version: 66.04
glider: 167
mission: 2
dive: 625
start: 9 2 109 21 43 22
data:
$ID,167
$MISSION,2
$DIVE,625
$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,-21625.746
$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,96
$R_STBD_OVSHOOT,39
$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
$GPS1,213529,2522.132,12309.747,37,1.6,42,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-65.3
$GPS2,214302,2522.306,12309.852,17,1.6,17,-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,273.4,46603,-25.0,-13.200
$D_GRID,895
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-17.90,0.000,2,0.000,0.000,139,2444,2046
$GC,41,-1.50,-121.7,3.0,-1.1,3,121,8.32,2.05,-64.85,0.000,4,0.240,0.051,2085,3773,3988
$GC,354,-0.73,-121.7,103.8,-35.2,57,362,0.88,1.98,0.00,0.000,6,0.181,0.019,2336,2356,3990
$GC,704,-1.21,-121.7,144.9,-7.4,118,711,0.38,2.20,0.00,0.000,4,0.050,0.048,2175,3763,3992
$GC,798,-0.87,-121.7,163.9,-26.5,134,805,0.43,1.90,0.00,0.000,6,0.162,0.021,2295,2409,3992
$GC,1146,-1.24,-121.7,203.4,-10.3,195,1152,0.28,0.00,0.00,0.000,6,0.056,0.000,2177,2407,3993
$GC,1492,-1.14,-121.7,267.1,-18.1,256,1499,0.15,2.10,0.00,0.000,4,0.162,0.041,2205,3767,3993
$GC,1536,-1.14,-121.7,275.1,-17.3,263,1542,0.00,1.90,0.00,0.000,6,0.000,0.021,2206,2397,3993
$GC,1878,-1.19,-121.7,329.5,-16.7,308,1882,0.00,2.12,0.00,0.000,4,0.000,0.045,2205,3766,3993
$GC,2065,-1.25,-121.7,360.9,-15.5,324,2071,0.00,1.88,0.00,0.000,6,0.000,0.021,2205,2418,3994
$GC,2391,-1.38,-121.7,406.2,-13.6,355,2395,0.20,2.10,0.00,0.000,4,0.061,0.044,2111,3766,3993
$GC,2517,-1.12,-121.7,432.7,-20.6,365,2525,0.38,1.85,0.00,0.000,6,0.166,0.021,2214,2450,3993
$GC,2844,-1.34,-121.7,473.3,-11.8,396,2848,0.20,2.05,0.00,0.000,4,0.065,0.044,2126,3762,3992
$GC,2970,-1.13,-121.7,497.6,-22.0,407,2974,0.32,1.85,0.00,0.000,6,0.169,0.023,2214,2463,3991
$GC,3295,-1.37,-121.7,537.5,-10.7,423,3300,0.20,2.03,0.00,0.000,4,0.067,0.046,2128,3754,3990
$GC,3415,-1.23,-121.7,556.8,-17.8,428,3419,0.20,1.80,0.00,0.000,6,0.168,0.023,2179,2494,3989
$GC,3746,-1.38,-121.7,601.9,-13.3,444,3751,0.12,1.98,0.00,0.000,4,0.081,0.046,2124,3754,3986
$GC,3832,-1.25,-121.7,616.7,-17.7,447,3839,0.20,1.80,0.00,0.000,6,0.173,0.023,2175,2495,3985
$GC,4152,-1.38,-121.7,658.3,-12.6,463,4157,0.12,2.00,0.00,0.000,4,0.081,0.047,2124,3764,3982
$GC,4296,-1.22,-121.7,683.0,-18.5,469,4300,0.17,1.83,0.00,0.000,6,0.170,0.024,2184,2521,3980
$GC,4627,-1.39,-121.7,723.1,-11.5,485,4631,0.15,1.95,0.00,0.000,4,0.075,0.050,2126,3751,3978
$GC,4724,-1.31,-121.7,739.4,-18.1,489,4728,0.12,1.77,0.00,0.000,6,0.178,0.025,2155,2513,3977
$GC,5054,-1.39,-121.7,783.9,-14.2,505,5058,0.00,1.98,0.00,0.000,4,0.000,0.051,2152,3759,3974
$GC,5110,-1.39,-121.7,792.8,-15.2,507,5114,0.00,1.77,0.00,0.000,6,0.000,0.026,2152,2543,3973
$GC,5434,-1.46,-121.7,840.2,-15.1,523,5438,0.12,1.92,0.00,0.000,4,0.086,0.051,2097,3750,3971
$GC,5620,-1.28,-121.7,879.0,-22.4,531,5625,0.20,1.75,0.00,0.000,6,0.176,0.026,2163,2573,3970
$STATE,5718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5718,begin apogee
$GC,5726,-0.27,0.0,896.1,16.2,536,5822,1.10,0.00,92.18,1.331,6,0.150,0.000,2490,2419,3532
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5826,1.50,121.7,902.8,0.0,541,5935,1.60,0.00,103.45,1.292,6,0.051,0.000,3068,2419,3035
$GC,6235,0.68,121.7,875.5,13.7,561,6238,1.05,0.00,0.00,0.000,6,0.220,0.000,2806,2418,3030
