version: 66.04
glider: 167
mission: 2
dive: 621
start: 9 2 109 5 36 19
data:
$ID,167
$MISSION,2
$DIVE,621
$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,-21539.674
$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,108
$R_STBD_OVSHOOT,44
$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
$GPS1,052855,2515.447,12310.311,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-64.2
$GPS2,053556,2515.557,12310.480,12,1.1,12,-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,281.6,56727,-25.0,-13.200
$D_GRID,1379
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.33,0.000,2,0.000,0.000,138,2385,2312
$GC,51,-1.50,-121.7,3.3,-2.2,5,117,8.10,2.12,-51.45,0.000,4,0.230,0.051,2086,3754,3988
$GC,268,-0.67,-121.7,72.8,-35.4,42,276,1.00,1.92,0.00,0.000,6,0.185,0.020,2355,2384,3990
$GC,618,-1.06,-121.7,117.7,-10.3,103,625,0.30,2.15,0.00,0.000,4,0.054,0.044,2221,3757,3993
$GC,741,-0.88,-121.7,144.3,-22.6,124,747,0.25,1.90,0.00,0.000,6,0.160,0.021,2290,2400,3993
$GC,1087,-1.11,-121.7,196.0,-13.6,185,1093,0.17,0.00,0.00,0.000,6,0.063,0.000,2210,2399,3994
$GC,1436,-1.17,-121.7,252.2,-13.5,246,1443,0.00,2.10,0.00,0.000,4,0.000,0.043,2205,3760,3995
$GC,1542,-1.17,-121.7,269.0,-15.4,264,1549,0.00,1.90,0.00,0.000,6,0.000,0.021,2205,2402,3995
$GC,1886,-1.24,-121.7,321.3,-15.0,313,1890,0.00,2.10,0.00,0.000,4,0.000,0.044,2205,3754,3995
$GC,1966,-1.24,-121.7,334.8,-17.2,320,1970,0.00,1.88,0.00,0.000,6,0.000,0.022,2204,2423,3995
$GC,2300,-1.34,-121.7,387.3,-15.4,351,2304,0.15,2.10,0.00,0.000,4,0.067,0.045,2140,3763,3995
$GC,2370,-1.15,-121.7,401.2,-20.0,357,2374,0.25,1.88,0.00,0.000,6,0.163,0.022,2207,2439,3995
$GC,2702,-1.30,-121.7,448.5,-13.5,388,2706,0.15,2.05,0.00,0.000,4,0.071,0.044,2139,3750,3994
$GC,2782,-1.17,-121.7,462.5,-18.4,395,2787,0.22,1.85,0.00,0.000,6,0.160,0.023,2199,2453,3994
$GC,3123,-1.35,-121.7,508.3,-13.0,424,3125,0.17,0.00,0.00,0.000,6,0.067,0.000,2130,2453,3993
$GC,3433,-1.27,-121.7,562.6,-17.6,439,3437,0.15,2.05,0.00,0.000,4,0.166,0.044,2164,3757,3990
$GC,3570,-1.27,-121.7,584.1,-14.9,445,3574,0.00,1.85,0.00,0.000,6,0.000,0.024,2165,2463,3989
$GC,3904,-1.33,-121.7,631.4,-14.4,461,3908,0.00,2.03,0.00,0.000,4,0.000,0.049,2165,3750,3986
$GC,4042,-1.33,-121.7,651.0,-14.0,467,4045,0.00,1.83,0.00,0.000,6,0.000,0.025,2165,2486,3984
$GC,4376,-1.40,-121.7,697.2,-14.1,483,4380,0.10,2.00,0.00,0.000,4,0.089,0.048,2123,3746,3981
$GC,4479,-1.30,-121.7,714.5,-17.2,487,4483,0.15,1.77,0.00,0.000,6,0.171,0.023,2160,2509,3980
