version: 66.04
glider: 167
mission: 2
dive: 675
start: 9 10 109 2 5 42
data:
$ID,167
$MISSION,2
$DIVE,675
$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,-22698.871
$T_RSLEEP,10
$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,99
$R_STBD_OVSHOOT,35
$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
$GPS1,020114,2525.608,12305.065,9,1.4,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-68.7
$GPS2,020525,2525.691,12305.191,11,1.1,11,-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,183.3,53508,-25.0,-13.200
$D_GRID,877
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.85,0.000,2,0.000,0.000,139,2368,2191
$GC,46,-1.50,-121.7,3.0,-2.3,4,120,8.00,2.15,-58.80,0.000,4,0.230,0.050,2085,3774,3988
$GC,377,-0.78,-121.7,116.1,-31.6,61,383,0.88,1.98,0.00,0.000,6,0.179,0.021,2325,2345,3989
$GC,725,-1.18,-121.7,158.2,-9.3,122,733,0.30,2.20,0.00,0.000,4,0.052,0.042,2191,3773,3991
$GC,897,-0.98,-121.7,187.9,-18.1,151,904,0.25,1.90,0.00,0.000,6,0.158,0.025,2261,2412,3991
$GC,1249,-1.20,-121.7,233.3,-10.5,212,1256,0.17,2.08,0.00,0.000,4,0.067,0.041,2179,3760,3990
$GC,1515,-0.99,-121.7,288.5,-21.0,258,1522,0.30,1.85,0.00,0.000,6,0.163,0.021,2261,2434,3989
$GC,1849,-1.26,-121.7,331.3,-12.5,295,1854,0.22,2.08,0.00,0.000,4,0.063,0.044,2162,3772,3988
$GC,1959,-1.03,-121.7,353.2,-22.6,304,1963,0.25,1.88,0.00,0.000,6,0.160,0.022,2247,2466,3986
$GC,2295,-1.29,-121.7,400.8,-12.1,335,2299,0.20,2.03,0.00,0.000,4,0.062,0.044,2161,3766,3984
$GC,2446,-1.14,-121.7,428.0,-18.7,348,2450,0.20,1.83,0.00,0.000,6,0.165,0.022,2213,2479,3981
$GC,2778,-1.32,-121.7,468.7,-10.8,379,2782,0.17,2.00,0.00,0.000,4,0.067,0.044,2140,3762,3978
$GC,2896,-1.14,-121.7,489.4,-18.0,389,2902,0.25,1.80,0.00,0.000,6,0.164,0.022,2206,2493,3976
$GC,3230,-1.29,-121.7,529.9,-12.1,409,3234,0.12,2.00,0.00,0.000,4,0.080,0.046,2152,3770,3973
$GC,3363,-1.17,-121.7,551.2,-16.9,414,3370,0.17,1.80,0.00,0.000,6,0.166,0.024,2197,2510,3971
$GC,3682,-1.31,-121.7,591.8,-13.1,430,3686,0.12,1.98,0.00,0.000,4,0.081,0.048,2146,3769,3968
$GC,3857,-1.18,-121.7,622.2,-18.0,437,3864,0.20,1.77,0.00,0.000,6,0.166,0.025,2197,2533,3966
$GC,4179,-1.35,-121.7,663.6,-12.9,453,4183,0.15,1.95,0.00,0.000,4,0.077,0.047,2139,3769,3963
$GC,4231,-1.23,-121.7,673.0,-17.6,455,4235,0.17,1.75,0.00,0.000,6,0.170,0.024,2183,2552,3962
$GC,4565,-1.36,-121.7,717.9,-13.3,471,4569,0.12,1.90,0.00,0.000,4,0.079,0.047,2136,3756,3959
$GC,4710,-1.24,-121.7,742.1,-18.4,477,4714,0.17,1.70,0.00,0.000,6,0.172,0.025,2179,2572,3958
$GC,5042,-1.34,-121.7,789.3,-15.6,493,5046,0.00,1.90,0.00,0.000,4,0.000,0.049,2179,3757,3955
$GC,5128,-1.40,-121.7,804.5,-17.0,496,5134,0.15,1.70,0.00,0.000,6,0.077,0.024,2121,2574,3955
$GC,5446,-1.29,-121.7,867.2,-20.5,512,5450,0.17,1.90,0.00,0.000,4,0.166,0.049,2165,3766,3952
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5504,-0.27,0.0,877.2,17.5,514,5595,1.08,0.00,87.18,1.321,6,0.157,0.000,2482,2379,3532
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5595,begin climb
$GC,5601,1.50,121.7,883.0,0.0,518,5713,1.58,2.22,101.32,1.282,4,0.047,0.026,3077,978,3034
$GC,5968,0.70,121.7,865.0,13.6,534,5974,1.05,2.12,0.00,0.000,6,0.206,0.033,2808,2374,3030
