version: 66.04
glider: 167
mission: 2
dive: 624
start: 9 2 109 17 39 37
data:
$ID,167
$MISSION,2
$DIVE,624
$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,-21607.33
$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,46
$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
$GPS1,173207,2520.382,12309.962,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.4
$GPS2,173914,2520.619,12310.183,13,1.3,13,-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,275.5,49227,-25.0,-13.200
$D_GRID,1068
$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,-23.62,0.000,2,0.000,0.000,141,2382,2187
$GC,46,-1.50,-121.7,3.2,-3.1,4,121,8.15,2.17,-61.62,0.000,4,0.233,0.051,2087,3755,3990
$GC,366,-0.76,-121.7,110.1,-36.3,59,373,0.88,1.95,0.00,0.000,6,0.173,0.020,2331,2355,3993
$GC,717,-1.17,-121.7,153.0,-11.4,120,723,0.32,2.17,0.00,0.000,4,0.055,0.043,2192,3754,3996
$GC,778,-1.02,-121.7,164.0,-19.2,130,784,0.20,1.90,0.00,0.000,6,0.155,0.021,2246,2395,3995
$GC,1125,-1.17,-121.7,215.8,-13.6,191,1131,0.12,2.10,0.00,0.000,4,0.075,0.043,2192,3749,3996
$GC,1271,-1.09,-121.7,243.1,-19.2,216,1278,0.15,1.90,0.00,0.000,6,0.156,0.021,2231,2395,3997
$GC,1623,-1.24,-121.7,293.5,-13.2,277,1631,0.15,2.12,0.00,0.000,4,0.071,0.044,2166,3760,3997
$GC,1707,-1.07,-121.7,308.9,-19.6,287,1712,0.25,1.90,0.00,0.000,6,0.160,0.021,2233,2399,3996
$GC,2040,-1.29,-121.7,353.4,-13.7,318,2044,0.20,2.10,0.00,0.000,4,0.065,0.044,2146,3756,3997
$GC,2204,-1.13,-121.7,387.7,-19.7,332,2211,0.25,1.85,0.00,0.000,6,0.164,0.023,2213,2456,3997
$GC,2532,-1.32,-121.7,429.6,-11.9,363,2536,0.17,2.03,0.00,0.000,4,0.066,0.045,2139,3751,3997
$GC,2601,-1.18,-121.7,440.7,-16.9,369,2605,0.22,1.85,0.00,0.000,6,0.163,0.023,2199,2453,3996
$GC,2934,-1.35,-121.7,484.5,-13.1,400,2938,0.15,2.05,0.00,0.000,4,0.072,0.046,2138,3759,3995
$GC,3073,-1.22,-121.7,509.3,-18.8,410,3078,0.12,1.85,0.00,0.000,6,0.165,0.023,2187,2494,3994
$GC,3411,-1.34,-121.7,558.7,-14.8,426,3415,0.12,1.98,0.00,0.000,4,0.077,0.047,2137,3746,3992
$GC,3485,-1.26,-121.7,572.4,-18.2,429,3489,0.15,1.80,0.00,0.000,6,0.170,0.024,2174,2494,3991
$GC,3817,-1.35,-121.7,623.9,-16.3,445,3825,0.00,1.98,0.00,0.000,4,0.000,0.048,2167,3751,3989
$GC,3866,-1.35,-121.7,633.0,-17.1,447,3869,0.00,1.83,0.00,0.000,6,0.000,0.025,2167,2507,3988
$GC,4199,-1.46,-121.7,682.3,-13.8,463,4204,0.17,1.98,0.00,0.000,4,0.077,0.047,2085,3757,3985
$GC,4313,-1.17,-121.7,704.5,-21.4,468,4317,0.43,1.80,0.00,0.000,6,0.175,0.025,2198,2515,3984
$GC,4649,-1.39,-121.7,739.6,-9.0,484,4654,0.17,1.95,0.00,0.000,4,0.072,0.047,2124,3750,3981
$GC,4764,-1.28,-121.7,757.3,-16.7,489,4769,0.17,1.77,0.00,0.000,6,0.171,0.025,2168,2525,3980
$GC,5101,-1.39,-121.7,797.4,-11.2,505,5105,0.12,1.95,0.00,0.000,4,0.083,0.050,2115,3752,3977
$GC,5235,-1.24,-121.7,820.0,-18.2,510,5242,0.22,1.75,0.00,0.000,6,0.173,0.025,2172,2550,3976
$GC,5553,-1.38,-121.7,860.4,-13.3,526,5557,0.12,1.92,0.00,0.000,4,0.080,0.050,2125,3757,3974
$GC,5646,-1.29,-121.7,876.0,-17.2,530,5650,0.10,1.77,0.00,0.000,6,0.170,0.026,2154,2571,3973
$GC,5983,-1.36,-121.7,920.3,-12.2,546,5986,0.00,1.88,0.00,0.000,4,0.000,0.051,2152,3754,3971
$GC,6108,-1.36,-121.7,937.6,-13.0,551,6112,0.00,1.73,0.00,0.000,6,0.000,0.026,2152,2573,3970
$GC,6431,-1.36,-121.7,971.2,-10.3,567,6434,0.00,1.88,0.00,0.000,4,0.000,0.052,2152,3750,3969
$GC,6534,-1.36,-121.7,982.9,-12.7,571,6537,0.00,1.70,0.00,0.000,6,0.000,0.026,2152,2584,3968
$STATE,6687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6687,begin apogee
$GC,6696,-0.27,0.0,990.9,4.8,579,6793,1.17,0.00,93.20,1.407,6,0.163,0.000,2487,2415,3532
$STATE,6793,end apogee,CONTROL_FINISHED_OK
$STATE,6793,begin climb
