version: 66.04
glider: 167
mission: 2
dive: 622
start: 9 2 109 9 36 16
data:
$ID,167
$MISSION,2
$DIVE,622
$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,-21572.252
$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,84
$R_STBD_OVSHOOT,40
$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
$GPS1,092830,2517.040,12310.270,42,1.1,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-64.1
$GPS2,093555,2517.167,12310.411,14,1.7,31,-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,279.8,54305,-25.0,-13.200
$D_GRID,1280
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.10,0.000,2,0.000,0.000,140,2355,2177
$GC,46,-1.50,-121.7,3.1,-2.3,4,124,8.38,2.22,-59.97,0.000,4,0.243,0.053,2081,3764,3989
$GC,375,-0.72,-121.7,113.5,-35.2,61,382,0.95,1.98,0.00,0.000,6,0.184,0.020,2340,2338,3991
$GC,723,-1.17,-121.7,155.1,-9.3,122,729,0.32,2.20,0.00,0.000,4,0.052,0.043,2192,3754,3994
$GC,784,-0.96,-121.7,165.4,-20.8,132,791,0.28,1.88,0.00,0.000,6,0.161,0.021,2268,2407,3994
$GC,1132,-1.15,-121.7,214.9,-12.3,193,1138,0.17,2.10,0.00,0.000,4,0.064,0.042,2180,3764,3994
$GC,1220,-0.95,-121.7,232.2,-20.4,208,1226,0.32,1.90,0.00,0.000,6,0.149,0.021,2274,2399,3995
$GC,1569,-1.31,-121.7,267.5,-10.7,269,1575,0.30,2.12,0.00,0.000,4,0.057,0.043,2144,3768,3996
$GC,1726,-1.04,-121.7,302.7,-22.0,295,1734,0.35,1.85,0.00,0.000,6,0.163,0.021,2241,2443,3996
$GC,2052,-1.25,-121.7,343.7,-11.6,326,2057,0.17,2.05,0.00,0.000,4,0.066,0.044,2165,3763,3996
$GC,2179,-1.14,-121.7,364.7,-16.9,337,2183,0.17,1.80,0.00,0.000,6,0.163,0.022,2210,2486,3996
$GC,2511,-1.28,-121.7,409.4,-12.1,368,2515,0.12,1.98,0.00,0.000,4,0.076,0.044,2154,3754,3995
$GC,2640,-1.17,-121.7,429.1,-15.9,379,2644,0.17,1.77,0.00,0.000,6,0.165,0.023,2198,2501,3995
$GC,2971,-1.31,-121.7,474.3,-13.4,410,2980,0.12,1.98,0.00,0.000,4,0.076,0.046,2144,3763,3994
$GC,3066,-1.17,-121.7,491.0,-18.7,418,3070,0.22,1.77,0.00,0.000,6,0.170,0.025,2202,2522,3993
$GC,3405,-1.36,-121.7,535.0,-12.7,437,3410,0.17,1.95,0.00,0.000,4,0.066,0.047,2125,3763,3991
$GC,3485,-1.18,-121.7,550.1,-19.0,440,3490,0.28,1.77,0.00,0.000,6,0.170,0.024,2198,2519,3991
$GC,3810,-1.38,-121.7,591.2,-11.8,456,3815,0.17,1.95,0.00,0.000,4,0.071,0.047,2124,3758,3988
$GC,3979,-1.19,-121.7,623.0,-20.5,463,3983,0.28,1.75,0.00,0.000,6,0.172,0.024,2196,2539,3986
$GC,4305,-1.40,-121.7,666.4,-12.7,479,4310,0.17,1.92,0.00,0.000,4,0.074,0.048,2124,3756,3984
$GC,4402,-1.28,-121.7,683.9,-18.1,483,4406,0.15,1.73,0.00,0.000,6,0.174,0.025,2160,2564,3983
$GC,4734,-1.36,-121.7,733.0,-14.4,499,4738,0.00,1.90,0.00,0.000,4,0.000,0.051,2161,3743,3980
$GC,4774,-1.41,-121.7,739.7,-14.7,500,4780,0.10,1.70,0.00,0.000,6,0.087,0.025,2122,2567,3980
$GC,5091,-1.35,-121.7,792.5,-17.0,516,5095,0.00,1.88,0.00,0.000,4,0.000,0.048,2114,3760,3977
$GC,5222,-1.19,-121.7,816.5,-19.1,521,5229,0.30,1.70,0.00,0.000,6,0.175,0.025,2192,2589,3976
$GC,5543,-1.41,-121.7,853.9,-11.3,537,5547,0.17,1.85,0.00,0.000,4,0.076,0.049,2122,3753,3974
$GC,5636,-1.31,-121.7,868.6,-17.1,541,5640,0.12,1.67,0.00,0.000,6,0.179,0.025,2151,2603,3973
$GC,5972,-1.39,-121.7,916.1,-14.2,557,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2602,3971
$GC,6280,-1.46,-121.7,960.1,-14.4,572,6285,0.12,1.83,0.00,0.000,4,0.084,0.049,2098,3751,3969
$GC,6394,-1.28,-121.7,981.0,-19.1,577,6399,0.25,1.65,0.00,0.000,6,0.179,0.025,2162,2617,3968
$STATE,6457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6457,begin apogee
$GC,6467,-0.27,0.0,990.5,13.5,580,6563,1.10,0.00,93.22,1.403,6,0.154,0.000,2485,2397,3532
$STATE,6564,end apogee,CONTROL_FINISHED_OK
$STATE,6564,begin climb
$GC,6568,1.50,121.7,993.8,0.0,585,6680,1.60,2.25,104.93,1.362,4,0.054,0.044,3064,3753,3035
