version: 66.04
glider: 167
mission: 2
dive: 597
start: 8 29 109 4 30 55
data:
$ID,167
$MISSION,2
$DIVE,597
$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,-21067.328
$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,39
$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
$GPS1,042336,2501.596,12241.222,30,1.1,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-71.5
$GPS2,043032,2501.800,12241.280,14,1.2,14,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,187.1,32389,-25.0,-13.200
$D_GRID,1409
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.15,0.000,2,0.000,0.000,138,2463,2156
$GC,44,-1.50,-121.7,3.4,-3.0,4,112,8.12,2.22,-54.05,0.000,4,0.231,0.037,2087,996,3990
$GC,197,-1.05,-121.7,38.1,-29.6,29,204,0.60,2.10,0.00,0.000,6,0.175,0.028,2240,2399,3992
$GC,545,-0.93,-121.7,105.9,-23.7,90,551,0.15,2.10,0.00,0.000,4,0.175,0.044,2275,3759,3995
$GC,696,-1.01,-121.7,129.3,-14.9,116,704,0.00,1.92,0.00,0.000,6,0.000,0.021,2275,2386,3996
$GC,1044,-1.28,-121.7,167.8,-11.0,177,1051,0.25,2.12,0.00,0.000,4,0.058,0.045,2162,3745,3997
$GC,1197,-0.94,-121.7,199.2,-24.2,203,1205,0.40,1.85,0.00,0.000,6,0.173,0.024,2270,2441,3997
$GC,1549,-1.22,-121.7,244.5,-11.0,264,1557,0.20,2.05,0.00,0.000,4,0.063,0.045,2178,3750,3997
$GC,1654,-1.03,-121.7,264.2,-19.5,282,1661,0.25,1.83,0.00,0.000,6,0.168,0.024,2245,2467,3998
$GC,1996,-1.24,-121.7,314.3,-14.5,334,2000,0.17,2.03,0.00,0.000,4,0.067,0.046,2176,3758,3998
$GC,2212,-1.13,-121.7,354.1,-18.3,353,2216,0.15,1.80,0.00,0.000,6,0.165,0.024,2213,2504,3997
$GC,2544,-1.27,-121.7,396.1,-13.1,384,2549,0.12,1.95,0.00,0.000,4,0.077,0.048,2162,3743,3997
$GC,2732,-1.11,-121.7,432.2,-19.7,400,2740,0.22,1.77,0.00,0.000,6,0.168,0.025,2221,2511,3997
$GC,3059,-1.32,-121.7,473.9,-12.5,431,3063,0.20,1.95,0.00,0.000,4,0.065,0.048,2138,3747,3996
$GC,3175,-1.10,-121.7,495.4,-20.1,441,3179,0.32,1.75,0.00,0.000,6,0.174,0.024,2223,2535,3995
$GC,3512,-1.35,-121.7,536.2,-11.2,458,3516,0.20,1.92,0.00,0.000,4,0.067,0.048,2139,3751,3993
$GC,3699,-1.19,-121.7,569.9,-18.3,466,3704,0.22,1.73,0.00,0.000,6,0.173,0.025,2196,2562,3992
$GC,4030,-1.35,-121.7,613.6,-13.6,482,4035,0.15,1.88,0.00,0.000,4,0.075,0.049,2139,3742,3990
$GC,4149,-1.18,-121.7,635.9,-19.9,487,4154,0.22,1.67,0.00,0.000,6,0.178,0.025,2196,2584,3988
$GC,4480,-1.35,-121.7,681.0,-13.5,503,4485,0.15,1.85,0.00,0.000,4,0.077,0.050,2137,3748,3986
$GC,4712,-1.23,-121.7,723.5,-17.9,513,4717,0.17,1.67,0.00,0.000,6,0.176,0.026,2180,2599,3985
$GC,5044,-1.36,-121.7,767.7,-13.2,529,5048,0.12,1.83,0.00,0.000,4,0.086,0.049,2126,3750,3982
$GC,5147,-1.22,-121.7,785.2,-17.7,533,5151,0.17,1.67,0.00,0.000,6,0.178,0.026,2177,2626,3981
$GC,5469,-1.34,-121.7,828.6,-13.7,549,5472,0.00,1.77,0.00,0.000,4,0.000,0.052,2175,3740,3980
$GC,5539,-1.42,-121.7,838.6,-14.5,552,5543,0.15,1.62,0.00,0.000,6,0.081,0.027,2119,2629,3979
$GC,5876,-1.33,-121.7,896.0,-18.0,568,5880,0.12,1.77,0.00,0.000,4,0.180,0.051,2142,3742,3977
$GC,5984,-1.26,-121.7,915.8,-17.8,572,5992,0.12,1.62,0.00,0.000,6,0.185,0.027,2170,2632,3976
$GC,6303,-1.38,-121.7,962.3,-14.5,588,6307,0.00,1.80,0.00,0.000,4,0.000,0.053,2166,3738,3974
$GC,6372,-1.43,-121.7,973.3,-15.8,591,6376,0.15,1.62,0.00,0.000,6,0.084,0.028,2111,2633,3974
$STATE,6474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6474,begin apogee
$GC,6484,-0.27,0.0,991.9,18.0,596,6583,1.35,0.00,95.07,1.399,6,0.175,0.000,2484,2402,3532
$STATE,6584,end apogee,CONTROL_FINISHED_OK
$STATE,6584,begin climb
$GC,6587,1.50,121.7,997.8,0.0,601,6703,1.60,2.30,105.97,1.362,4,0.052,0.045,3063,3745,3034
$GC,6957,0.50,121.7,968.0,16.9,617,6964,1.33,2.08,0.00,0.000,6,0.229,0.025,2748,2343,3030
