version: 66.04
glider: 167
mission: 2
dive: 616
start: 9 1 109 9 23 34
data:
$ID,167
$MISSION,2
$DIVE,616
$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,-21449.621
$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,45
$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
$GPS1,091037,2505.007,12309.008,31,1.0,32,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-63.8
$GPS2,092314,2505.262,12309.254,16,1.4,16,-3.6
$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,292.1,71916,-25.0,-13.200
$D_GRID,1647
$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,-23.05,0.000,2,0.000,0.000,139,2397,2184
$GC,45,-1.50,-121.7,3.0,-2.2,4,118,8.00,2.15,-58.75,0.000,4,0.228,0.053,2083,3754,3990
$GC,330,-0.68,-121.7,105.5,-38.7,53,337,1.00,1.92,0.00,0.000,6,0.182,0.020,2356,2363,3991
$GC,678,-1.21,-121.7,141.5,-7.9,114,685,0.40,2.15,0.00,0.000,4,0.050,0.044,2178,3750,3994
$GC,912,-0.92,-121.7,195.5,-23.6,155,920,0.35,1.88,0.00,0.000,6,0.160,0.021,2277,2409,3994
$GC,1261,-1.19,-121.7,241.0,-12.3,216,1268,0.20,2.08,0.00,0.000,4,0.065,0.043,2188,3748,3994
$GC,1438,-1.07,-121.7,276.4,-18.4,247,1446,0.17,1.85,0.00,0.000,6,0.159,0.021,2234,2423,3995
$GC,1778,-1.20,-121.7,325.8,-15.2,292,1782,0.12,2.05,0.00,0.000,4,0.077,0.043,2179,3747,3994
$GC,1853,-1.11,-121.7,339.6,-18.4,298,1859,0.15,1.85,0.00,0.000,6,0.163,0.022,2217,2432,3995
$GC,2179,-1.26,-121.7,385.3,-13.5,329,2183,0.12,2.05,0.00,0.000,4,0.076,0.044,2162,3748,3994
$GC,2388,-1.20,-121.7,423.0,-16.4,347,2395,0.12,1.83,0.00,0.000,6,0.165,0.023,2192,2457,3994
$GC,2715,-1.28,-121.7,470.2,-14.9,378,2719,0.00,2.03,0.00,0.000,4,0.000,0.047,2191,3754,3992
$GC,2789,-1.33,-121.7,482.2,-15.5,384,2795,0.12,1.83,0.00,0.000,6,0.077,0.023,2139,2467,3992
$GC,3113,-1.25,-121.7,536.7,-17.3,405,3117,0.15,2.03,0.00,0.000,4,0.163,0.046,2175,3758,3990
$GC,3175,-1.25,-121.7,547.2,-15.0,407,3182,0.00,1.83,0.00,0.000,6,0.000,0.023,2175,2474,3990
$GC,3492,-1.34,-121.7,592.1,-14.7,423,3495,0.00,2.00,0.00,0.000,4,0.000,0.045,2166,3760,3987
$GC,3600,-1.34,-121.7,608.8,-15.3,427,3607,0.00,1.85,0.00,0.000,6,0.000,0.024,2167,2462,3986
$GC,3917,-1.43,-121.7,655.2,-14.7,443,3921,0.15,2.03,0.00,0.000,4,0.082,0.047,2100,3746,3983
$GC,4036,-1.23,-121.7,677.9,-19.5,448,4040,0.30,1.80,0.00,0.000,6,0.171,0.025,2180,2494,3981
$GC,4367,-1.39,-121.7,720.8,-12.7,464,4372,0.15,1.98,0.00,0.000,4,0.076,0.048,2123,3744,3979
$GC,4476,-1.29,-121.7,739.7,-18.1,468,4482,0.15,1.77,0.00,0.000,6,0.173,0.025,2159,2512,3978