$GC,4801,-1.38,-121.7,759.8,-14.5,503,4805,0.00,1.95,0.00,0.000,4,0.000,0.048,2153,3746,3977
$GC,4903,-1.38,-121.7,774.9,-15.2,507,4911,0.00,1.75,0.00,0.000,6,0.000,0.024,2153,2532,3976
$GC,5230,-1.44,-121.7,824.0,-15.7,523,5235,0.00,1.98,0.00,0.000,4,0.000,0.052,2152,3773,3973
$GC,5325,-1.44,-121.7,839.7,-15.2,527,5329,0.08,1.80,0.00,0.000,6,0.073,0.025,2115,2557,3973
$GC,5658,-1.36,-121.7,900.6,-18.7,543,5662,0.00,1.90,0.00,0.000,4,0.000,0.051,2109,3752,3971
$GC,5772,-1.22,-121.7,924.3,-20.0,548,5778,0.22,1.75,0.00,0.000,6,0.173,0.025,2184,2577,3969
$GC,6111,-1.43,-121.7,970.3,-13.2,564,6115,0.17,1.88,0.00,0.000,4,0.074,0.051,2110,3750,3967
$GC,6202,-1.31,-121.7,986.5,-18.1,568,6206,0.17,1.70,0.00,0.000,6,0.177,0.025,2153,2581,3966
$STATE,6222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6223,begin apogee
$GC,6233,-0.27,0.0,990.5,17.2,569,6336,1.15,0.00,94.90,1.378,6,0.156,0.000,2490,2403,3532
$STATE,6337,end apogee,CONTROL_FINISHED_OK
$STATE,6337,begin climb
$GC,6341,1.50,121.7,996.0,0.0,574,6455,1.58,2.30,105.47,1.361,4,0.051,0.045,3065,3754,3035
$GC,6502,0.52,132.0,1001.4,12.5,582,6518,1.33,2.12,9.82,1.171,6,0.226,0.023,2751,2337,2994
$GC,6853,0.60,194.0,971.3,8.7,599,6915,0.00,2.40,52.33,1.339,4,0.000,0.050,2751,3745,2740
$GC,6989,0.61,200.4,955.8,12.7,605,7004,0.00,2.05,6.82,1.068,6,0.000,0.024,2759,2366,2714
$GC,7316,0.74,215.5,917.3,12.1,621,7338,0.17,2.22,14.07,1.241,4,0.078,0.048,2832,3750,2652
$GC,7475,0.52,215.5,890.0,17.7,628,7479,0.35,2.03,0.00,0.000,6,0.185,0.025,2749,2381,2650
$GC,7804,0.70,230.7,850.1,12.1,644,7826,0.17,2.25,13.90,1.225,4,0.077,0.052,2823,3743,2591
$GC,7883,0.55,230.7,837.0,18.0,647,7888,0.28,2.00,0.00,0.000,6,0.184,0.027,2757,2400,2589
$GC,8207,0.74,244.3,797.9,12.2,663,8229,0.17,2.25,12.12,1.186,4,0.077,0.051,2823,3754,2535
$GC,8370,0.61,244.3,768.1,18.6,670,8374,0.20,2.00,0.00,0.000,6,0.190,0.024,2778,2398,2533
$GC,8693,0.74,244.3,719.8,15.2,686,8697,0.12,2.17,0.00,0.000,4,0.087,0.051,2826,3751,2532
$GC,8811,0.61,244.3,696.6,18.8,691,8815,0.20,1.95,0.00,0.000,6,0.189,0.025,2778,2417,2531
$GC,9135,0.74,244.3,652.1,13.3,707,9136,0.12,0.00,0.00,0.000,6,0.087,0.000,2826,2413,2530
$GC,9441,0.74,244.3,605.3,15.3,722,9445,0.00,2.12,0.00,0.000,4,0.000,0.050,2826,3747,2530
$GC,9545,0.61,244.3,587.7,17.4,726,9549,0.20,1.92,0.00,0.000,6,0.189,0.025,2778,2430,2530
$GC,9867,0.76,244.3,542.2,14.4,742,9872,0.15,2.12,0.00,0.000,4,0.082,0.050,2835,3755,2529
$GC,9946,0.62,244.3,527.2,19.0,745,9952,0.25,1.92,0.00,0.000,6,0.187,0.025,2780,2427,2529
