version: 66.04
glider: 167
mission: 2
dive: 619
start: 9 1 109 21 34 43
data:
$ID,167
$MISSION,2
$DIVE,619
$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,-21509.85
$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,78
$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
$GPS1,212355,2511.764,12309.839,41,1.1,42,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-67.3
$GPS2,213420,2511.885,12309.939,14,1.1,14,-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,286.1,61798,-25.0,-13.200
$D_GRID,1620
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.75,0.000,2,0.000,0.000,137,2439,2247
$GC,48,-1.50,-121.7,3.3,-2.8,4,115,8.00,2.12,-51.80,0.000,4,0.227,0.053,2085,3776,3990
$GC,298,-0.69,-121.7,86.8,-37.4,47,305,0.98,2.00,0.00,0.000,6,0.179,0.021,2353,2347,3991
$GC,646,-1.11,-121.7,131.2,-9.7,108,653,0.32,2.20,0.00,0.000,4,0.054,0.043,2205,3767,3994
$GC,875,-0.93,-121.7,181.1,-19.2,148,882,0.25,1.90,0.00,0.000,6,0.156,0.021,2275,2407,3994
$GC,1225,-1.19,-121.7,227.3,-12.4,209,1232,0.20,2.10,0.00,0.000,4,0.064,0.043,2179,3763,3996
$GC,1362,-0.96,-121.7,253.9,-21.0,232,1369,0.32,1.88,0.00,0.000,6,0.161,0.021,2270,2422,3996
$GC,1713,-1.26,-121.7,296.4,-12.5,293,1720,0.22,2.08,0.00,0.000,4,0.061,0.043,2165,3762,3995
$GC,1755,-1.15,-121.7,303.4,-17.0,298,1763,0.15,1.85,0.00,0.000,6,0.162,0.022,2203,2444,3995
$GC,2081,-1.21,-121.7,351.9,-14.7,329,2084,0.00,2.05,0.00,0.000,4,0.000,0.045,2203,3765,3996
$GC,2208,-1.26,-121.7,371.2,-16.0,340,2211,0.00,1.85,0.00,0.000,6,0.000,0.022,2203,2457,3995
$GC,2540,-1.39,-121.7,418.5,-13.4,371,2544,0.20,2.03,0.00,0.000,4,0.063,0.044,2111,3756,3995
$GC,2672,-1.10,-121.7,446.4,-22.2,382,2680,0.40,1.80,0.00,0.000,6,0.171,0.022,2219,2485,3994
$GC,3000,-1.33,-121.7,489.4,-11.8,413,3004,0.20,2.00,0.00,0.000,4,0.065,0.045,2137,3761,3992
$GC,3186,-1.22,-121.7,523.4,-16.8,424,3190,0.17,1.77,0.00,0.000,6,0.164,0.024,2181,2515,3992
$GC,3516,-1.34,-121.7,566.8,-13.1,440,3520,0.00,1.98,0.00,0.000,4,0.000,0.048,2179,3774,3990
$GC,3563,-1.43,-121.7,573.9,-13.7,442,3567,0.12,1.83,0.00,0.000,6,0.061,0.025,2119,2534,3989
$GC,3900,-1.32,-121.7,632.9,-18.4,458,3904,0.15,1.92,0.00,0.000,4,0.170,0.048,2149,3753,3986
$GC,3962,-1.32,-121.7,645.1,-17.1,460,3968,0.00,1.75,0.00,0.000,6,0.000,0.025,2149,2539,3986
$GC,4280,-1.32,-121.7,694.1,-14.9,476,4284,0.00,1.92,0.00,0.000,4,0.000,0.050,2149,3759,3982
$GC,4426,-1.32,-121.7,718.7,-16.6,482,4430,0.00,1.75,0.00,0.000,6,0.000,0.025,2149,2550,3981
$GC,4750,-1.32,-121.7,769.3,-15.5,498,4753,0.00,1.90,0.00,0.000,4,0.000,0.050,2143,3753,3978
$GC,4813,-1.32,-121.7,780.0,-16.5,500,4819,0.00,1.73,0.00,0.000,6,0.000,0.025,2142,2563,3978
$GC,5130,-1.32,-121.7,828.1,-14.5,516,5133,0.00,1.90,0.00,0.000,4,0.000,0.051,2139,3763,3975
$GC,5222,-1.32,-121.7,842.5,-16.3,520,5226,0.00,1.73,0.00,0.000,6,0.000,0.026,2139,2580,3974
$GC,5556,-1.32,-121.7,892.6,-14.4,536,5559,0.00,1.88,0.00,0.000,4,0.000,0.050,2137,3765,3971
$GC,5595,-1.32,-121.7,898.9,-15.1,537,5601,0.00,1.73,0.00,0.000,6,0.000,0.025,2137,2576,3971
$GC,5913,-1.32,-121.7,946.5,-14.8,553,5917,0.00,1.90,0.00,0.000,4,0.000,0.052,2137,3751,3969
$GC,6036,-1.32,-121.7,966.3,-14.7,558,6040,0.00,1.70,0.00,0.000,6,0.000,0.027,2137,2588,3968
$STATE,6211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6211,begin apogee
$GC,6221,-0.27,0.0,992.2,14.6,567,6324,1.23,0.00,94.97,1.378,6,0.166,0.000,2484,2418,3532
$STATE,6325,end apogee,CONTROL_FINISHED_OK
$STATE,6325,begin climb
$GC,6329,1.50,121.7,996.9,0.0,572,6441,1.60,2.20,105.00,1.361,4,0.052,0.026,3075,1009,3034
