version: 66.04
glider: 167
mission: 2
dive: 617
start: 9 1 109 13 24 54
data:
$ID,167
$MISSION,2
$DIVE,617
$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,-21479.557
$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,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
$GPS1,131637,2507.723,12309.312,36,1.0,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-64.9
$GPS2,132436,2507.848,12309.468,13,1.5,29,-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,290.1,67836,-25.0,-13.200
$D_GRID,1676
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-28.00,0.000,2,0.000,0.000,140,2409,2309
$GC,52,-1.50,-121.7,3.4,-2.4,5,118,8.07,2.08,-49.60,0.000,4,0.231,0.051,2080,3764,3988
$GC,261,-0.64,-121.7,73.7,-41.9,41,268,1.10,1.95,0.00,0.000,6,0.196,0.020,2370,2365,3990
$GC,609,-1.18,-121.7,115.2,-8.6,102,616,0.43,2.15,0.00,0.000,4,0.050,0.044,2188,3748,3992
$GC,790,-0.92,-121.7,157.9,-22.5,133,797,0.32,1.88,0.00,0.000,6,0.159,0.021,2280,2407,3993
$GC,1137,-1.16,-121.7,205.8,-12.2,194,1144,0.17,2.08,0.00,0.000,4,0.068,0.042,2192,3750,3994
$GC,1297,-0.99,-121.7,238.5,-19.4,222,1304,0.25,1.85,0.00,0.000,6,0.162,0.021,2261,2422,3994
$GC,1646,-1.26,-121.7,286.3,-12.1,283,1653,0.20,2.08,0.00,0.000,4,0.066,0.042,2166,3764,3994
$GC,1821,-1.08,-121.7,320.2,-19.4,305,1825,0.17,1.88,0.00,0.000,6,0.154,0.021,2228,2450,3994
$GC,2153,-1.24,-121.7,366.2,-14.8,336,2158,0.15,2.03,0.00,0.000,4,0.071,0.044,2162,3756,3995
$GC,2282,-1.12,-121.7,390.3,-18.7,347,2286,0.20,1.80,0.00,0.000,6,0.166,0.022,2214,2484,3994
$GC,2613,-1.29,-121.7,435.1,-12.1,378,2618,0.15,1.98,0.00,0.000,4,0.074,0.045,2152,3750,3994
$GC,2665,-1.16,-121.7,443.9,-17.7,382,2671,0.20,1.77,0.00,0.000,6,0.165,0.022,2204,2494,3993
$GC,2993,-1.35,-121.7,488.7,-13.1,413,2999,0.17,0.00,0.00,0.000,6,0.067,0.000,2136,2494,3992
$GC,3312,-1.28,-121.7,547.4,-17.4,432,3317,0.12,1.98,0.00,0.000,4,0.167,0.046,2162,3754,3990
$GC,3398,-1.28,-121.7,561.0,-14.7,435,3405,0.00,1.77,0.00,0.000,6,0.000,0.023,2162,2505,3990
$GC,3715,-1.33,-121.7,606.1,-14.0,451,3718,0.00,1.95,0.00,0.000,4,0.000,0.047,2154,3754,3988
$GC,3811,-1.33,-121.7,621.5,-15.4,455,3814,0.00,1.77,0.00,0.000,6,0.000,0.024,2154,2506,3986
$GC,4139,-1.33,-121.7,671.7,-15.4,471,4142,0.00,1.95,0.00,0.000,4,0.000,0.049,2152,3747,3984
$GC,4173,-1.33,-121.7,677.5,-17.6,472,4176,0.00,1.75,0.00,0.000,6,0.000,0.025,2152,2525,3983
$GC,4497,-1.33,-121.7,726.6,-15.4,488,4501,0.00,1.95,0.00,0.000,4,0.000,0.050,2152,3740,3980
$GC,4644,-1.33,-121.7,749.6,-15.2,494,4651,0.00,1.73,0.00,0.000,6,0.000,0.025,2152,2545,3979
$GC,4968,-1.38,-121.7,798.4,-15.2,510,4972,0.00,1.92,0.00,0.000,4,0.000,0.050,2152,3741,3976
$GC,5009,-1.38,-121.7,804.9,-16.2,511,5016,0.00,1.73,0.00,0.000,6,0.000,0.025,2152,2550,3975
$GC,5329,-1.45,-121.7,853.0,-15.2,527,5333,0.12,1.90,0.00,0.000,4,0.088,0.048,2098,3751,3973
$GC,5399,-1.26,-121.7,866.1,-20.0,530,5403,0.28,1.73,0.00,0.000,6,0.176,0.025,2170,2562,3972
$GC,5735,-1.41,-121.7,912.4,-13.8,546,5739,0.15,1.90,0.00,0.000,4,0.077,0.049,2110,3759,3970
$GC,5843,-1.27,-121.7,932.1,-18.0,550,5849,0.22,1.73,0.00,0.000,6,0.177,0.025,2168,2572,3969
$GC,6160,-1.41,-121.7,973.3,-12.4,566,6164,0.12,1.88,0.00,0.000,4,0.084,0.048,2113,3758,3967
$GC,6247,-1.31,-121.7,986.7,-16.0,569,6253,0.17,1.70,0.00,0.000,6,0.176,0.025,2156,2589,3966
$STATE,6271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6271,begin apogee
$GC,6279,-0.27,0.0,991.0,15.7,571,6375,1.12,0.00,92.70,1.401,6,0.156,0.000,2487,2412,3532
$STATE,6376,end apogee,CONTROL_FINISHED_OK
$STATE,6376,begin climb
$GC,6380,1.50,121.7,994.1,0.0,576,6492,1.58,2.22,104.97,1.357,4,0.053,0.044,3062,3758,3034
