version: 66.04
glider: 167
mission: 2
dive: 670
start: 9 9 109 4 34 13
data:
$ID,167
$MISSION,2
$DIVE,670
$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,-22531.885
$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,92
$R_STBD_OVSHOOT,36
$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
$GPS1,042031,2524.309,12300.298,40,1.3,40,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-66.9
$GPS2,043354,2524.640,12300.338,14,1.7,30,-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,209.2,52256,-25.0,-13.200
$D_GRID,1119
$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,18,-1.50,-121.7,0.0,0.0,0,46,0.00,0.00,-25.65,0.000,2,0.000,0.000,141,2389,2243
$GC,50,-1.50,-121.7,3.0,-1.5,4,116,7.97,2.05,-51.33,0.000,4,0.226,0.035,2090,983,3989
$GC,273,-1.00,-121.7,68.7,-26.9,42,280,0.62,2.12,0.00,0.000,6,0.173,0.031,2252,2399,3991
$GC,621,-1.11,-121.7,134.1,-18.5,103,627,0.00,2.08,0.00,0.000,4,0.000,0.044,2244,3756,3994
$GC,782,-1.11,-121.7,166.5,-18.8,131,788,0.00,1.88,0.00,0.000,6,0.000,0.021,2244,2410,3994
$GC,1129,-1.24,-121.7,213.8,-12.5,192,1136,0.17,2.10,0.00,0.000,4,0.067,0.044,2162,3757,3994
$GC,1222,-0.99,-121.7,231.5,-20.2,208,1229,0.35,1.88,0.00,0.000,6,0.158,0.022,2259,2420,3994
$GC,1572,-1.24,-121.7,271.1,-11.2,269,1580,0.20,2.08,0.00,0.000,4,0.066,0.044,2166,3751,3995
$GC,1657,-1.08,-121.7,286.3,-20.3,283,1663,0.25,1.85,0.00,0.000,6,0.158,0.022,2234,2434,3994
$GC,1990,-1.27,-121.7,333.6,-13.2,322,1994,0.17,2.08,0.00,0.000,4,0.068,0.045,2163,3759,3993
$GC,2220,-1.12,-121.7,376.7,-18.6,342,2224,0.20,1.83,0.00,0.000,6,0.164,0.023,2214,2481,3992
$GC,2552,-1.29,-121.7,425.1,-15.2,373,2556,0.15,2.00,0.00,0.000,4,0.074,0.046,2153,3754,3991
$GC,2680,-1.15,-121.7,452.3,-22.7,384,2684,0.20,1.80,0.00,0.000,6,0.165,0.024,2204,2495,3990
$GC,3009,-1.29,-121.7,511.6,-16.3,412,3014,0.12,1.98,0.00,0.000,4,0.079,0.047,2153,3748,3988
$GC,3061,-1.20,-121.7,521.1,-19.0,414,3065,0.12,1.83,0.00,0.000,6,0.163,0.024,2200,2502,3986
$GC,3394,-1.35,-121.7,566.4,-12.4,430,3398,0.15,1.98,0.00,0.000,4,0.074,0.048,2140,3752,3984
$GC,3463,-1.20,-121.7,577.8,-16.3,433,3467,0.20,1.77,0.00,0.000,6,0.172,0.024,2190,2518,3983
$GC,3801,-1.32,-121.7,616.7,-11.2,449,3805,0.12,1.95,0.00,0.000,4,0.081,0.047,2139,3753,3981
$GC,3892,-1.17,-121.7,631.3,-15.8,453,3896,0.22,1.77,0.00,0.000,6,0.173,0.024,2197,2523,3980
$GC,4231,-1.33,-121.7,666.1,-10.3,469,4235,0.15,1.95,0.00,0.000,4,0.077,0.048,2139,3750,3977
$GC,4392,-1.20,-121.7,691.2,-17.2,476,4396,0.20,1.75,0.00,0.000,6,0.173,0.025,2190,2545,3975
$GC,4731,-1.35,-121.7,729.3,-11.6,492,4735,0.15,1.90,0.00,0.000,4,0.075,0.048,2128,3745,3973
$GC,4895,-1.23,-121.7,756.2,-16.4,499,4899,0.20,1.70,0.00,0.000,6,0.172,0.025,2179,2570,3972
$GC,5227,-1.35,-121.7,796.1,-12.3,515,5231,0.00,1.90,0.00,0.000,4,0.000,0.052,2179,3743,3969
$GC,5302,-1.42,-121.7,806.0,-12.2,518,5306,0.17,1.70,0.00,0.000,6,0.074,0.027,2113,2580,3969
$GC,5631,-1.29,-121.7,857.3,-15.7,534,5636,0.17,2.33,0.00,0.000,4,0.173,0.025,2163,1019,3967
$GC,5655,-1.29,-121.7,861.0,-14.9,535,5659,0.00,2.35,0.00,0.000,6,0.000,0.035,2161,2538,3967
$GC,5983,-1.35,-121.7,898.7,-11.5,551,5987,0.00,1.92,0.00,0.000,4,0.000,0.051,2152,3737,3965
$GC,6146,-1.35,-121.7,920.6,-15.1,558,6149,0.00,1.67,0.00,0.000,6,0.000,0.027,2152,2594,3964
$GC,6480,-1.35,-121.7,967.3,-14.2,574,6483,0.00,1.85,0.00,0.000,4,0.000,0.052,2149,3753,3963
$GC,6566,-1.35,-121.7,980.6,-16.0,577,6573,0.00,1.67,0.00,0.000,6,0.000,0.028,2149,2611,3962
$STATE,6631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6631,begin apogee
$GC,6640,-0.27,0.0,991.7,16.2,581,6736,1.20,0.00,91.20,1.417,6,0.164,0.000,2487,2397,3532
$STATE,6736,end apogee,CONTROL_FINISHED_OK