$GC,6291,0.63,199.8,840.8,7.5,550,6360,0.00,2.17,63.33,1.262,4,0.000,0.026,2814,984,2715
$GC,6598,0.63,199.8,800.6,15.7,564,6603,0.12,2.12,0.00,0.000,6,0.179,0.031,2786,2375,2711
$GC,6926,0.63,199.8,757.2,13.3,580,6929,0.00,2.17,0.00,0.000,4,0.000,0.048,2785,3760,2708
$GC,7124,0.55,199.8,726.0,16.8,588,7128,0.12,1.98,0.00,0.000,6,0.186,0.024,2759,2395,2707
$GC,7446,0.69,207.1,683.9,12.7,604,7457,0.12,2.17,5.93,0.964,4,0.083,0.048,2809,3757,2687
$GC,7550,0.54,207.1,666.5,18.5,608,7556,0.25,1.98,0.00,0.000,6,0.184,0.024,2752,2390,2686
$GC,7867,0.72,221.8,625.6,12.1,624,7889,0.17,2.20,13.68,1.111,4,0.076,0.046,2825,3742,2626
$GC,7903,0.60,221.8,620.5,15.5,625,7907,0.22,1.95,0.00,0.000,6,0.193,0.023,2778,2398,2625
$GC,8225,0.73,234.2,578.3,12.3,641,8243,0.12,0.00,11.32,1.062,6,0.079,0.000,2826,2395,2576
$GC,8555,0.73,234.2,530.1,15.4,657,8558,0.00,2.15,0.00,0.000,4,0.000,0.048,2826,3750,2574
$GC,8751,0.59,234.2,496.4,18.4,666,8755,0.25,1.95,0.00,0.000,6,0.182,0.025,2770,2410,2573
$GC,9082,0.78,249.8,453.8,12.1,697,9106,0.17,2.17,13.12,1.012,4,0.072,0.028,2846,989,2512
$GC,9213,0.83,249.8,434.0,16.4,708,9217,0.00,2.15,0.00,0.000,6,0.000,0.031,2846,2407,2511
$GC,9549,0.83,249.8,380.6,16.7,739,9553,0.00,2.12,0.00,0.000,4,0.000,0.050,2845,3755,2509
$GC,9810,0.68,249.8,337.0,15.6,762,9815,0.20,1.95,0.00,0.000,6,0.183,0.025,2804,2412,2509
$GC,10143,0.85,290.3,302.7,10.3,793,10183,0.15,2.15,33.80,0.937,4,0.077,0.027,2871,992,2347
$GC,10301,0.92,290.3,279.5,15.6,818,10308,0.00,2.15,0.00,0.000,6,0.000,0.031,2871,2395,2343
$GC,10648,0.92,290.3,218.6,17.3,879,10654,0.00,2.10,0.00,0.000,4,0.000,0.028,2880,987,2341
$GC,10769,0.92,290.3,198.0,17.5,900,10775,0.00,2.10,0.00,0.000,6,0.000,0.031,2880,2372,2341
$GC,11115,0.92,292.2,148.0,13.1,961,11121,0.00,2.15,0.00,0.000,4,0.000,0.046,2881,3753,2341
$GC,11372,0.82,292.2,107.7,15.0,1006,11380,0.17,2.00,0.00,0.000,6,0.179,0.022,2845,2351,2341
$GC,11725,1.24,422.3,75.6,3.8,1067,11837,0.32,2.10,102.05,0.723,4,0.060,0.027,2988,993,1807
$GC,12098,1.33,422.3,32.4,15.7,1131,12105,0.00,2.08,0.00,0.000,6,0.000,0.029,2989,2366,1799
$STATE,12284,end climb,SURFACE_DEPTH_REACHED
$STATE,12284,begin surface coast
$FINISH,1.8,1.020886
$STATE,12308,end surface coast,CONTROL_FINISHED_OK
$STATE,12308,begin surface
$SM_CCo,12330,38.17,0.630,0,0,1595,475.15
$SM_GC,3.20,0.00,0.00,38.17,0.000,0.000,0.630,136,2367,1595,-7.64,-0.45,475.15
$IRIDIUM_FIX,2515.12,12306.33,051298,010129
$TT8_MAMPS,0.029146
$HUMID,1908
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.20
$XPDR_PINGS,77
$24V_AH,23.0,115.575
$10V_AH,10.5,60.032
$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,26.675,96.550,431.725,38.175,0.000,0.000,0.000,0.000,26.250,0.000,0.000,11.182,2099.095,7163.388,555.960,2231.982,388.302,0.000,1680.856,0.000,2179.193,0.000,47.760,0.000
$DEVICE_MAMPS,230.100,49.855,1320.774,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,790.881,818.932,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63133,1168
$CAP_FILE_SIZE,153052,0
$CFSIZE,260165632,173576192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219, 23.7,1
$GPS,100909,053307,2525.958,12305.344,33,1.1,34,-3.7