version: 66.04
glider: 167
mission: 2
dive: 620
start: 9 2 109 1 35 40
data:
$ID,167
$MISSION,2
$DIVE,620
$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,-21526.055
$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,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
$GPS1,012737,2513.886,12309.920,31,1.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.5
$GPS2,013520,2514.043,12310.021,15,1.7,15,-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,283.9,58548,-25.0,-13.200
$D_GRID,1502
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.17,0.000,2,0.000,0.000,139,2388,2306
$GC,52,-1.50,-121.7,3.3,-2.4,5,118,8.05,2.17,-50.20,0.000,4,0.229,0.051,2087,3763,3990
$GC,350,-0.67,-121.7,110.4,-38.3,57,357,1.00,1.98,0.00,0.000,6,0.187,0.020,2356,2347,3992
$GC,699,-1.15,-121.7,151.3,-8.7,118,706,0.38,2.20,0.00,0.000,4,0.051,0.044,2192,3760,3995
$GC,853,-0.93,-121.7,183.6,-22.9,144,860,0.30,1.90,0.00,0.000,6,0.159,0.031,2276,2410,3995
$GC,1206,-1.23,-121.7,225.6,-10.3,205,1212,0.22,2.10,0.00,0.000,4,0.061,0.044,2177,3762,3996
$GC,1333,-1.04,-121.7,248.2,-19.3,227,1340,0.22,1.88,0.00,0.000,6,0.157,0.021,2239,2419,3996
$GC,1682,-1.20,-121.7,292.4,-13.4,288,1689,0.12,2.08,0.00,0.000,4,0.072,0.044,2179,3757,3997
$GC,1788,-1.04,-121.7,313.0,-19.6,301,1792,0.25,1.83,0.00,0.000,6,0.160,0.021,2247,2456,3997
$GC,2121,-1.29,-121.7,355.3,-12.5,332,2126,0.20,2.03,0.00,0.000,4,0.062,0.044,2153,3756,3997
$GC,2272,-1.13,-121.7,386.3,-20.4,345,2276,0.22,1.80,0.00,0.000,6,0.160,0.022,2213,2482,3997
$GC,2603,-1.30,-121.7,433.2,-12.9,376,2608,0.15,2.00,0.00,0.000,4,0.073,0.045,2151,3760,3996
$GC,2765,-1.21,-121.7,460.6,-17.2,390,2769,0.15,1.77,0.00,0.000,6,0.166,0.022,2188,2513,3995
$GC,3094,-1.30,-121.7,511.2,-15.4,418,3098,0.00,1.92,0.00,0.000,4,0.000,0.047,2181,3749,3994
$GC,3112,-1.38,-121.7,514.1,-15.2,418,3118,0.12,1.75,0.00,0.000,6,0.078,0.024,2130,2519,3993
$GC,3430,-1.30,-121.7,568.3,-16.5,434,3434,0.12,1.92,0.00,0.000,4,0.172,0.044,2152,3750,3992
$GC,3559,-1.30,-121.7,590.1,-15.8,439,3566,0.00,1.73,0.00,0.000,6,0.000,0.024,2152,2545,3991
$GC,3877,-1.30,-121.7,636.3,-14.1,455,3880,0.00,1.90,0.00,0.000,4,0.000,0.049,2149,3751,3988
$GC,3984,-1.30,-121.7,653.4,-14.9,459,3990,0.00,1.73,0.00,0.000,6,0.000,0.025,2149,2556,3987
$GC,4303,-1.30,-121.7,702.0,-16.0,475,4306,0.00,1.90,0.00,0.000,4,0.000,0.051,2149,3756,3985
$GC,4397,-1.30,-121.7,717.5,-16.9,479,4400,0.00,1.73,0.00,0.000,6,0.000,0.025,2149,2563,3983
$GC,4730,-1.35,-121.7,766.0,-14.4,495,4734,0.00,1.88,0.00,0.000,4,0.000,0.049,2143,3750,3980
$GC,4827,-1.35,-121.7,781.2,-15.8,499,4831,0.00,1.73,0.00,0.000,6,0.000,0.025,2142,2584,3980
$GC,5155,-1.35,-121.7,831.6,-15.4,515,5158,0.00,1.85,0.00,0.000,4,0.000,0.050,2140,3754,3977
$GC,5223,-1.35,-121.7,842.9,-16.1,518,5227,0.00,1.70,0.00,0.000,6,0.000,0.025,2140,2587,3976
$GC,5558,-1.35,-121.7,894.0,-15.3,534,5562,0.00,1.85,0.00,0.000,4,0.000,0.050,2140,3757,3974
$GC,5649,-1.35,-121.7,908.5,-15.4,538,5653,0.00,1.70,0.00,0.000,6,0.000,0.025,2140,2592,3974
$GC,5984,-1.35,-121.7,955.8,-14.2,554,5987,0.00,1.85,0.00,0.000,4,0.000,0.051,2140,3756,3971
$GC,6102,-1.35,-121.7,973.7,-14.3,559,6106,0.00,1.70,0.00,0.000,6,0.000,0.026,2140,2613,3970
$STATE,6219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6219,begin apogee
$GC,6228,-0.27,0.0,990.9,14.4,565,6332,1.23,0.00,95.55,1.378,6,0.163,0.000,2489,2396,3532
$STATE,6333,end apogee,CONTROL_FINISHED_OK
$STATE,6333,begin climb
$GC,6338,1.50,121.7,995.3,0.0,570,6455,1.58,2.33,104.95,1.359,4,0.053,0.045,3062,3760,3034
$GC,6710,0.53,121.7,960.8,19.0,587,6715,1.30,2.08,0.00,0.000,6,0.228,0.023,2753,2337,3030
