version: 66.04
glider: 167
mission: 2
dive: 628
start: 9 3 109 7 22 1
data:
$ID,167
$MISSION,2
$DIVE,628
$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,-21708.482
$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,91
$R_STBD_OVSHOOT,47
$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
$GPS1,071430,2527.085,12310.003,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-63.8
$GPS2,072138,2527.287,12310.176,13,1.7,13,-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,263.7,41092,-25.0,-13.200
$D_GRID,983
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.95,0.000,2,0.000,0.000,137,2401,2242
$GC,48,-1.50,-121.7,3.1,-2.2,4,118,8.15,2.15,-56.25,0.000,4,0.235,0.051,2083,3758,3990
$GC,370,-0.82,-121.7,111.2,-31.5,59,377,0.80,1.95,0.00,0.000,6,0.166,0.021,2309,2351,3993
$GC,718,-1.18,-121.7,145.6,-9.4,120,724,0.28,2.17,0.00,0.000,4,0.054,0.044,2188,3746,3996
$GC,790,-0.97,-121.7,159.4,-23.2,132,796,0.28,1.90,0.00,0.000,6,0.157,0.021,2265,2390,3996
$GC,1137,-1.21,-121.7,210.0,-11.9,193,1143,0.17,2.12,0.00,0.000,4,0.066,0.042,2179,3760,3996
$GC,1247,-1.06,-121.7,230.3,-18.6,212,1253,0.22,1.88,0.00,0.000,6,0.153,0.021,2241,2420,3996
$GC,1597,-1.27,-121.7,274.0,-11.1,273,1604,0.17,2.08,0.00,0.000,4,0.064,0.044,2156,3751,3996
$GC,1734,-1.05,-121.7,299.3,-20.6,296,1741,0.30,1.83,0.00,0.000,6,0.158,0.022,2239,2453,3996
$GC,2061,-1.25,-121.7,346.0,-13.2,327,2065,0.17,2.03,0.00,0.000,4,0.064,0.044,2166,3750,3996
$GC,2135,-1.14,-121.7,358.9,-18.9,333,2142,0.17,1.80,0.00,0.000,6,0.160,0.023,2211,2484,3996
$GC,2462,-1.32,-121.7,402.4,-11.6,364,2466,0.17,1.98,0.00,0.000,4,0.066,0.045,2140,3745,3996
$GC,2634,-1.14,-121.7,437.6,-21.1,379,2638,0.20,1.77,0.00,0.000,6,0.162,0.023,2209,2522,3995
$GC,2966,-1.34,-121.7,482.9,-12.7,410,2971,0.17,1.92,0.00,0.000,4,0.070,0.047,2140,3747,3994
$GC,3116,-1.21,-121.7,510.3,-18.9,421,3120,0.17,1.73,0.00,0.000,6,0.165,0.023,2184,2535,3993
$GC,3443,-1.34,-121.7,556.3,-12.7,437,3447,0.12,1.90,0.00,0.000,4,0.077,0.046,2129,3758,3991
$GC,3538,-1.22,-121.7,572.6,-16.8,441,3542,0.20,1.73,0.00,0.000,6,0.165,0.023,2181,2552,3991
$GC,3871,-1.37,-121.7,612.3,-12.2,457,3875,0.12,1.88,0.00,0.000,4,0.082,0.046,2126,3744,3989
$GC,4003,-1.26,-121.7,635.2,-17.3,462,4011,0.17,1.67,0.00,0.000,6,0.166,0.024,2170,2577,3987
$GC,4322,-1.35,-121.7,678.7,-12.7,478,4326,0.00,2.28,0.00,0.000,4,0.000,0.024,2171,1008,3985
$GC,4384,-1.54,-121.7,686.7,-12.0,480,4391,0.22,2.38,0.00,0.000,6,0.073,0.035,2086,2554,3985
$GC,4703,-1.35,-121.7,742.9,-18.5,496,4707,0.20,1.88,0.00,0.000,4,0.187,0.048,2137,3751,3981
$GC,4804,-1.30,-121.7,759.3,-14.3,500,4807,0.00,1.67,0.00,0.000,6,0.000,0.025,2137,2592,3980
$GC,5126,-1.30,-121.7,806.7,-15.3,516,5130,0.00,1.85,0.00,0.000,4,0.000,0.052,2137,3736,3978
$GC,5189,-1.30,-121.7,816.7,-16.2,518,5196,0.00,1.65,0.00,0.000,6,0.000,0.026,2137,2598,3978
$GC,5505,-1.30,-121.7,864.3,-14.8,534,5509,0.00,1.83,0.00,0.000,4,0.000,0.052,2137,3744,3975
$GC,5636,-1.30,-121.7,884.2,-15.0,539,5642,0.00,1.65,0.00,0.000,6,0.000,0.025,2137,2609,3974
$GC,5954,-1.30,-121.7,927.4,-13.6,555,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2609,3972
$GC,6261,-1.30,-121.7,968.3,-13.3,570,6265,0.00,1.83,0.00,0.000,4,0.000,0.053,2137,3752,3970
$GC,6314,-1.30,-121.7,975.4,-13.6,572,6318,0.00,1.65,0.00,0.000,6,0.000,0.027,2137,2622,3970
$STATE,6371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6371,begin apogee
$GC,6380,-0.27,0.0,983.3,12.9,575,6477,1.23,0.00,93.55,1.396,6,0.161,0.000,2487,2412,3532
$STATE,6478,end apogee,CONTROL_FINISHED_OK
$STATE,6478,begin climb
$GC,6481,1.50,121.7,986.3,0.0,580,6595,1.60,2.30,104.72,1.356,4,0.048,0.026,3077,964,3035