$GC,6797,1.50,121.7,986.7,0.0,584,6912,1.60,2.28,105.40,1.357,4,0.054,0.025,3073,1000,3035
$GC,7168,0.74,121.7,927.4,20.0,600,7175,1.02,2.10,0.00,0.000,6,0.222,0.036,2819,2363,3030
$GC,7487,0.56,128.1,884.3,12.7,616,7495,0.22,0.00,6.10,1.039,6,0.197,0.000,2762,2363,3009
$GC,7794,0.62,176.6,852.0,9.7,631,7840,0.00,2.28,40.97,1.289,4,0.000,0.052,2762,3760,2812
$GC,7958,0.55,176.6,830.8,13.8,638,7962,0.00,2.03,0.00,0.000,6,0.000,0.026,2762,2400,2809
$GC,8282,0.64,199.6,794.5,11.5,654,8307,0.00,2.25,19.65,1.231,4,0.000,0.051,2762,3751,2717
$GC,8484,0.64,199.6,766.6,13.9,663,8488,0.00,2.03,0.00,0.000,6,0.000,0.025,2765,2378,2715
$GC,8818,0.76,209.8,724.1,12.5,679,8830,0.17,0.00,9.75,1.121,6,0.075,0.000,2832,2374,2676
$GC,9128,0.67,209.8,674.9,17.1,694,9133,0.15,2.20,0.00,0.000,4,0.185,0.048,2796,3750,2674
$GC,9326,0.56,209.8,641.9,15.3,703,9331,0.17,2.00,0.00,0.000,6,0.191,0.025,2759,2383,2674
$GC,9662,0.73,232.6,602.9,11.5,719,9687,0.17,2.12,20.08,1.137,4,0.078,0.031,2831,985,2582
$GC,9772,0.73,232.6,587.0,14.9,724,9776,0.00,2.15,0.00,0.000,6,0.000,0.033,2831,2377,2580
$GC,10101,0.73,232.6,536.7,15.4,740,10105,0.00,2.17,0.00,0.000,4,0.000,0.051,2831,3753,2578
$GC,10298,0.56,232.6,502.0,17.5,748,10305,0.30,2.03,0.00,0.000,6,0.186,0.025,2763,2370,2577
$GC,10626,0.76,244.0,457.6,12.4,778,10641,0.17,2.25,9.70,0.980,4,0.076,0.050,2829,3764,2537
$GC,10856,0.63,244.0,420.1,15.6,798,10863,0.22,2.00,0.00,0.000,6,0.186,0.026,2782,2401,2535
$GC,11183,0.83,273.4,383.9,11.1,829,11217,0.17,2.22,25.17,0.989,4,0.072,0.051,2849,3742,2416
$GC,11288,0.71,273.4,367.2,18.3,838,11293,0.20,1.98,0.00,0.000,6,0.189,0.025,2809,2400,2414
$GC,11620,0.85,273.4,316.6,15.1,869,11625,0.15,2.17,0.00,0.000,4,0.083,0.050,2868,3754,2412
$GC,11724,0.69,273.4,296.5,19.7,879,11731,0.28,1.95,0.00,0.000,6,0.185,0.024,2806,2411,2412
$GC,12075,0.89,303.6,254.0,11.0,940,12106,0.17,2.22,25.42,0.875,4,0.076,0.046,2880,3763,2293
$GC,12147,0.73,303.6,242.7,18.3,952,12154,0.28,1.95,0.00,0.000,6,0.183,0.024,2817,2430,2291
$GC,12494,0.92,303.6,191.8,17.2,1013,12502,0.17,2.15,0.00,0.000,4,0.073,0.028,2900,985,2290
$GC,12759,0.97,303.6,148.9,15.1,1059,12765,0.00,2.22,0.00,0.000,6,0.000,0.032,2900,2446,2289
$GC,13105,0.98,312.0,100.4,12.6,1120,13119,0.00,2.12,7.75,0.656,4,0.000,0.048,2900,3764,2260
$GC,13330,0.94,326.9,66.2,12.1,1159,13350,0.00,1.92,13.45,0.671,6,0.000,0.022,2910,2413,2198
$GC,13694,1.18,401.9,35.9,7.8,1222,13765,0.15,2.22,59.42,0.652,4,0.074,0.044,2975,3767,1891
$GC,13838,1.10,401.9,17.1,13.9,1246,13844,0.20,1.90,0.00,0.000,6,0.179,0.021,2933,2449,1887
$STATE,13960,end climb,SURFACE_DEPTH_REACHED
$STATE,13961,begin surface coast
$FINISH,1.8,1.021477
$STATE,13992,end surface coast,CONTROL_FINISHED_OK
$STATE,13992,begin surface
$SM_CCo,14013,54.10,0.611,0,0,1594,475.15
$SM_GC,2.80,0.00,0.00,54.10,0.000,0.000,0.611,139,2444,1594,-7.63,1.72,475.15
$IRIDIUM_FIX,2510.35,12310.33,271198,131343
$TT8_MAMPS,0.029146
$HUMID,1747
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,950.6,69.1
$24V_AH,23.0,107.442
$10V_AH,10.5,56.108
$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,27.900,112.725,436.075,54.100,0.000,31.562,33.535,187.167,10.000,0.000,0.000,13.593,2318.341,8363.133,591.316,2454.865,759.550,0.000,1822.884,0.000,2393.242,0.000,61.455,0.000
$DEVICE_MAMPS,233.168,52.156,1406.678,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.571,875.909,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69473,1273
$CAP_FILE_SIZE,151028,0
$CFSIZE,260165632,177156096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239, 48.2,1
$GPS,020909,213529,2522.132,12309.747,37,1.6,42,-3.7