$STATE,6736,begin climb
$GC,6740,1.50,121.7,995.6,0.0,586,6852,1.58,2.28,104.47,1.375,4,0.049,0.047,3062,3754,3035
$GC,7034,0.54,121.7,978.4,15.9,599,7040,1.25,2.08,0.00,0.000,6,0.218,0.024,2757,2344,3031
$GC,7358,0.61,176.3,950.1,9.2,615,7409,0.00,2.33,45.60,1.340,4,0.000,0.048,2758,3747,2813
$GC,7545,0.55,176.3,924.9,15.4,623,7549,0.00,2.05,0.00,0.000,6,0.000,0.025,2759,2369,2809
$GC,7869,0.64,176.3,881.7,13.6,639,7873,0.00,2.20,0.00,0.000,4,0.000,0.048,2759,3750,2807
$GC,8058,0.58,176.3,855.5,13.3,647,8062,0.00,2.03,0.00,0.000,6,0.000,0.025,2762,2374,2805
$GC,8387,0.68,206.0,816.5,11.0,663,8418,0.10,2.25,24.55,1.271,4,0.089,0.051,2806,3748,2692
$GC,8512,0.53,206.0,798.4,14.9,668,8517,0.22,2.00,0.00,0.000,6,0.184,0.025,2757,2394,2689
$GC,8830,0.67,219.0,760.9,12.3,683,8849,0.12,2.25,12.18,1.180,4,0.087,0.049,2806,3753,2639
$GC,8897,0.54,219.0,751.1,15.4,686,8901,0.22,2.00,0.00,0.000,6,0.183,0.025,2757,2395,2637
$GC,9227,0.73,257.3,712.7,10.4,702,9269,0.17,2.28,32.45,1.222,4,0.077,0.050,2829,3746,2482
$GC,9432,0.60,257.3,675.3,17.6,711,9437,0.25,1.98,0.00,0.000,6,0.184,0.025,2774,2405,2479
$GC,9762,0.81,291.7,637.3,10.7,727,9797,0.17,2.22,29.98,1.170,4,0.075,0.050,2848,3758,2341
$GC,9973,0.68,291.7,600.1,18.5,736,9978,0.22,1.95,0.00,0.000,6,0.185,0.025,2801,2429,2336
$GC,10296,0.83,291.7,552.7,15.0,752,10301,0.12,2.12,0.00,0.000,4,0.085,0.049,2848,3755,2335
$GC,10437,0.71,291.7,525.2,20.8,758,10441,0.17,1.90,0.00,0.000,6,0.186,0.025,2814,2445,2334
$GC,10762,0.82,291.7,474.4,14.4,781,10766,0.00,2.20,0.00,0.000,4,0.000,0.030,2823,975,2334
$GC,10813,0.99,291.7,466.8,13.5,785,10822,0.22,2.28,0.00,0.000,6,0.070,0.032,2910,2457,2333
$GC,11139,0.83,291.7,406.1,17.8,816,11143,0.20,2.05,0.00,0.000,4,0.181,0.049,2853,3746,2333
$GC,11338,0.72,291.7,370.3,17.4,833,11346,0.17,1.88,0.00,0.000,6,0.186,0.025,2816,2462,2333
$GC,11665,0.86,291.7,324.1,14.3,864,11667,0.12,0.00,0.00,0.000,6,0.084,0.000,2866,2458,2332
$GC,11996,0.86,291.7,266.4,15.5,910,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2458,2332
$GC,12340,0.86,291.7,203.0,18.1,971,12346,0.00,2.08,0.00,0.000,4,0.000,0.050,2867,3756,2332
$GC,12604,0.74,291.7,154.3,15.5,1017,12612,0.20,1.85,0.00,0.000,6,0.174,0.025,2823,2471,2332
$GC,12954,1.00,329.5,120.8,10.5,1078,12990,0.17,2.22,29.35,0.782,4,0.071,0.027,2912,986,2189
$GC,13245,1.04,329.5,74.3,13.4,1129,13253,0.00,2.25,0.00,0.000,6,0.000,0.030,2912,2460,2185
$GC,13595,1.22,379.2,50.1,9.6,1190,13643,0.17,2.10,39.90,0.693,4,0.067,0.045,2990,3761,1984
$GC,13718,1.11,405.9,38.7,11.3,1210,13748,0.22,1.95,21.90,0.657,6,0.181,0.021,2944,2393,1878
$STATE,14039,end climb,SURFACE_DEPTH_REACHED
$STATE,14039,begin surface coast
$FINISH,2.0,1.021183
$STATE,14073,end surface coast,CONTROL_FINISHED_OK
$STATE,14073,begin surface
$SM_CCo,14094,51.83,0.629,0,0,1594,475.15
$SM_GC,3.07,0.00,0.00,51.83,0.000,0.000,0.629,140,2389,1594,-7.63,0.17,475.15
$IRIDIUM_FIX,2519.89,12312.94,041298,040457
$TT8_MAMPS,0.029146
$HUMID,1813
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,12
$24V_AH,23.1,114.665
$10V_AH,10.5,59.597
$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,27.125,112.700,431.575,51.825,0.000,91.611,189.170,212.979,11.000,0.000,0.000,30.229,2326.462,8536.850,561.824,2494.044,1024.573,0.000,1809.996,0.000,2415.232,0.000,58.801,0.000
$DEVICE_MAMPS,226.265,52.156,1416.649,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,863.673,892.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69550,1272
$CAP_FILE_SIZE,151315,0
$CFSIZE,260165632,173998080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188, 58.7,1
$GPS,090909,083124,2523.932,12300.847,24,1.2,42,-3.7