$GC,6700,0.53,121.7,965.8,18.9,590,6707,1.27,2.10,0.00,0.000,6,0.225,0.022,2756,2331,3030
$GC,7017,0.59,170.4,934.0,9.7,606,7064,0.00,2.38,40.62,1.319,4,0.000,0.051,2756,3744,2836
$GC,7166,0.53,170.4,916.2,13.9,612,7170,0.00,2.00,0.00,0.000,6,0.000,0.024,2762,2379,2833
$GC,7489,0.59,178.2,875.2,12.6,628,7502,0.00,2.25,7.20,1.094,4,0.000,0.048,2762,3747,2804
$GC,7707,0.51,178.2,843.0,14.9,637,7715,0.00,1.98,0.00,0.000,6,0.000,0.025,2763,2400,2803
$GC,8026,0.59,188.6,803.9,12.4,653,8040,0.00,2.20,9.43,1.151,4,0.000,0.050,2763,3744,2763
$GC,8120,0.54,188.6,790.5,15.0,657,8124,0.00,1.98,0.00,0.000,6,0.000,0.025,2763,2402,2762
$GC,8449,0.65,213.5,752.0,11.4,673,8473,0.00,0.00,22.62,1.225,6,0.000,0.000,2763,2400,2660
$GC,8779,0.79,224.8,711.7,12.4,689,8795,0.20,2.17,10.27,1.116,4,0.072,0.051,2844,3754,2616
$GC,8846,0.55,224.8,700.3,18.6,691,8851,0.35,1.98,0.00,0.000,6,0.189,0.024,2762,2397,2614
$GC,9176,0.71,233.7,659.2,12.6,707,9190,0.12,2.20,9.00,1.071,4,0.084,0.050,2810,3740,2579
$GC,9313,0.60,233.7,635.8,19.1,713,9318,0.17,1.92,0.00,0.000,6,0.188,0.025,2772,2432,2577
$GC,9648,0.74,233.7,588.1,14.7,729,9650,0.12,0.00,0.00,0.000,6,0.084,0.000,2821,2428,2576
$GC,9956,0.74,233.7,536.3,16.9,744,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2428,2576
$GC,10267,0.74,233.7,488.5,16.5,762,10271,0.00,2.10,0.00,0.000,4,0.000,0.050,2821,3751,2575
$GC,10405,0.64,233.7,464.2,18.0,774,10409,0.17,1.92,0.00,0.000,6,0.187,0.025,2786,2432,2574
$GC,10737,0.80,248.6,421.3,12.1,805,10759,0.15,2.17,12.62,0.989,4,0.077,0.049,2844,3752,2517
$GC,10833,0.65,248.6,405.4,17.6,813,10840,0.22,1.92,0.00,0.000,6,0.185,0.025,2796,2428,2516
$GC,11160,0.82,270.6,364.1,11.6,844,11186,0.15,2.17,19.38,0.964,4,0.081,0.049,2853,3751,2427
$GC,11220,0.70,270.6,354.1,18.4,849,11227,0.22,1.92,0.00,0.000,6,0.185,0.025,2805,2434,2426
$GC,11547,0.86,270.6,308.1,14.2,880,11551,0.15,2.10,0.00,0.000,4,0.081,0.047,2863,3753,2424
$GC,11606,0.71,270.6,297.9,18.9,885,11613,0.25,1.90,0.00,0.000,6,0.185,0.025,2807,2443,2423
$GC,11953,0.91,296.5,254.9,11.3,946,11983,0.17,2.22,22.05,0.864,4,0.077,0.031,2884,997,2322
$GC,12079,0.96,296.5,236.2,16.2,967,12086,0.00,2.25,0.00,0.000,6,0.000,0.033,2884,2459,2320
$GC,12427,0.96,296.5,179.8,16.1,1028,12433,0.00,2.20,0.00,0.000,4,0.000,0.029,2885,993,2319
$GC,12452,0.96,296.5,175.8,14.8,1032,12458,0.00,2.22,0.00,0.000,6,0.000,0.031,2885,2458,2319
$GC,12799,0.97,306.3,129.5,12.5,1093,12811,0.00,0.00,9.05,0.688,6,0.000,0.000,2885,2458,2282
$GC,13151,1.09,338.5,85.7,10.9,1155,13182,0.12,0.00,26.75,0.697,6,0.077,0.000,2935,2458,2151
$GC,13526,1.21,385.3,36.7,9.8,1220,13573,0.10,2.28,37.20,0.648,4,0.083,0.028,2987,984,1960
$STATE,13780,end climb,SURFACE_DEPTH_REACHED
$STATE,13780,begin surface coast
$FINISH,1.9,1.021548
$STATE,13803,end surface coast,CONTROL_FINISHED_OK
$STATE,13803,begin surface
$SM_CCo,13828,67.15,0.618,0,0,1595,475.15
$SM_GC,2.55,0.00,0.00,67.15,0.000,0.000,0.618,143,2389,1595,-7.62,0.17,475.15
$IRIDIUM_FIX,2456.07,12305.12,261198,090923
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,7
$24V_AH,23.1,106.266
$10V_AH,10.5,55.518
$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,27.000,107.975,423.875,67.150,0.000,30.292,35.484,224.541,9.750,0.000,0.000,29.307,2270.191,8386.012,598.854,2349.083,757.136,0.000,1781.357,0.000,2273.624,0.000,54.431,0.000
$DEVICE_MAMPS,230.867,51.389,1400.542,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,858.099,877.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69357,1269
$CAP_FILE_SIZE,145461,0
$CFSIZE,260165632,177704960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.302, 59.9,1
$GPS,010909,171753,2509.787,12309.791,25,1.6,42,-3.7