version: 66.04
glider: 167
mission: 2
dive: 660
start: 9 7 109 13 47 28
data:
$ID,167
$MISSION,2
$DIVE,660
$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,-22280.801
$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,79
$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
$GPS1,133907,2522.887,12255.568,32,1.2,33,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-68.3
$GPS2,134708,2522.951,12255.601,13,2.0,13,-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,196.6,51151,-25.0,-13.200
$D_GRID,1136
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.73,0.000,2,0.000,0.000,137,2378,2165
$GC,47,-1.50,-121.7,3.2,-2.5,4,121,7.97,2.05,-59.33,0.000,4,0.225,0.034,2091,972,3989
$GC,343,-0.97,-121.7,103.8,-31.9,55,351,0.65,2.12,0.00,0.000,6,0.170,0.031,2259,2396,3992
$GC,691,-0.97,-121.7,163.2,-16.7,116,697,0.00,2.05,0.00,0.000,4,0.000,0.021,2260,972,3994
$GC,850,-1.20,-121.7,184.5,-11.4,143,857,0.20,2.17,0.00,0.000,6,0.062,0.031,2181,2426,3995
$GC,1197,-1.09,-121.7,246.5,-18.1,204,1204,0.17,2.05,0.00,0.000,4,0.170,0.043,2223,3754,3995
$GC,1408,-1.09,-121.7,281.9,-16.4,241,1414,0.00,1.88,0.00,0.000,6,0.000,0.022,2223,2414,3996
$GC,1742,-1.17,-121.7,335.3,-16.2,281,1746,0.00,2.10,0.00,0.000,4,0.000,0.046,2221,3756,3996
$GC,1782,-1.17,-121.7,342.1,-17.2,284,1788,0.00,1.83,0.00,0.000,6,0.000,0.024,2221,2465,3996
$GC,2109,-1.28,-121.7,391.5,-15.0,315,2113,0.15,2.03,0.00,0.000,4,0.072,0.047,2153,3750,3996
$GC,2272,-1.10,-121.7,424.7,-21.3,329,2277,0.25,1.77,0.00,0.000,6,0.161,0.022,2220,2494,3995
$GC,2604,-1.25,-121.7,472.2,-12.8,360,2608,0.12,1.98,0.00,0.000,4,0.077,0.047,2166,3747,3994
$GC,2630,-1.25,-121.7,475.6,-13.8,362,2633,0.00,1.75,0.00,0.000,6,0.000,0.024,2166,2515,3993
$GC,2966,-1.25,-121.7,530.9,-17.3,385,2970,0.00,1.98,0.00,0.000,4,0.000,0.049,2165,3767,3992
$GC,3164,-1.19,-121.7,567.9,-18.4,393,3171,0.12,1.77,0.00,0.000,6,0.166,0.025,2195,2535,3991
$GC,3482,-1.32,-121.7,612.6,-12.7,409,3486,0.12,1.92,0.00,0.000,4,0.081,0.048,2146,3746,3989
$GC,3530,-1.20,-121.7,619.9,-16.7,411,3535,0.17,1.75,0.00,0.000,6,0.170,0.024,2189,2533,3988
$GC,3868,-1.32,-121.7,662.6,-11.7,427,3873,0.12,1.92,0.00,0.000,4,0.078,0.049,2139,3747,3986
$GC,4010,-1.21,-121.7,684.4,-15.7,433,4014,0.17,1.75,0.00,0.000,6,0.173,0.025,2182,2538,3984
$GC,4349,-1.31,-121.7,727.4,-12.7,449,4353,0.00,1.92,0.00,0.000,4,0.000,0.048,2179,3755,3981
$GC,4451,-1.31,-121.7,743.0,-14.3,453,4454,0.00,1.73,0.00,0.000,6,0.000,0.025,2179,2563,3981
$GC,4775,-1.39,-121.7,787.8,-14.5,469,4779,0.15,1.90,0.00,0.000,4,0.081,0.050,2114,3754,3978
$GC,4848,-1.20,-121.7,802.2,-20.4,472,4852,0.30,1.73,0.00,0.000,6,0.175,0.025,2192,2565,3977
$GC,5177,-1.36,-121.7,849.7,-14.2,488,5183,0.15,1.90,0.00,0.000,4,0.077,0.051,2136,3750,3975
$GC,5324,-1.25,-121.7,875.1,-17.5,494,5328,0.15,1.70,0.00,0.000,6,0.176,0.026,2172,2582,3974
$GC,5654,-1.33,-121.7,921.8,-13.9,510,5657,0.00,1.85,0.00,0.000,4,0.000,0.051,2166,3747,3971
$GC,5760,-1.33,-121.7,938.7,-15.6,514,5767,0.00,1.65,0.00,0.000,6,0.000,0.025,2166,2612,3971
$GC,6079,-1.40,-121.7,985.5,-15.1,530,6083,0.10,1.83,0.00,0.000,4,0.091,0.051,2125,3750,3969
$STATE,6103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6103,begin apogee
$GC,6114,-0.27,0.0,990.4,17.6,531,6218,1.25,0.00,95.22,1.390,6,0.167,0.000,2480,2365,3532
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6223,1.50,121.7,995.2,0.0,536,6335,1.62,2.15,105.07,1.371,4,0.054,0.026,3074,994,3035
$GC,6593,0.76,129.2,971.1,12.7,552,6609,0.98,2.12,7.25,1.114,6,0.217,0.036,2831,2368,3005
