version: 66.04
glider: 167
mission: 2
dive: 618
start: 9 1 109 17 25 58
data:
$ID,167
$MISSION,2
$DIVE,618
$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,-21494.504
$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,86
$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
$GPS1,171753,2509.787,12309.791,25,1.6,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-66.4
$GPS2,172538,2509.908,12309.875,14,1.5,14,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,287.9,64858,-25.0,-13.200
$D_GRID,1695
$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,-23.42,0.000,2,0.000,0.000,142,2389,2186
$GC,47,-1.50,-121.7,3.2,-2.5,4,126,7.85,2.17,-62.33,0.000,4,0.222,0.055,2084,3763,3990
$GC,269,-0.72,-121.7,69.9,-37.4,42,277,0.93,2.00,0.00,0.000,6,0.177,0.025,2340,2350,3991
$GC,618,-1.08,-121.7,118.8,-11.0,103,625,0.28,2.17,0.00,0.000,4,0.057,0.043,2218,3759,3994
$GC,803,-0.84,-121.7,161.5,-22.7,135,810,0.30,1.90,0.00,0.000,6,0.158,0.021,2303,2396,3994
$GC,1151,-1.19,-121.7,204.3,-12.0,196,1158,0.28,2.12,0.00,0.000,4,0.058,0.043,2180,3769,3996
$GC,1363,-0.93,-121.7,252.6,-22.9,233,1369,0.35,1.88,0.00,0.000,6,0.160,0.021,2278,2433,3996
$GC,1712,-1.31,-121.7,292.0,-9.2,294,1720,0.30,2.08,0.00,0.000,4,0.058,0.043,2149,3771,3996
$GC,1774,-1.05,-121.7,302.6,-21.4,303,1778,0.32,1.88,0.00,0.000,6,0.162,0.021,2240,2430,3996
$GC,2106,-1.30,-121.7,346.2,-11.1,334,2111,0.20,2.08,0.00,0.000,4,0.063,0.044,2152,3766,3996
$GC,2152,-1.13,-121.7,353.9,-19.3,337,2158,0.22,1.85,0.00,0.000,6,0.164,0.021,2211,2440,3996
$GC,2479,-1.30,-121.7,397.2,-12.6,368,2484,0.15,2.05,0.00,0.000,4,0.072,0.044,2146,3757,3996
$GC,2587,-1.15,-121.7,416.6,-18.3,377,2593,0.22,1.83,0.00,0.000,6,0.163,0.022,2205,2465,3996
$GC,2913,-1.31,-121.7,462.1,-13.1,408,2917,0.15,2.03,0.00,0.000,4,0.071,0.044,2139,3764,3995
$GC,3057,-1.13,-121.7,487.8,-18.3,420,3063,0.28,1.83,0.00,0.000,6,0.165,0.022,2212,2479,3994
$GC,3381,-1.38,-121.7,527.5,-12.2,440,3386,0.17,2.00,0.00,0.000,4,0.071,0.047,2138,3764,3992
$GC,3525,-1.25,-121.7,553.8,-18.6,446,3530,0.10,1.83,0.00,0.000,6,0.166,0.024,2177,2511,3991
$GC,3859,-1.35,-121.7,600.9,-13.7,462,3862,0.00,1.95,0.00,0.000,4,0.000,0.048,2175,3756,3989
$GC,3943,-1.43,-121.7,613.7,-14.0,465,3950,0.15,1.77,0.00,0.000,6,0.076,0.024,2116,2518,3987
$GC,4262,-1.33,-121.7,666.3,-16.6,481,4266,0.15,1.98,0.00,0.000,4,0.172,0.048,2152,3766,3985
$GC,4335,-1.33,-121.7,678.3,-15.0,484,4338,0.00,1.77,0.00,0.000,6,0.000,0.025,2151,2538,3984
$GC,4664,-1.33,-121.7,723.7,-13.9,500,4667,0.00,1.92,0.00,0.000,4,0.000,0.050,2149,3758,3981
$GC,4779,-1.33,-121.7,740.5,-14.4,505,4783,0.00,1.75,0.00,0.000,6,0.000,0.025,2149,2553,3980
$GC,5112,-1.33,-121.7,787.3,-13.7,521,5116,0.00,1.92,0.00,0.000,4,0.000,0.051,2149,3766,3977
$GC,5205,-1.33,-121.7,799.9,-13.4,525,5210,0.00,1.75,0.00,0.000,6,0.000,0.026,2149,2565,3976
$GC,5538,-1.37,-121.7,842.3,-13.1,541,5542,0.00,1.92,0.00,0.000,4,0.000,0.051,2142,3780,3974
$GC,5624,-1.37,-121.7,854.6,-14.7,544,5630,0.00,1.75,0.00,0.000,6,0.000,0.026,2142,2578,3973
$GC,5941,-1.37,-121.7,897.7,-13.3,560,5944,0.00,1.88,0.00,0.000,4,0.000,0.052,2140,3757,3971
$GC,6077,-1.37,-121.7,918.3,-14.9,566,6080,0.00,1.73,0.00,0.000,6,0.000,0.027,2140,2578,3969
$GC,6411,-1.37,-121.7,964.7,-14.1,582,6415,0.00,1.90,0.00,0.000,4,0.000,0.052,2139,3751,3968
$GC,6496,-1.37,-121.7,977.7,-15.4,585,6502,0.00,1.70,0.00,0.000,6,0.000,0.027,2139,2587,3968
$STATE,6582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6582,begin apogee
$GC,6592,-0.27,0.0,990.2,14.1,590,6688,1.23,0.00,93.07,1.405,6,0.166,0.000,2486,2415,3532
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6693,1.50,121.7,994.1,0.0,595,6806,1.58,2.22,105.40,1.364,4,0.052,0.045,3060,3754,3034