$GC,4793,-1.39,-121.7,785.9,-14.6,484,4797,0.00,1.95,0.00,0.000,4,0.000,0.049,2152,3750,3975
$GC,4889,-1.39,-121.7,801.3,-15.8,488,4893,0.00,1.77,0.00,0.000,6,0.000,0.025,2152,2517,3974
$GC,5220,-1.45,-121.7,851.6,-15.7,504,5224,0.12,1.95,0.00,0.000,4,0.087,0.048,2097,3750,3971
$GC,5312,-1.26,-121.7,869.6,-21.0,508,5316,0.28,1.77,0.00,0.000,6,0.178,0.025,2169,2531,3970
$GC,5651,-1.41,-121.7,914.9,-12.5,524,5655,0.12,1.92,0.00,0.000,4,0.081,0.050,2122,3743,3967
$GC,5736,-1.34,-121.7,928.9,-15.7,527,5743,0.00,1.75,0.00,0.000,6,0.000,0.026,2123,2538,3966
$GC,6054,-1.34,-121.7,977.6,-15.3,543,6058,0.00,1.92,0.00,0.000,4,0.000,0.049,2114,3757,3965
$STATE,6124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6124,begin apogee
$GC,6135,-0.27,0.0,990.0,16.3,546,6232,1.27,0.00,92.18,1.393,6,0.167,0.000,2481,2355,3532
$STATE,6233,end apogee,CONTROL_FINISHED_OK
$STATE,6233,begin climb
$GC,6238,1.50,121.7,994.1,0.0,551,6351,1.60,2.20,104.70,1.353,4,0.052,0.027,3076,983,3035
$GC,6425,0.71,121.7,993.1,14.5,559,6430,1.05,2.15,0.00,0.000,6,0.218,0.031,2814,2379,3033
$GC,6749,0.59,173.9,960.4,9.4,575,6801,0.17,2.30,44.03,1.325,4,0.196,0.049,2764,3756,2821
$GC,6914,0.51,175.4,941.1,13.1,582,6917,0.00,2.03,0.00,0.000,6,0.000,0.024,2764,2387,2817
$GC,7238,0.60,202.4,904.5,11.2,598,7267,0.00,2.25,23.98,1.282,4,0.000,0.048,2764,3743,2705
$GC,7388,0.60,202.4,884.6,14.1,604,7394,0.00,2.03,0.00,0.000,6,0.000,0.026,2764,2379,2702
$GC,7707,0.74,224.7,847.2,11.6,620,7741,0.15,2.28,21.77,1.162,4,0.076,0.051,2822,3742,2615
$GC,7787,0.56,224.7,834.1,18.1,623,7795,0.25,2.05,0.00,0.000,6,0.187,0.026,2764,2363,2613
$GC,8106,0.72,230.1,794.1,12.8,639,8116,0.15,2.22,5.50,0.982,4,0.081,0.050,2820,3748,2593
$GC,8180,0.56,230.1,781.2,18.4,642,8184,0.22,2.00,0.00,0.000,6,0.189,0.025,2768,2394,2592
$GC,8496,0.70,230.1,738.0,13.3,657,8501,0.12,2.15,0.00,0.000,4,0.087,0.050,2816,3747,2591
$GC,8611,0.56,230.1,718.1,18.4,662,8616,0.22,2.00,0.00,0.000,6,0.187,0.025,2768,2379,2591
$GC,8939,0.71,230.1,672.3,13.6,678,8944,0.12,2.20,0.00,0.000,4,0.087,0.049,2815,3756,2590
$GC,8991,0.60,230.1,663.6,17.4,680,8995,0.20,1.98,0.00,0.000,6,0.189,0.025,2774,2396,2590
$GC,9314,0.74,236.2,620.9,12.8,696,9325,0.12,2.15,5.97,0.963,4,0.087,0.048,2822,3747,2569
$GC,9379,0.61,236.2,610.4,17.0,699,9383,0.20,1.92,0.00,0.000,6,0.192,0.025,2780,2415,2568
$GC,9712,0.76,247.0,566.3,12.4,715,9725,0.12,0.00,10.10,1.053,6,0.087,0.000,2827,2411,2525
$GC,10022,0.76,247.0,521.2,14.4,730,10026,0.00,2.12,0.00,0.000,4,0.000,0.049,2827,3751,2523
