version: 66.04
glider: 167
mission: 2
dive: 623
start: 9 2 109 13 38 40
data:
$ID,167
$MISSION,2
$DIVE,623
$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,-21593.109
$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,89
$R_STBD_OVSHOOT,40
$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
$GPS1,133106,2518.893,12309.831,33,1.7,34,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-65.0
$GPS2,133819,2519.074,12309.965,12,1.8,17,-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,278.0,51114,-25.0,-13.200
$D_GRID,1177
$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,-121.7,0.0,0.0,0,42,0.00,0.00,-23.27,0.000,2,0.000,0.000,143,2372,2182
$GC,48,-1.50,-121.7,3.0,-2.2,4,121,8.00,2.20,-57.00,0.000,4,0.228,0.054,2086,3758,3990
$GC,377,-0.75,-121.7,117.0,-35.3,61,385,0.88,1.98,0.00,0.000,6,0.170,0.020,2332,2346,3993
$GC,727,-1.19,-121.7,161.3,-10.7,122,733,0.32,2.20,0.00,0.000,4,0.054,0.044,2188,3760,3995
$GC,849,-1.00,-121.7,186.6,-20.8,143,856,0.25,1.90,0.00,0.000,6,0.163,0.021,2256,2404,3995
$GC,1199,-1.24,-121.7,232.1,-10.2,204,1206,0.20,2.10,0.00,0.000,4,0.063,0.042,2164,3760,3996
$GC,1293,-1.03,-121.7,250.9,-22.0,220,1300,0.30,1.90,0.00,0.000,6,0.155,0.021,2248,2397,3996
$GC,1642,-1.30,-121.7,296.4,-13.0,281,1650,0.22,2.12,0.00,0.000,4,0.061,0.044,2150,3764,3997
$GC,1790,-1.10,-121.7,327.5,-21.6,295,1797,0.28,1.85,0.00,0.000,6,0.166,0.021,2223,2453,3996
$GC,2118,-1.27,-121.7,376.0,-13.7,326,2122,0.15,2.05,0.00,0.000,4,0.071,0.045,2162,3765,3997
$GC,2316,-1.17,-121.7,412.1,-18.5,343,2322,0.15,1.83,0.00,0.000,6,0.166,0.023,2198,2484,3997
$GC,2642,-1.35,-121.7,458.9,-14.1,374,2646,0.15,2.00,0.00,0.000,4,0.072,0.045,2139,3764,3996
$GC,2761,-1.24,-121.7,480.0,-16.7,384,2768,0.15,1.80,0.00,0.000,6,0.170,0.023,2175,2498,3995
$GC,3097,-1.34,-121.7,526.8,-13.6,407,3101,0.00,1.95,0.00,0.000,4,0.000,0.044,2168,3754,3994
$GC,3191,-1.39,-121.7,541.8,-16.3,411,3194,0.00,1.77,0.00,0.000,6,0.000,0.025,2168,2517,3993
$GC,3526,-1.45,-121.7,594.7,-16.0,427,3530,0.17,1.98,0.00,0.000,4,0.076,0.048,2093,3764,3991
$GC,3599,-1.20,-121.7,609.2,-20.2,430,3603,0.35,1.77,0.00,0.000,6,0.176,0.024,2186,2530,3990
$GC,3932,-1.39,-121.7,650.9,-11.9,446,3937,0.15,1.95,0.00,0.000,4,0.072,0.048,2124,3761,3987
$GC,4006,-1.29,-121.7,663.2,-16.2,449,4010,0.15,1.77,0.00,0.000,6,0.174,0.025,2160,2538,3986
$GC,4338,-1.38,-121.7,706.8,-12.6,465,4342,0.00,1.95,0.00,0.000,4,0.000,0.049,2153,3773,3983
$GC,4411,-1.38,-121.7,718.5,-15.0,468,4414,0.00,1.77,0.00,0.000,6,0.000,0.025,2153,2551,3983
$GC,4739,-1.44,-121.7,765.3,-14.6,484,4743,0.12,1.92,0.00,0.000,4,0.086,0.049,2098,3762,3980
$GC,4825,-1.18,-121.7,782.6,-23.3,487,4831,0.38,1.75,0.00,0.000,6,0.179,0.026,2197,2560,3979
$GC,5142,-1.44,-121.7,819.1,-11.1,503,5146,0.20,1.90,0.00,0.000,4,0.073,0.050,2111,3753,3977
$GC,5325,-1.29,-121.7,853.6,-20.4,511,5329,0.20,1.73,0.00,0.000,6,0.173,0.027,2161,2575,3975
$GC,5661,-1.41,-121.7,903.1,-14.8,527,5665,0.12,1.88,0.00,0.000,4,0.084,0.051,2111,3757,3974
$GC,5708,-1.29,-121.7,911.6,-18.9,529,5713,0.15,1.75,0.00,0.000,6,0.174,0.026,2154,2586,3972
$GC,6045,-1.39,-121.7,961.5,-14.4,545,6048,0.00,1.85,0.00,0.000,4,0.000,0.051,2152,3753,3971
$GC,6154,-1.44,-121.7,977.8,-15.1,549,6161,0.10,1.70,0.00,0.000,6,0.091,0.025,2116,2587,3970
$STATE,6240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6240,begin apogee
$GC,6249,-0.27,0.0,991.4,15.4,554,6346,1.33,0.00,93.65,1.405,6,0.172,0.000,2484,2412,3532
$STATE,6347,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6351,1.50,121.7,995.6,0.0,559,6464,1.60,2.22,105.47,1.362,4,0.052,0.044,3065,3756,3035
$GC,6534,0.51,121.7,995.3,15.4,567,6541,1.33,2.10,0.00,0.000,6,0.229,0.021,2751,2338,3032
