92,0.00,0.000,6,0.180,0.026,2807,2434,2482
$GC,10322,0.87,269.5,454.8,12.2,771,10339,0.15,2.10,11.95,1.004,4,0.079,0.048,2866,3744,2432
$GC,10383,0.72,269.5,445.4,17.6,776,10387,0.17,1.95,0.00,0.000,6,0.170,0.025,2815,2436,2431
$GC,10714,0.88,279.7,401.4,12.5,807,10731,0.15,2.15,9.95,0.942,4,0.080,0.050,2874,3748,2390
$GC,10931,0.75,279.7,361.4,18.7,826,10935,0.22,1.88,0.00,0.000,6,0.177,0.025,2825,2460,2389
$GC,11264,0.91,279.7,315.8,14.6,857,11268,0.15,2.22,0.00,0.000,4,0.076,0.029,2884,972,2388
$GC,11409,0.91,279.7,292.6,16.9,872,11415,0.00,2.28,0.00,0.000,6,0.000,0.032,2885,2458,2388
$GC,11755,0.91,279.7,237.1,15.8,933,11761,0.00,2.03,0.00,0.000,4,0.000,0.051,2885,3742,2388
$GC,11952,0.81,279.7,201.7,17.9,967,11960,0.20,1.85,0.00,0.000,6,0.176,0.026,2841,2460,2388
$GC,12305,1.01,310.5,158.3,11.0,1028,12337,0.17,2.30,25.62,0.801,4,0.072,0.028,2926,970,2266
$GC,12413,1.01,310.5,141.7,15.6,1046,12419,0.00,2.30,0.00,0.000,6,0.000,0.033,2926,2458,2263
$GC,12760,1.03,323.3,88.7,12.3,1107,12778,0.00,2.08,11.25,0.695,4,0.000,0.049,2926,3752,2213
$GC,13032,1.00,341.9,58.6,11.9,1154,13056,0.12,1.83,16.23,0.682,6,0.182,0.023,2905,2464,2137
$GC,13401,1.41,454.9,27.2,5.0,1218,13500,0.32,2.30,88.75,0.657,4,0.056,0.026,3043,976,1675
$STATE,13583,end climb,SURFACE_DEPTH_REACHED
$STATE,13583,begin surface coast
$FINISH,1.8,1.020799
$STATE,13601,end surface coast,CONTROL_FINISHED_OK
$STATE,13601,begin surface
$SM_CCo,13626,13.32,0.588,0,0,1595,475.15
$SM_GC,3.61,0.00,0.00,13.32,0.000,0.000,0.588,137,2378,1595,-7.63,-0.14,475.15
$IRIDIUM_FIX,2515.12,12252.43,021298,050545
$TT8_MAMPS,0.029146
$HUMID,1816
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.30
$XPDR_PINGS,10
$24V_AH,23.1,112.780
$10V_AH,10.5,58.691
$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,26.250,103.825,472.550,13.325,0.000,28.583,35.390,227.137,11.000,0.000,0.000,13.626,2258.736,8053.781,561.987,2453.104,785.822,0.000,1787.692,0.000,2385.490,0.000,60.081,0.000
$DEVICE_MAMPS,239.304,51.389,1406.678,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.036,887.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66346,1253
$CAP_FILE_SIZE,141512,0
$CFSIZE,260165632,174833664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 17.4,1
$GPS,070909,133907,2522.887,12255.568,32,1.2,33,-3.7