$GC,10200,0.68,247.0,491.8,17.7,739,10208,0.15,1.95,0.00,0.000,6,0.193,0.025,2801,2399,2522
$GC,10526,0.79,247.0,446.5,14.0,770,10530,0.00,2.10,0.00,0.000,4,0.000,0.029,2808,982,2522
$GC,10681,0.94,247.0,426.1,13.8,783,10689,0.20,2.17,0.00,0.000,6,0.071,0.031,2883,2411,2521
$GC,11007,0.82,247.0,368.9,17.2,814,11012,0.15,2.12,0.00,0.000,4,0.187,0.027,2853,995,2521
$GC,11119,0.82,247.0,351.2,14.8,823,11127,0.00,2.15,0.00,0.000,6,0.000,0.033,2854,2407,2521
$GC,11450,0.82,252.3,305.5,12.8,854,11460,0.00,2.15,5.70,0.768,4,0.000,0.028,2862,987,2502
$GC,11524,0.84,269.5,295.6,12.0,863,11548,0.00,2.15,15.52,0.890,6,0.000,0.031,2862,2403,2432
$GC,11888,0.84,269.5,246.5,13.4,927,11895,0.00,2.12,0.00,0.000,4,0.000,0.050,2862,3756,2430
$GC,12107,0.74,269.5,211.5,14.6,965,12113,0.20,1.95,0.00,0.000,6,0.184,0.024,2821,2393,2430
$GC,12455,0.98,312.9,172.6,10.1,1026,12498,0.17,2.17,35.83,0.792,4,0.074,0.046,2897,3752,2255
$GC,12517,0.90,312.9,164.2,15.5,1036,12524,0.15,1.95,0.00,0.000,6,0.186,0.023,2871,2405,2253
$GC,12865,1.01,312.9,114.3,13.4,1097,12871,0.00,2.12,0.00,0.000,4,0.000,0.046,2871,3754,2251
$GC,13046,1.02,319.6,89.5,12.7,1128,13058,0.00,1.92,6.45,0.599,6,0.000,0.023,2881,2402,2229
$GC,13402,1.26,378.2,52.8,8.9,1190,13455,0.25,2.10,46.65,0.663,4,0.063,0.026,2996,990,1990
$GC,13712,1.30,405.0,15.4,11.3,1244,13741,0.00,2.12,22.08,0.609,6,0.000,0.029,2996,2405,1880
$STATE,13802,end climb,SURFACE_DEPTH_REACHED
$STATE,13802,begin surface coast
$FINISH,1.9,1.021200
$STATE,13829,end surface coast,CONTROL_FINISHED_OK
$STATE,13829,begin surface
$SM_CCo,13851,52.28,0.610,0,0,1594,475.15
$SM_GC,2.99,0.00,0.00,52.28,0.000,0.000,0.610,140,2408,1594,-7.63,0.71,475.15
$IRIDIUM_FIX,2456.07,12308.41,261198,090912
$TT8_MAMPS,0.029146
$HUMID,1734
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.90
$XPDR_PINGS,24
$24V_AH,23.2,106.098
$10V_AH,10.5,55.434
$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,27.300,121.325,440.450,52.275,0.000,54.767,81.194,377.773,14.000,0.000,0.000,16.573,2271.431,8399.198,609.701,2370.477,999.880,0.000,1815.684,0.000,2305.407,0.000,54.431,0.000
$DEVICE_MAMPS,227.799,52.923,1392.872,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.828,870.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69418,1264
$CAP_FILE_SIZE,152939,0
$CFSIZE,260165632,177774592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.300, 44.9,1
$GPS,010909,131637,2507.723,12309.312,36,1.0,37,-3.7