$GC,7275,0.59,194.8,941.5,7.9,633,7351,0.00,2.40,63.35,1.300,4,0.000,0.051,2748,3743,2737
$GC,7429,0.59,194.8,924.4,14.3,640,7433,0.00,2.08,0.00,0.000,6,0.000,0.026,2759,2362,2732
$GC,7765,0.68,199.6,881.4,12.9,656,7774,0.12,2.25,4.60,0.911,4,0.091,0.051,2805,3754,2718
$GC,7971,0.46,199.6,846.1,17.8,665,7976,0.32,2.03,0.00,0.000,6,0.193,0.027,2730,2381,2717
$GC,8295,0.67,223.7,807.9,11.5,681,8324,0.20,2.30,21.92,1.248,4,0.078,0.052,2809,3752,2620
$GC,8360,0.50,223.7,797.5,18.1,684,8365,0.28,2.05,0.00,0.000,6,0.190,0.026,2746,2389,2617
$GC,8688,0.67,236.1,755.1,12.3,700,8704,0.15,2.17,10.93,1.147,4,0.085,0.049,2803,3741,2572
$GC,8841,0.56,236.1,729.1,17.2,706,8845,0.20,2.00,0.00,0.000,6,0.189,0.027,2762,2395,2570
$GC,9175,0.70,247.8,686.5,12.4,722,9192,0.12,2.25,11.35,1.124,4,0.086,0.051,2811,3750,2520
$GC,9204,0.70,247.8,682.1,15.9,722,9207,0.00,1.98,0.00,0.000,6,0.000,0.025,2816,2419,2520
$GC,9526,0.70,247.8,633.8,14.5,738,9529,0.00,2.12,0.00,0.000,4,0.000,0.050,2816,3747,2518
$GC,9578,0.57,247.8,625.4,16.8,740,9582,0.20,1.95,0.00,0.000,6,0.192,0.025,2766,2419,2517
$GC,9907,0.72,250.8,582.9,13.0,756,9911,0.12,2.12,0.00,0.000,4,0.084,0.050,2814,3741,2517
$GC,10003,0.62,250.8,566.9,16.7,760,10008,0.15,1.92,0.00,0.000,6,0.197,0.025,2780,2433,2516
$GC,10326,0.74,256.9,524.0,12.8,776,10337,0.12,0.00,8.52,0.997,6,0.088,0.000,2829,2429,2483
$GC,10640,0.74,256.9,474.2,16.6,798,10644,0.00,2.10,0.00,0.000,4,0.000,0.051,2829,3743,2482
$GC,10888,0.60,256.9,429.8,17.2,820,10893,0.25,1.90,0.00,0.000,6,0.186,0.028,2773,2444,2481
$GC,11220,0.78,258.0,386.6,13.1,851,11225,0.17,2.20,0.00,0.000,4,0.074,0.031,2841,979,2481
$GC,11262,0.84,258.0,380.1,16.6,854,11266,0.00,2.28,0.00,0.000,6,0.000,0.035,2841,2450,2481
$GC,11592,0.84,258.0,327.9,15.8,884,11595,0.00,2.05,0.00,0.000,4,0.000,0.052,2841,3748,2480
$GC,11620,0.73,258.0,322.4,17.0,886,11627,0.15,1.92,0.00,0.000,6,0.193,0.025,2814,2423,2480
$GC,11955,0.80,258.0,276.1,14.5,932,11962,0.00,2.15,0.00,0.000,4,0.000,0.031,2816,980,2480
$GC,12033,0.95,260.1,265.6,13.0,945,12045,0.20,2.22,4.00,0.633,6,0.071,0.035,2892,2432,2470
$GC,12388,0.81,260.1,205.5,16.6,1007,12395,0.17,2.08,0.00,0.000,4,0.185,0.048,2843,3748,2470
$GC,12562,0.73,260.1,172.8,17.8,1037,12569,0.15,1.92,0.00,0.000,6,0.188,0.025,2816,2411,2470
$GC,12912,1.00,367.6,127.9,5.4,1098,13006,0.20,2.22,86.32,0.772,4,0.073,0.056,2899,3740,2030
$GC,13262,0.91,367.6,65.4,16.2,1159,13268,0.15,1.85,0.00,0.000,6,0.179,0.025,2871,2468,2022
$GC,13609,1.27,440.8,27.8,7.9,1220,13674,0.28,2.08,57.03,0.664,4,0.062,0.049,2987,3744,1733
$STATE,13774,end climb,SURFACE_DEPTH_REACHED
$STATE,13774,begin surface coast
$FINISH,1.9,1.008943
$STATE,13786,end surface coast,CONTROL_FINISHED_OK
$STATE,13786,begin surface
$SM_CCo,13810,24.85,0.629,0,0,1595,475.15
$SM_GC,4.09,0.00,0.00,24.85,0.000,0.000,0.629,138,2372,1595,-7.63,-0.31,475.15
$IRIDIUM_FIX,2453.69,12242.68,231198,000043
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.0,102.880
$10V_AH,10.5,53.820
$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,29.000,115.200,469.075,24.850,0.000,27.483,33.246,182.823,8.250,0.000,0.000,14.750,2280.601,8237.613,574.683,2418.862,733.377,0.000,1801.275,0.000,2361.131,0.000,54.414,0.000
$DEVICE_MAMPS,230.867,55.991,1399.008,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.251,867.580,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66418,1251
$CAP_FILE_SIZE,149925,0
$CFSIZE,260165632,179257344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099, 63.5,1
$GPS,290809,082253,2500.577,12241.714,25,1.8,42,-3.6