version: 66.04
glider: 167
mission: 2
dive: 627
start: 9 3 109 4 0 44
data:
$ID,167
$MISSION,2
$DIVE,627
$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,-21694.469
$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,43
$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
$GPS1,035033,2525.516,12309.332,12,1.9,12,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-62.9
$GPS2,040022,2525.802,12309.556,13,99.0,32,-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,267.6,41917,-25.0,-13.200
$D_GRID,804
$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,-28.12,0.000,2,0.000,0.000,137,2357,2311
$GC,52,-1.50,-121.7,3.3,-2.2,5,118,8.12,2.15,-49.65,0.000,4,0.232,0.052,2082,3760,3989
$GC,319,-0.81,-121.7,98.1,-31.7,51,327,0.82,1.98,0.00,0.000,6,0.166,0.020,2316,2341,3991
$GC,669,-1.21,-121.7,142.1,-9.7,112,675,0.30,2.20,0.00,0.000,4,0.055,0.043,2179,3758,3994
$GC,762,-0.95,-121.7,159.6,-21.1,128,769,0.32,1.90,0.00,0.000,6,0.163,0.021,2269,2419,3994
$GC,1110,-1.19,-121.7,204.6,-11.5,189,1116,0.17,2.08,0.00,0.000,4,0.064,0.043,2188,3759,3995
$GC,1186,-1.05,-121.7,217.9,-18.2,202,1192,0.20,1.85,0.00,0.000,6,0.156,0.021,2242,2435,3994
$GC,1537,-1.28,-121.7,258.8,-11.8,263,1545,0.17,2.05,0.00,0.000,4,0.066,0.044,2162,3754,3995
$GC,1644,-1.10,-121.7,279.6,-21.7,281,1650,0.22,1.83,0.00,0.000,6,0.160,0.022,2222,2453,3994
$GC,1979,-1.24,-121.7,330.7,-14.7,323,1983,0.12,2.03,0.00,0.000,4,0.076,0.044,2166,3758,3995
$GC,2007,-1.24,-121.7,335.5,-16.3,325,2013,0.00,1.83,0.00,0.000,6,0.000,0.021,2166,2449,3995
$GC,2334,-1.24,-121.7,391.0,-16.9,356,2338,0.00,2.03,0.00,0.000,4,0.000,0.045,2165,3750,3995
$GC,2587,-1.24,-121.7,438.5,-16.3,378,2593,0.00,1.80,0.00,0.000,6,0.000,0.024,2165,2481,3994
$GC,2912,-1.24,-121.7,489.9,-17.0,409,2916,0.00,2.00,0.00,0.000,4,0.000,0.048,2165,3758,3992
$GC,2990,-1.24,-121.7,502.6,-14.9,415,2994,0.00,1.77,0.00,0.000,6,0.000,0.023,2166,2503,3992
$GC,3314,-1.24,-121.7,549.9,-15.9,431,3321,0.00,1.98,0.00,0.000,4,0.000,0.048,2165,3761,3990
$GC,3446,-1.24,-121.7,573.5,-17.8,436,3451,0.00,1.77,0.00,0.000,6,0.000,0.025,2165,2519,3989
$GC,3763,-1.32,-121.7,622.2,-15.9,452,3767,0.00,1.95,0.00,0.000,4,0.000,0.048,2165,3762,3986
$GC,3804,-1.32,-121.7,629.2,-17.4,453,3810,0.00,1.77,0.00,0.000,6,0.000,0.025,2165,2528,3985
$GC,4121,-1.40,-121.7,678.5,-14.6,469,4125,0.12,1.95,0.00,0.000,4,0.084,0.049,2111,3759,3983
$GC,4217,-1.23,-121.7,696.2,-19.6,473,4222,0.20,1.77,0.00,0.000,6,0.163,0.025,2179,2552,3981
$GC,4549,-1.41,-121.7,738.2,-11.6,489,4553,0.15,1.90,0.00,0.000,4,0.076,0.050,2123,3747,3979
$GC,4664,-1.29,-121.7,757.0,-17.9,494,4668,0.12,1.75,0.00,0.000,6,0.166,0.025,2159,2569,3978
$GC,5001,-1.38,-121.7,802.4,-12.5,510,5004,0.00,1.88,0.00,0.000,4,0.000,0.049,2152,3758,3975
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5019,-0.27,0.0,804.6,12.2,510,5115,1.10,0.00,91.85,1.259,6,0.155,0.000,2481,2366,3532
$STATE,5116,end apogee,CONTROL_FINISHED_OK
$STATE,5116,begin climb