$GC,6851,0.71,121.7,952.6,17.0,597,6857,1.05,2.15,0.00,0.000,6,0.219,0.033,2814,2362,3030
$GC,7181,0.58,160.9,915.6,10.4,613,7225,0.17,2.25,32.72,1.308,4,0.197,0.028,2773,956,2875
$GC,7298,0.65,172.8,903.2,12.3,618,7314,0.00,2.20,11.57,1.190,6,0.000,0.035,2773,2362,2826
$GC,7626,0.65,173.2,859.9,13.2,633,7629,0.00,2.22,0.00,0.000,4,0.000,0.053,2773,3764,2823
$GC,7677,0.53,173.2,852.2,15.2,635,7681,0.00,2.10,0.00,0.000,6,0.000,0.026,2776,2352,2822
$GC,8006,0.54,182.4,810.3,12.5,651,8020,0.00,2.30,8.45,1.128,4,0.000,0.050,2775,3757,2787
$GC,8155,0.44,182.4,788.8,14.7,657,8160,0.20,2.05,0.00,0.000,6,0.187,0.025,2726,2366,2786
$GC,8473,0.66,209.9,753.4,11.2,672,8503,0.20,2.30,23.95,1.231,4,0.077,0.050,2809,3754,2676
$GC,8567,0.50,209.9,738.5,17.5,676,8572,0.30,2.03,0.00,0.000,6,0.185,0.025,2740,2382,2674
$GC,8890,0.70,221.8,697.5,12.3,692,8906,0.20,2.30,11.30,1.131,4,0.072,0.051,2823,3767,2626
$GC,9002,0.55,221.8,678.5,17.6,696,9007,0.28,2.00,0.00,0.000,6,0.186,0.025,2757,2423,2626
$GC,9330,0.70,221.8,632.5,14.7,712,9334,0.15,2.15,0.00,0.000,4,0.080,0.030,2815,990,2624
$GC,9510,0.75,221.8,603.1,16.0,720,9514,0.00,2.17,0.00,0.000,6,0.000,0.033,2815,2410,2623
$GC,9838,0.75,221.8,550.1,16.7,736,9841,0.00,2.12,0.00,0.000,4,0.000,0.051,2815,3756,2623
$GC,10017,0.62,221.8,519.2,17.0,743,10023,0.17,1.95,0.00,0.000,6,0.190,0.025,2782,2418,2622
$GC,10343,0.76,243.4,478.9,11.6,767,10367,0.12,2.22,17.90,1.058,4,0.082,0.051,2829,3756,2538
$GC,10519,0.62,243.4,449.0,18.0,782,10527,0.22,1.98,0.00,0.000,6,0.187,0.025,2782,2407,2536
$GC,10847,0.79,243.4,402.3,17.3,813,10853,0.15,0.00,0.00,0.000,6,0.075,0.000,2839,2402,2536
$GC,11177,0.79,243.4,348.1,15.2,844,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2403,2535
$GC,11505,0.79,243.4,300.3,13.8,875,11509,0.00,2.15,0.00,0.000,4,0.000,0.051,2839,3763,2535
$GC,11720,0.68,243.4,265.1,15.3,912,11727,0.17,2.00,0.00,0.000,6,0.186,0.025,2805,2386,2534
$GC,12071,0.86,268.1,222.1,11.4,973,12097,0.15,2.25,20.60,0.854,4,0.075,0.048,2865,3753,2438
$GC,12252,0.72,268.1,193.0,17.6,1004,12259,0.22,1.95,0.00,0.000,6,0.184,0.025,2818,2411,2435
$GC,12600,0.86,268.1,148.1,14.5,1065,12606,0.12,2.10,0.00,0.000,4,0.083,0.027,2871,994,2435
$GC,12862,0.96,300.6,115.4,10.8,1111,12897,0.00,2.12,27.23,0.755,6,0.000,0.030,2871,2408,2305
$GC,13241,1.22,388.5,73.7,6.8,1177,13317,0.25,2.15,68.65,0.709,4,0.064,0.046,2977,3750,1946
$GC,13455,1.13,388.5,43.2,16.4,1214,13463,0.17,2.03,0.00,0.000,6,0.178,0.021,2943,2371,1940
$GC,13805,1.28,451.9,5.9,8.6,1275,13830,0.15,0.00,22.62,0.618,2,0.074,0.000,3004,2369,1831
$STATE,13831,end climb,SURFACE_DEPTH_REACHED
$STATE,13831,begin surface coast
$FINISH,1.8,0.999599
$STATE,13852,end surface coast,CONTROL_FINISHED_OK
$STATE,13853,begin surface
$SM_CCo,13873,43.42,0.622,0,0,1594,475.15
$SM_GC,3.15,0.00,0.00,43.42,0.000,0.000,0.622,141,2366,1594,-7.62,-0.45,475.15
$IRIDIUM_FIX,2515.12,12308.33,281198,040431
$TT8_MAMPS,0.029146
$HUMID,1818
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.1,108.061
$10V_AH,10.5,56.413
$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,27.575,108.925,443.275,43.425,0.000,30.252,41.544,184.438,8.750,0.000,0.000,13.386,2299.560,8312.866,583.252,2398.482,747.697,0.000,1795.626,0.000,2336.382,0.000,54.424,0.000
$DEVICE_MAMPS,234.702,52.923,1395.940,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,868.741,893.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69509,1283
$CAP_FILE_SIZE,147493,0
$CFSIZE,260165632,176877568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.227, 16.8,1
$GPS,030909,111524,2528.875,12308.827,42,1.9,43,-3.7