$GC,6696,0.71,121.7,968.1,16.1,588,6703,1.05,2.10,0.00,0.000,6,0.222,0.031,2814,2382,3030
$GC,7014,0.58,166.9,935.0,9.9,604,7057,0.17,2.20,37.83,1.320,4,0.199,0.029,2776,1012,2851
$GC,7177,0.67,196.6,918.0,11.1,611,7208,0.00,2.10,25.55,1.282,6,0.000,0.034,2776,2368,2729
$GC,7531,0.74,210.8,875.6,12.2,628,7552,0.12,2.25,12.93,1.212,4,0.087,0.050,2825,3753,2672
$GC,7663,0.54,210.8,853.6,17.6,633,7670,0.28,2.00,0.00,0.000,6,0.192,0.025,2759,2403,2670
$GC,7982,0.71,239.0,816.2,11.2,649,8012,0.15,2.22,24.60,1.254,4,0.083,0.051,2815,3764,2557
$GC,8159,0.59,239.0,787.4,17.7,657,8164,0.20,2.05,0.00,0.000,6,0.189,0.025,2775,2380,2553
$GC,8488,0.71,239.0,744.3,13.3,673,8490,0.10,0.00,0.00,0.000,6,0.094,0.000,2812,2376,2551
$GC,8796,0.71,239.0,697.9,14.9,688,8800,0.00,2.20,0.00,0.000,4,0.000,0.052,2813,3754,2550
$GC,8932,0.61,239.0,674.5,17.5,694,8937,0.17,2.00,0.00,0.000,6,0.193,0.027,2779,2384,2550
$GC,9266,0.74,242.8,629.3,12.9,710,9270,0.12,2.20,0.00,0.000,4,0.086,0.050,2826,3758,2549
$GC,9322,0.60,242.8,619.6,18.5,712,9327,0.22,1.95,0.00,0.000,6,0.189,0.025,2772,2423,2549
$GC,9647,0.75,242.8,575.7,13.6,728,9651,0.15,2.15,0.00,0.000,4,0.081,0.051,2829,3763,2549
$GC,9720,0.61,242.8,562.0,19.0,731,9724,0.22,1.98,0.00,0.000,6,0.191,0.027,2782,2414,2549
$GC,10037,0.75,248.3,518.3,12.8,746,10052,0.12,2.20,7.38,0.971,4,0.083,0.029,2837,983,2519
$GC,10152,0.80,248.3,501.6,14.9,751,10156,0.00,2.20,0.00,0.000,6,0.000,0.032,2837,2417,2518
$GC,10488,0.80,248.3,450.9,14.9,781,10492,0.00,2.12,0.00,0.000,4,0.000,0.052,2837,3763,2518
$GC,10596,0.66,248.3,432.6,17.4,790,10603,0.20,2.00,0.00,0.000,6,0.189,0.026,2796,2394,2517
$GC,10922,0.80,257.2,390.6,12.6,821,10937,0.12,2.22,8.68,0.919,4,0.084,0.051,2845,3750,2483
$GC,11003,0.69,257.2,378.1,15.4,828,11008,0.20,1.95,0.00,0.000,6,0.188,0.025,2804,2411,2482
$GC,11335,0.82,260.0,336.2,13.0,859,11345,0.12,0.00,4.12,0.670,6,0.085,0.000,2851,2407,2471
$GC,11670,0.82,260.8,285.7,13.1,898,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2407,2470
$GC,12015,0.82,260.8,236.3,15.9,959,12022,0.00,2.10,0.00,0.000,4,0.000,0.028,2854,989,2470
$GC,12277,0.95,269.2,199.7,12.6,1005,12295,0.00,2.17,9.10,0.767,6,0.000,0.031,2854,2425,2434
$GC,12640,1.08,298.9,157.2,11.0,1068,12671,0.17,2.25,25.42,0.781,4,0.074,0.027,2938,982,2313
$GC,12927,1.08,298.9,115.2,14.4,1118,12934,0.00,2.15,0.00,0.000,6,0.000,0.030,2938,2401,2310
$GC,13274,1.17,372.5,70.5,7.9,1179,13338,0.00,2.17,58.05,0.695,4,0.000,0.027,2938,981,2011
$GC,13471,1.33,381.2,46.1,12.6,1213,13484,0.20,2.12,7.57,0.575,6,0.069,0.028,3015,2386,1978
$STATE,13782,end climb,SURFACE_DEPTH_REACHED
$STATE,13782,begin surface coast
$FINISH,1.9,1.008553
$STATE,13809,end surface coast,CONTROL_FINISHED_OK
$STATE,13809,begin surface
$SM_CCo,13830,70.85,0.619,0,0,1595,475.15
$SM_GC,2.66,0.00,0.00,70.85,0.000,0.000,0.619,139,2388,1595,-7.63,0.14,475.15
$IRIDIUM_FIX,2500.82,12309.71,261198,212130
$TT8_MAMPS,0.029146
$HUMID,1749
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,20
$24V_AH,22.1,106.608
$10V_AH,10.5,55.687
$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,26.500,108.700,421.200,70.850,0.000,54.183,69.774,261.398,13.000,0.000,0.000,14.718,2293.475,8371.726,587.410,2392.866,873.386,0.000,1792.004,0.000,2330.265,0.000,57.218,0.000
$DEVICE_MAMPS,227.032,52.923,1377.532,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,860.594,874.490,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69374,1272
$CAP_FILE_SIZE,146300,0
$CFSIZE,260165632,177549312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.253, 52.4,1
$GPS,020909,012737,2513.886,12309.920,31,1.0,31,-3.7