$GC,7033,0.62,193.7,931.9,8.0,603,7097,0.00,2.40,59.62,1.331,4,0.000,0.049,2753,3743,2741
$GC,7340,0.62,193.7,893.8,13.5,616,7346,0.00,2.00,0.00,0.000,6,0.000,0.025,2759,2393,2735
$GC,7658,0.76,226.9,859.9,10.8,632,7693,0.17,2.25,28.42,1.280,4,0.080,0.050,2826,3741,2607
$GC,7712,0.62,226.9,852.3,15.2,634,7717,0.20,2.03,0.00,0.000,6,0.196,0.025,2780,2401,2605
$GC,8029,0.70,226.9,809.6,13.6,649,8032,0.00,2.15,0.00,0.000,4,0.000,0.050,2780,3746,2602
$GC,8080,0.70,226.9,801.9,15.8,651,8083,0.00,2.00,0.00,0.000,6,0.000,0.025,2789,2385,2602
$GC,8409,0.77,227.6,758.0,13.1,667,8414,0.12,2.20,0.00,0.000,4,0.085,0.050,2837,3757,2600
$GC,8543,0.57,227.6,734.1,18.9,673,8547,0.30,2.00,0.00,0.000,6,0.189,0.025,2769,2389,2599
$GC,8871,0.70,227.6,689.2,13.6,689,8873,0.10,0.00,0.00,0.000,6,0.092,0.000,2807,2384,2599
$GC,9179,0.70,227.6,641.6,15.6,704,9183,0.00,2.17,0.00,0.000,4,0.000,0.048,2807,3755,2598
$GC,9273,0.60,227.6,626.3,16.1,708,9277,0.15,1.98,0.00,0.000,6,0.193,0.025,2779,2400,2598
$GC,9607,0.73,231.4,580.3,12.9,724,9616,0.10,2.20,3.72,0.732,4,0.093,0.050,2818,3743,2588
$GC,9676,0.60,231.4,569.4,16.9,727,9681,0.15,1.95,0.00,0.000,6,0.174,0.025,2774,2429,2588
$GC,10010,0.75,242.5,526.4,12.4,743,10026,0.15,2.15,10.68,1.042,4,0.081,0.051,2830,3758,2542
$GC,10163,0.62,242.5,500.1,19.1,749,10168,0.22,1.92,0.00,0.000,6,0.189,0.025,2784,2444,2541
$GC,10496,0.75,242.5,455.5,13.5,779,10500,0.12,2.17,0.00,0.000,4,0.083,0.029,2832,993,2540
$GC,10610,0.82,242.5,438.9,14.1,788,10616,0.00,2.22,0.00,0.000,6,0.000,0.035,2831,2440,2540
$GC,10940,0.82,242.5,392.2,14.0,819,10946,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2440,2539
$GC,11267,0.82,242.5,346.1,13.7,850,11271,0.00,2.20,0.00,0.000,4,0.000,0.030,2834,979,2539
$GC,11369,0.91,257.6,333.3,12.1,859,11387,0.12,2.22,13.05,0.924,6,0.083,0.032,2880,2431,2481
$GC,11717,0.81,257.6,273.1,16.8,903,11725,0.15,2.17,0.00,0.000,4,0.186,0.027,2852,991,2479
$GC,11801,0.90,257.6,260.7,14.9,917,11807,0.00,2.20,0.00,0.000,6,0.000,0.033,2852,2425,2478
$GC,12146,0.99,285.4,213.3,11.2,978,12176,0.12,2.12,23.95,0.844,4,0.080,0.050,2901,3758,2367
$GC,12433,0.82,285.4,168.3,13.6,1028,12440,0.25,1.95,0.00,0.000,6,0.184,0.025,2846,2417,2363
$GC,12782,1.03,336.5,130.7,9.5,1089,12830,0.17,2.15,41.00,0.755,4,0.075,0.027,2929,989,2159
$GC,12952,1.09,336.5,106.4,15.3,1118,12958,0.00,2.17,0.00,0.000,6,0.000,0.030,2929,2416,2154
$GC,13299,1.21,363.4,61.7,11.2,1179,13330,0.12,2.12,22.05,0.665,4,0.077,0.046,2981,3765,2048
$GC,13586,1.11,375.3,21.8,12.3,1229,13606,0.20,1.95,10.60,0.589,6,0.183,0.022,2942,2389,2001
$STATE,13773,end climb,SURFACE_DEPTH_REACHED
$STATE,13773,begin surface coast
$FINISH,1.8,1.009117
$STATE,13814,end surface coast,CONTROL_FINISHED_OK
$STATE,13814,begin surface
$SM_CCo,13836,75.28,0.615,0,0,1595,475.15
$SM_GC,2.72,0.00,0.00,75.28,0.000,0.000,0.615,138,2384,1595,-7.63,0.03,475.15
$IRIDIUM_FIX,2503.20,12307.72,261198,212147
$TT8_MAMPS,0.029146
$HUMID,1728
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,6
$24V_AH,23.1,106.776
$10V_AH,10.5,55.771
$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,26.300,112.275,413.600,75.275,0.000,31.172,40.282,211.306,9.500,0.000,0.000,15.578,2291.691,8320.543,594.354,2401.525,755.408,0.000,1801.849,0.000,2342.196,0.000,61.594,0.000
$DEVICE_MAMPS,228.566,51.389,1377.532,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,858.778,873.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69506,1269
$CAP_FILE_SIZE,145828,0
$CFSIZE,260165632,177471488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.289, 63.8,1
$GPS,020909,052855,2515.447,12310.311,41,1.0,42,-3.7