$GC,10270,0.77,247.2,483.9,13.0,766,10275,0.15,2.17,0.00,0.000,4,0.079,0.030,2844,968,2528
$GC,10452,0.77,247.2,457.3,14.1,782,10456,0.00,2.28,0.00,0.000,6,0.000,0.035,2844,2442,2528
$GC,10781,0.77,247.2,409.7,14.6,812,10784,0.00,2.05,0.00,0.000,4,0.000,0.051,2845,3744,2528
$GC,10912,0.61,247.2,388.2,15.5,823,10918,0.28,1.90,0.00,0.000,6,0.186,0.026,2783,2435,2528
$GC,11238,0.81,274.0,349.9,11.3,854,11268,0.17,2.22,24.15,0.965,4,0.070,0.028,2866,968,2413
$GC,11377,0.87,274.0,329.1,15.5,865,11381,0.00,2.25,0.00,0.000,6,0.000,0.033,2866,2422,2411
$GC,11714,0.82,274.0,274.5,15.1,909,11721,0.00,2.17,0.00,0.000,4,0.000,0.029,2868,980,2410
$GC,11775,0.87,274.0,265.0,15.5,919,11781,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,2389,2410
$GC,12121,0.91,299.8,214.4,11.3,980,12150,0.00,2.17,22.05,0.835,4,0.000,0.049,2868,3753,2307
$GC,12192,0.84,299.8,204.1,16.6,992,12198,0.00,2.03,0.00,0.000,6,0.000,0.023,2876,2388,2307
$GC,12539,0.90,299.8,151.2,13.7,1053,12545,0.00,2.17,0.00,0.000,4,0.000,0.047,2877,3761,2305
$GC,12598,0.81,299.8,141.9,16.9,1063,12605,0.17,2.03,0.00,0.000,6,0.175,0.024,2841,2363,2305
$GC,12950,1.08,344.7,105.1,9.9,1124,12993,0.20,2.12,36.17,0.724,4,0.067,0.028,2934,984,2126
$GC,13248,1.18,344.7,63.0,13.3,1176,13254,0.00,2.10,0.00,0.000,6,0.000,0.030,2934,2375,2120
$GC,13596,1.37,398.7,25.7,9.3,1237,13645,0.20,2.15,42.75,0.634,4,0.062,0.025,3027,981,1905
$GC,13755,1.43,411.0,4.5,12.3,1264,13769,0.00,2.08,8.45,0.539,2,0.000,0.029,3027,2353,1862
$STATE,13769,end climb,SURFACE_DEPTH_REACHED
$STATE,13769,begin surface coast
$FINISH,1.8,1.021358
$STATE,13775,end surface coast,CONTROL_FINISHED_OK
$STATE,13775,begin surface
$SM_CCo,13795,49.10,0.611,0,0,1595,475.15
$SM_GC,3.26,0.00,0.00,49.10,0.000,0.000,0.611,140,2355,1595,-7.63,-0.79,475.15
$IRIDIUM_FIX,2505.59,12307.72,271198,010117
$TT8_MAMPS,0.029146
$HUMID,1739
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,14
$24V_AH,23.1,106.944
$10V_AH,10.5,55.855
$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,27.300,118.275,443.025,49.100,0.000,31.510,33.779,182.181,11.500,0.000,0.000,12.992,2291.188,8265.960,609.415,2357.863,735.128,0.000,1809.433,0.000,2300.881,0.000,54.451,0.000
$DEVICE_MAMPS,230.100,52.156,1377.532,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,856.759,883.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69479,1267
$CAP_FILE_SIZE,148233,0
$CFSIZE,260165632,177389568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.255, 59.9,1
$GPS,020909,092830,2517.040,12310.270,42,1.1,43,-3.7