$GC,6545,0.59,181.3,848.1,8.9,576,6596,0.12,0.00,49.17,1.269,6,0.206,0.000,2777,2419,2792
$GC,6894,0.60,189.0,804.9,12.6,593,6908,0.00,2.22,6.90,1.036,4,0.000,0.052,2777,3762,2760
$GC,6994,0.51,189.0,790.6,14.4,597,6998,0.15,2.03,0.00,0.000,6,0.184,0.022,2748,2369,2759
$GC,7317,0.72,245.6,758.1,9.1,613,7371,0.17,2.28,47.75,1.230,4,0.076,0.049,2814,3754,2530
$GC,7406,0.61,245.6,745.7,17.2,617,7410,0.15,2.05,0.00,0.000,6,0.195,0.024,2781,2395,2527
$GC,7729,0.72,245.6,702.2,13.9,633,7732,0.00,2.12,0.00,0.000,4,0.000,0.028,2790,966,2523
$GC,7785,0.88,245.6,693.8,14.8,635,7790,0.20,2.15,0.00,0.000,6,0.070,0.032,2868,2375,2523
$GC,8107,0.76,245.6,633.6,19.0,651,8112,0.17,2.17,0.00,0.000,4,0.188,0.048,2818,3755,2522
$GC,8252,0.65,245.6,607.2,18.4,657,8256,0.15,2.05,0.00,0.000,6,0.192,0.024,2792,2348,2521
$GC,8574,0.76,245.6,560.7,14.0,673,8578,0.10,2.25,0.00,0.000,4,0.091,0.048,2830,3761,2520
$GC,8626,0.62,245.6,550.9,20.1,675,8631,0.22,2.00,0.00,0.000,6,0.186,0.024,2783,2379,2520
$GC,8948,0.76,245.6,504.7,13.8,691,8952,0.12,2.20,0.00,0.000,4,0.081,0.049,2831,3754,2519
$GC,9124,0.65,245.6,472.3,18.2,704,9130,0.20,1.95,0.00,0.000,6,0.186,0.025,2790,2405,2518
$GC,9450,0.78,245.6,427.4,13.3,735,9454,0.12,2.15,0.00,0.000,4,0.083,0.048,2838,3753,2518
$GC,9649,0.66,245.6,390.7,18.4,752,9653,0.20,1.92,0.00,0.000,6,0.188,0.024,2796,2421,2517
$GC,9982,0.80,245.6,342.3,14.2,783,9986,0.12,2.12,0.00,0.000,4,0.082,0.049,2844,3751,2517
$GC,10068,0.69,245.6,327.0,17.6,790,10072,0.20,1.92,0.00,0.000,6,0.186,0.025,2803,2418,2517
$GC,10403,0.85,277.7,288.5,10.9,830,10433,0.15,0.00,25.05,0.913,6,0.078,0.000,2862,2415,2398
$GC,10773,0.85,277.7,230.1,15.7,895,10779,0.00,2.12,0.00,0.000,4,0.000,0.048,2862,3754,2395
$GC,10935,0.76,277.7,203.8,16.8,923,10941,0.17,1.92,0.00,0.000,6,0.182,0.024,2828,2420,2395
$GC,11283,0.95,300.1,158.4,11.6,984,11308,0.17,2.20,19.15,0.783,4,0.077,0.026,2911,984,2307
$GC,11374,0.95,300.1,144.7,16.6,999,11380,0.00,2.20,0.00,0.000,6,0.000,0.031,2911,2429,2305
$GC,11721,0.96,303.8,91.0,12.9,1060,11734,0.00,2.20,4.20,0.526,4,0.000,0.026,2920,990,2292
$GC,11990,1.15,372.4,63.3,8.2,1107,12054,0.00,2.15,54.70,0.696,6,0.000,0.032,2920,2413,2013
$GC,12398,1.42,430.2,23.6,9.0,1178,12451,0.30,2.17,45.45,0.635,4,0.057,0.026,3050,983,1777
$GC,12498,1.35,430.2,6.9,18.1,1195,12505,0.15,2.17,0.00,0.000,6,0.163,0.029,3013,2414,1774
$STATE,12520,end climb,SURFACE_DEPTH_REACHED
$STATE,12520,begin surface coast
$FINISH,1.8,1.019574
$STATE,12539,end surface coast,CONTROL_FINISHED_OK
$STATE,12539,begin surface
$SM_CCo,12561,33.35,0.612,0,0,1595,475.15
$SM_GC,2.89,0.00,0.00,33.35,0.000,0.000,0.612,138,2419,1595,-7.63,1.02,475.15
$IRIDIUM_FIX,2512.73,12310.33,271198,171745
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,875.3,44.7
$24V_AH,23.2,107.602
$10V_AH,10.6,56.187
$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,28.050,97.475,448.000,33.350,0.000,30.412,35.582,203.809,9.750,0.000,0.000,17.787,2144.640,7393.484,572.377,2186.782,739.112,0.000,1678.497,0.000,2131.477,0.000,50.618,0.000
$DEVICE_MAMPS,240.071,52.156,1330.745,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,812.231,853.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63139,1202
$CAP_FILE_SIZE,136571,0
$CFSIZE,260165632,177094656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240, 32.6,1
$GPS,030909,011437,2523.940,12309.034,38,0.9,38,-3.7