$GC,6860,0.53,121.7,995.9,13.5,603,6866,1.27,2.03,0.00,0.000,6,0.226,0.021,2757,2378,3031
$GC,7190,0.61,189.9,967.0,8.2,619,7249,0.00,0.00,57.35,1.341,6,0.000,0.000,2757,2377,2757
$GC,7558,0.73,208.6,924.9,11.8,637,7581,0.17,2.30,16.62,1.258,4,0.082,0.051,2823,3759,2681
$GC,7656,0.52,208.6,909.0,18.2,641,7661,0.30,2.03,0.00,0.000,6,0.190,0.023,2752,2396,2678
$GC,7979,0.68,222.2,868.9,12.2,657,8000,0.15,2.25,12.52,1.216,4,0.084,0.048,2808,3757,2625
$GC,8112,0.55,222.2,847.5,17.3,662,8120,0.22,2.03,0.00,0.000,6,0.188,0.024,2758,2372,2624
$GC,8430,0.71,229.6,806.3,12.7,678,8444,0.15,2.28,7.57,1.098,4,0.083,0.050,2814,3761,2596
$GC,8504,0.58,229.6,793.7,18.7,681,8509,0.20,2.00,0.00,0.000,6,0.192,0.025,2767,2407,2594
$GC,8828,0.71,229.6,749.3,13.4,697,8829,0.12,0.00,0.00,0.000,6,0.086,0.000,2814,2403,2593
$GC,9136,0.71,229.6,701.1,16.1,712,9140,0.00,2.15,0.00,0.000,4,0.000,0.050,2814,3765,2592
$GC,9244,0.58,229.6,681.2,18.7,716,9250,0.20,2.03,0.00,0.000,6,0.192,0.025,2766,2394,2592
$GC,9561,0.73,234.8,638.0,12.8,732,9571,0.15,2.17,5.40,0.937,4,0.081,0.050,2824,3754,2573
$GC,9648,0.59,234.8,623.4,18.2,736,9653,0.22,2.00,0.00,0.000,6,0.190,0.024,2772,2395,2573
$GC,9975,0.73,234.8,578.5,13.5,752,9977,0.12,0.00,0.00,0.000,6,0.087,0.000,2820,2390,2572
$GC,10286,0.73,234.8,530.5,15.1,767,10290,0.00,2.17,0.00,0.000,4,0.000,0.050,2820,3757,2572
$GC,10320,0.61,234.8,524.5,17.5,768,10325,0.20,1.98,0.00,0.000,6,0.190,0.025,2779,2402,2571
$GC,10651,0.78,256.5,483.0,11.6,790,10676,0.15,2.25,18.35,1.062,4,0.082,0.051,2836,3755,2485
$GC,10829,0.66,256.5,452.2,18.1,805,10836,0.20,1.95,0.00,0.000,6,0.190,0.024,2796,2420,2483
$GC,11157,0.80,269.2,408.4,12.3,836,11174,0.12,0.00,11.93,0.969,6,0.085,0.000,2843,2417,2433
$GC,11495,0.80,269.2,356.1,14.9,868,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2418,2432
$GC,11812,0.80,269.2,306.3,15.1,898,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2418,2431
$GC,12149,0.85,269.2,255.1,15.5,954,12155,0.00,2.12,0.00,0.000,4,0.000,0.029,2844,988,2430
$GC,12384,0.98,269.2,221.4,14.3,995,12391,0.15,2.22,0.00,0.000,6,0.077,0.034,2900,2440,2430
$GC,12732,0.91,269.2,170.1,13.5,1056,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2440,2430
$GC,13077,0.94,289.2,125.2,11.7,1117,13101,0.00,2.22,17.42,0.740,4,0.000,0.028,2909,968,2352
$GC,13296,1.05,317.7,101.7,11.1,1155,13326,0.00,2.22,23.75,0.716,6,0.000,0.031,2909,2435,2236
$GC,13669,1.22,383.2,56.8,8.4,1220,13727,0.17,0.00,51.53,0.673,6,0.067,0.000,2986,2436,1969
$GC,14071,1.26,411.1,3.6,11.2,1290,14079,0.00,0.00,6.70,0.521,2,0.000,0.000,2986,2437,1931
$STATE,14080,end climb,SURFACE_DEPTH_REACHED
$STATE,14080,begin surface coast
$FINISH,1.7,1.021241
$STATE,14107,end surface coast,CONTROL_FINISHED_OK
$STATE,14108,begin surface
$SM_CCo,14130,62.35,0.615,0,0,1594,475.15
$SM_GC,2.85,0.00,0.00,62.35,0.000,0.000,0.615,137,2438,1594,-7.64,1.58,475.15
$IRIDIUM_FIX,2458.45,12308.41,261198,131321
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.80
$XPDR_PINGS,11
$24V_AH,23.1,106.435
$10V_AH,10.5,55.602
$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,27.325,100.200,427.625,62.350,0.000,25.089,33.264,232.627,10.750,0.000,0.000,14.318,2310.782,8641.941,609.940,2324.226,760.938,0.000,1776.086,0.000,2264.527,0.000,54.430,0.000
$DEVICE_MAMPS,226.265,55.224,1405.144,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,876.658,899.660,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69525,1296
$CAP_FILE_SIZE,145028,0
$CFSIZE,260165632,177627136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260, 58.8,1
$GPS,010909,212355,2511.764,12309.839,41,1.1,42,-3.7