$GC,6938,0.52,121.7,959.1,17.5,601,6945,1.33,2.05,0.00,0.000,6,0.232,0.022,2753,2356,3030
$GC,7255,0.62,196.9,932.0,7.7,617,7325,0.00,2.40,62.47,1.331,4,0.000,0.052,2752,3757,2728
$GC,7422,0.62,196.9,912.4,14.4,624,7430,0.00,2.08,0.00,0.000,6,0.000,0.024,2760,2348,2724
$GC,7741,0.74,213.6,873.5,12.0,640,7759,0.17,0.00,14.75,1.230,6,0.080,0.000,2827,2344,2661
$GC,8069,0.68,213.6,822.6,15.5,656,8073,0.00,2.25,0.00,0.000,4,0.000,0.048,2828,3758,2657
$GC,8248,0.47,213.6,792.1,18.2,664,8253,0.38,2.08,0.00,0.000,6,0.187,0.024,2736,2336,2656
$GC,8583,0.72,242.1,755.1,11.1,680,8614,0.20,2.38,24.15,1.231,4,0.077,0.050,2817,3755,2544
$GC,8689,0.60,242.1,737.0,18.7,684,8697,0.20,2.05,0.00,0.000,6,0.187,0.024,2777,2366,2541
$GC,9007,0.74,242.1,690.9,14.3,700,9012,0.12,2.22,0.00,0.000,4,0.085,0.048,2825,3756,2540
$GC,9108,0.60,242.1,671.5,19.5,704,9116,0.20,2.03,0.00,0.000,6,0.189,0.024,2779,2385,2540
$GC,9426,0.73,242.1,625.3,14.2,720,9431,0.10,2.20,0.00,0.000,4,0.093,0.048,2817,3764,2539
$GC,9471,0.60,242.1,617.4,18.5,722,9476,0.20,2.08,0.00,0.000,6,0.187,0.025,2777,2345,2538
$GC,9795,0.75,242.1,572.0,13.5,738,9799,0.12,2.25,0.00,0.000,4,0.085,0.048,2824,3753,2538
$GC,9890,0.64,242.1,555.5,17.7,742,9895,0.17,2.00,0.00,0.000,6,0.189,0.025,2785,2396,2538
$GC,10213,0.76,242.1,512.3,13.2,758,10215,0.12,0.00,0.00,0.000,6,0.085,0.000,2833,2392,2537
$GC,10530,0.76,242.1,463.0,15.2,784,10533,0.00,2.17,0.00,0.000,4,0.000,0.050,2833,3757,2537
$GC,10773,0.64,242.1,421.6,18.0,805,10779,0.22,1.98,0.00,0.000,6,0.186,0.025,2785,2401,2536
$GC,11099,0.82,267.3,381.6,11.4,836,11126,0.17,2.22,20.33,0.988,4,0.074,0.051,2860,3748,2441
$GC,11152,0.69,267.3,373.2,18.2,840,11160,0.25,1.95,0.00,0.000,6,0.187,0.024,2805,2416,2440
$GC,11478,0.83,267.3,330.4,13.3,871,11483,0.12,2.15,0.00,0.000,4,0.087,0.048,2852,3761,2439
$GC,11514,0.71,267.3,324.7,17.3,873,11520,0.20,1.92,0.00,0.000,6,0.189,0.024,2812,2431,2439
$GC,11849,0.84,280.2,279.5,12.3,917,11874,0.12,2.17,13.82,0.765,4,0.089,0.048,2859,3754,2389
$GC,11923,0.75,280.2,266.7,19.6,929,11930,0.17,1.90,0.00,0.000,6,0.189,0.024,2825,2439,2388
$GC,12272,0.89,280.2,213.9,14.6,990,12277,0.12,0.00,0.00,0.000,6,0.085,0.000,2875,2437,2387
$GC,12618,0.89,280.5,165.2,13.2,1051,12624,0.00,2.10,0.00,0.000,4,0.000,0.048,2875,3764,2387
$GC,12802,0.84,280.5,136.0,15.1,1083,12808,0.12,1.90,0.00,0.000,6,0.183,0.023,2854,2435,2387
$GC,13150,1.06,340.0,99.6,8.9,1144,13204,0.17,2.25,48.08,0.732,4,0.076,0.027,2937,983,2145
$GC,13460,1.06,340.0,54.4,14.7,1198,13466,0.00,2.28,0.00,0.000,6,0.000,0.031,2937,2479,2139
$GC,13807,1.30,450.9,22.8,5.2,1259,13901,0.17,0.00,86.25,0.637,6,0.065,0.000,3014,2479,1692
$STATE,13960,end climb,SURFACE_DEPTH_REACHED
$STATE,13960,begin surface coast
$FINISH,1.9,1.008331
$STATE,13976,end surface coast,CONTROL_FINISHED_OK
$STATE,13976,begin surface
$SM_CCo,13997,16.73,0.587,0,0,1595,475.15
$SM_GC,3.21,0.00,0.00,16.73,0.000,0.000,0.587,143,2372,1595,-7.62,-0.28,475.15
$IRIDIUM_FIX,2505.59,12311.02,271198,050535
$TT8_MAMPS,0.029146
$HUMID,1797
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,11
$24V_AH,23.1,107.110
$10V_AH,10.5,55.939
$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,30.050,108.475,468.000,16.725,0.000,23.592,35.682,188.399,10.750,0.000,0.000,31.950,2305.752,8400.664,584.351,2417.859,741.256,0.000,1807.050,0.000,2337.772,0.000,54.428,0.000
$DEVICE_MAMPS,243.139,62.894,1402.843,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,870.294,891.589,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69507,1288
$CAP_FILE_SIZE,150477,0
$CFSIZE,260165632,177311744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.237, 42.2,1
$GPS,020909,133106,2518.893,12309.831,33,1.7,34,-3.7