$GC,6851,0.59,189.2,966.4,8.3,583,6914,0.00,2.35,56.47,1.340,4,0.000,0.048,2751,3755,2759
$GC,7000,0.59,189.2,948.9,14.4,589,7006,0.00,2.05,0.00,0.000,6,0.000,0.023,2759,2373,2755
$GC,7317,0.70,197.5,908.8,12.6,605,7332,0.12,2.25,7.68,1.118,4,0.088,0.050,2806,3743,2726
$GC,7386,0.52,197.5,898.0,17.2,608,7391,0.25,2.00,0.00,0.000,6,0.186,0.024,2751,2370,2725
$GC,7719,0.67,209.1,855.8,12.4,624,7736,0.12,2.28,11.35,1.199,4,0.088,0.048,2798,3752,2678
$GC,7817,0.54,209.1,840.6,16.0,627,7822,0.20,2.00,0.00,0.000,6,0.186,0.024,2753,2392,2677
$GC,8134,0.69,219.7,801.0,12.4,642,8150,0.15,2.17,9.93,1.158,4,0.083,0.048,2810,3755,2638
$GC,8236,0.54,219.7,783.1,20.0,645,8243,0.25,2.00,0.00,0.000,6,0.187,0.024,2756,2385,2636
$GC,8553,0.70,221.4,739.5,13.1,661,8558,0.15,2.20,0.00,0.000,4,0.081,0.048,2812,3761,2634
$GC,8628,0.55,221.4,726.6,18.3,664,8633,0.22,1.98,0.00,0.000,6,0.189,0.026,2765,2413,2634
$GC,8946,0.69,225.0,684.3,12.9,679,8954,0.12,0.00,6.15,0.996,6,0.084,0.000,2811,2411,2614
$GC,9255,0.69,225.0,637.7,15.1,694,9259,0.00,2.15,0.00,0.000,4,0.000,0.049,2811,3761,2612
$GC,9513,0.56,225.0,595.0,15.7,705,9518,0.22,1.95,0.00,0.000,6,0.186,0.026,2764,2424,2611
$GC,9837,0.76,257.7,559.2,10.8,721,9872,0.17,2.25,27.35,1.125,4,0.077,0.030,2837,987,2481
$GC,9955,0.83,257.7,541.9,16.2,726,9959,0.00,2.22,0.00,0.000,6,0.000,0.033,2837,2422,2478
$GC,10280,0.83,257.7,487.1,17.6,745,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2423,2476
$GC,10597,0.83,257.7,434.6,15.4,775,10601,0.00,2.10,0.00,0.000,4,0.000,0.052,2837,3750,2475
$GC,10614,0.83,257.7,431.7,15.6,776,10620,0.00,1.95,0.00,0.000,6,0.000,0.025,2847,2416,2475
$GC,10944,0.83,257.7,379.0,16.5,807,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2416,2474
$GC,11270,0.83,257.7,326.9,15.4,838,11273,0.00,2.12,0.00,0.000,4,0.000,0.049,2847,3751,2474
$GC,11385,0.70,257.7,307.5,16.9,848,11389,0.20,1.98,0.00,0.000,6,0.187,0.025,2806,2398,2474
$GC,11728,0.85,257.7,259.0,13.8,904,11735,0.12,2.10,0.00,0.000,4,0.083,0.028,2863,981,2473
$GC,11944,0.92,257.7,229.4,13.7,942,11951,0.00,2.17,0.00,0.000,6,0.000,0.033,2863,2404,2473
$GC,12293,0.92,262.7,183.5,12.8,1003,12304,0.00,2.15,4.78,0.638,4,0.000,0.050,2863,3759,2460
$GC,12375,0.81,262.7,172.0,13.7,1017,12382,0.12,2.00,0.00,0.000,6,0.187,0.024,2843,2379,2460
$GC,12726,0.98,300.5,134.5,10.5,1078,12765,0.15,2.10,31.85,0.766,4,0.078,0.028,2912,989,2306
$GC,13021,1.06,310.6,95.2,12.5,1129,13035,0.00,2.15,9.10,0.660,6,0.000,0.031,2912,2401,2265
$GC,13377,1.16,337.9,53.7,11.2,1191,13407,0.12,2.12,22.95,0.669,4,0.077,0.025,2974,983,2152
$GC,13612,1.25,410.5,30.0,7.9,1232,13677,0.00,2.10,57.15,0.647,6,0.000,0.029,2974,2380,1857
$STATE,13829,end climb,SURFACE_DEPTH_REACHED
$STATE,13829,begin surface coast
$FINISH,1.9,1.006322
$STATE,13853,end surface coast,CONTROL_FINISHED_OK
$STATE,13853,begin surface
$SM_CCo,13874,47.62,0.617,0,0,1595,475.15
$SM_GC,3.21,0.00,0.00,47.62,0.000,0.000,0.617,141,2382,1595,-7.63,-0.03,475.15
$IRIDIUM_FIX,2507.97,12312.32,271198,090905
$TT8_MAMPS,0.029146
$HUMID,1758
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,5
$24V_AH,23.0,107.276
$10V_AH,10.5,56.023
$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,27.925,112.750,443.875,47.625,0.000,24.824,36.027,191.796,9.250,0.000,0.000,20.229,2289.639,8368.059,592.838,2370.863,724.369,0.000,1791.148,0.000,2304.531,0.000,58.547,0.000
$DEVICE_MAMPS,228.566,53.690,1405.144,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,862.122,880.154,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69520,1274
$CAP_FILE_SIZE,148239,0
$CFSIZE,260165632,177233920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252, 63.3,1
$GPS,020909,173207,2520.382,12309.962,41,1.0,42,-3.7