$GC,5121,1.50,121.7,807.9,0.0,515,5233,1.60,2.17,101.57,1.218,4,0.051,0.027,3077,995,3035
$GC,5488,0.73,121.7,782.0,16.4,531,5493,1.02,2.12,0.00,0.000,6,0.217,0.035,2820,2378,3031
$GC,5810,0.61,178.4,749.9,9.1,547,5863,0.17,2.17,45.90,1.194,4,0.197,0.028,2776,1005,2804
$GC,6117,0.74,214.7,715.6,10.6,560,6153,0.12,2.10,30.40,1.162,6,0.084,0.033,2826,2374,2655
$GC,6480,0.69,214.7,667.8,13.2,578,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2374,2650
$GC,6785,0.64,214.7,626.0,13.4,593,6790,0.15,2.08,0.00,0.000,4,0.177,0.025,2797,988,2648
$GC,6943,0.77,226.3,606.4,12.4,600,6957,0.00,2.12,9.80,1.035,6,0.000,0.034,2797,2375,2608
$GC,7276,0.84,226.3,558.6,15.0,616,7281,0.15,2.17,0.00,0.000,4,0.078,0.049,2857,3754,2606
$GC,7421,0.61,226.3,531.1,18.8,622,7425,0.32,2.00,0.00,0.000,6,0.189,0.024,2782,2375,2605
$GC,7743,0.75,237.4,489.9,12.4,640,7758,0.12,2.22,9.70,0.983,4,0.081,0.052,2830,3751,2564
$GC,7970,0.62,237.4,448.4,19.4,660,7975,0.22,1.98,0.00,0.000,6,0.183,0.026,2783,2403,2561
$GC,8303,0.79,255.1,406.2,11.9,691,8321,0.15,0.00,15.12,0.977,6,0.073,0.000,2840,2399,2491
$GC,8639,0.79,255.1,359.6,14.5,723,8643,0.00,2.17,0.00,0.000,4,0.000,0.051,2840,3764,2488
$GC,8759,0.69,255.1,340.0,17.5,733,8766,0.17,2.00,0.00,0.000,6,0.180,0.024,2806,2385,2488
$GC,9087,0.83,255.1,296.2,14.2,766,9093,0.12,2.08,0.00,0.000,4,0.083,0.028,2864,986,2487
$GC,9203,0.83,255.1,277.4,16.2,786,9209,0.00,2.17,0.00,0.000,6,0.000,0.032,2864,2417,2487
$GC,9549,0.83,255.1,221.7,13.8,847,9556,0.00,2.10,0.00,0.000,4,0.000,0.048,2863,3764,2487
$GC,9813,0.69,255.1,184.8,14.0,893,9819,0.25,1.95,0.00,0.000,6,0.179,0.024,2808,2407,2487
$GC,10160,0.94,272.3,150.6,12.0,954,10181,0.17,2.17,14.90,0.759,4,0.071,0.028,2890,986,2420
$GC,10436,0.94,276.0,113.8,12.9,1002,10449,0.00,2.15,4.78,0.571,6,0.000,0.030,2890,2406,2405
$GC,10794,1.04,293.1,73.0,12.0,1064,10818,0.00,2.17,15.20,0.680,4,0.000,0.028,2900,987,2336
$GC,11073,1.34,422.5,53.9,3.8,1113,11184,0.30,2.12,100.45,0.669,6,0.059,0.029,3015,2398,1807
$STATE,11459,end climb,SURFACE_DEPTH_REACHED
$STATE,11459,begin surface coast
$FINISH,1.8,1.021338
$STATE,11483,end surface coast,CONTROL_FINISHED_OK
$STATE,11483,begin surface
$SM_CCo,11504,38.00,0.609,0,0,1595,475.15
$SM_GC,3.16,0.00,0.00,38.00,0.000,0.000,0.609,137,2400,1595,-7.64,0.48,475.15
$IRIDIUM_FIX,2517.50,12311.63,281198,040444
$TT8_MAMPS,0.029146
$HUMID,1800
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,23.3,107.897
$10V_AH,10.6,56.329
$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,25.025,88.475,439.675,38.000,0.000,55.929,68.057,227.817,6.750,0.000,0.000,33.678,2079.108,6544.311,554.527,2182.246,770.829,0.000,1644.126,0.000,2109.773,0.000,42.747,0.000
$DEVICE_MAMPS,231.634,52.156,1258.647,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,800.189,857.335,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63179,1185
$CAP_FILE_SIZE,126720,0
$CFSIZE,260165632,176975872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.304, 58.9,1
$GPS,030909,071430,2527.085,12310.003,40,1.0,40,-3.7