$GC,6936,0.63,172.5,938.9,10.1,569,6981,0.17,2.20,37.30,1.335,4,0.198,0.029,2789,1000,2827
$GC,7096,0.73,202.7,922.0,11.0,576,7127,0.00,2.12,26.05,1.297,6,0.000,0.032,2789,2372,2705
$GC,7448,0.79,207.3,879.0,12.9,593,7458,0.12,2.20,5.28,0.984,4,0.081,0.051,2837,3754,2685
$GC,7651,0.56,207.3,845.8,16.0,602,7656,0.32,2.00,0.00,0.000,6,0.187,0.025,2762,2384,2684
$GC,7974,0.75,247.2,812.1,10.3,618,8017,0.17,2.33,33.97,1.277,4,0.077,0.050,2835,3763,2523
$GC,8102,0.61,247.2,791.5,18.7,623,8106,0.25,2.03,0.00,0.000,6,0.185,0.024,2781,2391,2520
$GC,8419,0.76,252.0,748.3,12.9,638,8429,0.12,2.20,5.00,0.931,4,0.084,0.048,2828,3760,2504
$GC,8542,0.64,252.0,727.8,17.5,643,8546,0.17,1.98,0.00,0.000,6,0.191,0.025,2786,2420,2502
$GC,8864,0.78,252.0,680.3,15.4,659,8869,0.12,2.15,0.00,0.000,4,0.084,0.050,2835,3763,2501
$GC,8973,0.65,252.0,658.7,19.9,663,8980,0.22,1.95,0.00,0.000,6,0.184,0.026,2788,2429,2501
$GC,9291,0.78,252.0,614.1,13.5,679,9295,0.12,2.12,0.00,0.000,4,0.084,0.048,2835,3757,2500
$GC,9505,0.66,252.0,573.9,18.1,688,9509,0.20,1.92,0.00,0.000,6,0.186,0.025,2793,2436,2500
$GC,9828,0.82,276.9,533.7,11.4,704,9854,0.15,2.12,21.27,1.106,4,0.080,0.049,2852,3753,2404
$GC,10094,0.69,276.9,487.9,18.0,719,10098,0.22,1.90,0.00,0.000,6,0.185,0.025,2804,2454,2401
$GC,10425,0.85,276.9,437.2,17.1,750,10429,0.15,2.10,0.00,0.000,4,0.079,0.048,2863,3764,2400
$GC,10516,0.71,276.9,417.7,22.9,758,10520,0.25,1.90,0.00,0.000,6,0.183,0.027,2808,2471,2400
$GC,10848,0.88,276.9,363.7,14.8,789,10852,0.15,2.08,0.00,0.000,4,0.081,0.050,2866,3762,2399
$GC,10973,0.74,276.9,340.9,18.4,800,10977,0.22,1.83,0.00,0.000,6,0.184,0.026,2818,2501,2399
$GC,11304,0.88,276.9,287.8,17.4,836,11311,0.15,2.28,0.00,0.000,4,0.077,0.028,2885,981,2398
$GC,11444,0.88,276.9,263.1,16.8,860,11450,0.00,2.30,0.00,0.000,6,0.000,0.031,2885,2484,2399
$GC,11791,0.83,276.9,211.5,14.0,921,11798,0.15,2.03,0.00,0.000,4,0.183,0.049,2847,3764,2399
$GC,11920,0.83,276.9,191.0,16.1,943,11926,0.00,1.85,0.00,0.000,6,0.000,0.026,2855,2484,2398
$GC,12267,0.91,276.9,142.9,14.4,1004,12273,0.00,2.22,0.00,0.000,4,0.000,0.028,2863,982,2399
$GC,12532,1.10,306.7,110.1,11.0,1050,12564,0.20,2.30,24.92,0.769,6,0.071,0.031,2939,2488,2281
$GC,12909,1.23,408.5,70.0,5.8,1115,12995,0.10,2.10,80.28,0.719,4,0.079,0.049,2980,3753,1864
$GC,13069,1.10,415.8,52.2,12.7,1142,13083,0.22,1.83,6.70,0.580,6,0.183,0.023,2935,2493,1835
$GC,13428,1.36,452.5,16.7,10.5,1204,13464,0.20,2.08,30.12,0.632,4,0.064,0.047,3018,3758,1686
$STATE,13507,end climb,SURFACE_DEPTH_REACHED
$STATE,13507,begin surface coast
$FINISH,1.9,1.012306
$STATE,13529,end surface coast,CONTROL_FINISHED_OK
$STATE,13530,begin surface
$SM_CCo,13553,15.70,0.596,0,0,1594,475.15
$SM_GC,3.33,0.00,0.00,15.70,0.000,0.000,0.596,141,2364,1594,-7.62,-0.54,475.15
$IRIDIUM_FIX,2512.73,12254.43,021298,090947
$TT8_MAMPS,0.029146
$HUMID,1847
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,8
$24V_AH,23.0,112.955
$10V_AH,10.5,58.773
$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,26.900,115.525,478.450,15.700,0.000,27.624,37.214,237.720,10.000,0.000,0.000,13.908,2226.098,8030.368,564.423,2396.510,823.599,0.000,1785.171,0.000,2335.350,0.000,54.430,0.000
$DEVICE_MAMPS,225.498,50.622,1389.804,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,827.531,853.545,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66354,1221
$CAP_FILE_SIZE,146711,0
$CFSIZE,260165632,174751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165, 37.2,1
$GPS,070909,173501,2522.561,12255.961,40,1.8,41,-3.7