version: 66.04
glider: 167
mission: 2
dive: 598
start: 8 29 109 8 30 25
data:
$ID,167
$MISSION,2
$DIVE,598
$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,-21083.158
$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,84
$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
$GPS1,082253,2500.577,12241.714,25,1.8,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.2
$GPS2,083002,2500.854,12241.932,15,1.5,15,-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,189.3,30395,-25.0,-13.200
$D_GRID,1417
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-18.00,0.000,2,0.000,0.000,138,2372,2038
$GC,40,-1.50,-121.7,3.1,-1.9,3,116,8.12,2.10,-61.45,0.000,4,0.233,0.036,2090,972,3990
$GC,184,-0.82,-121.7,35.5,-43.4,26,191,0.85,2.15,0.00,0.000,6,0.185,0.034,2308,2382,3992
$GC,532,-0.95,-121.7,96.4,-15.1,87,539,0.12,2.12,0.00,0.000,4,0.074,0.044,2246,3758,3995
$GC,717,-0.87,-121.7,132.6,-19.1,119,724,0.20,1.98,0.00,0.000,6,0.156,0.022,2301,2370,3997
$GC,1065,-1.24,-121.7,171.7,-10.4,180,1073,0.30,2.17,0.00,0.000,4,0.057,0.044,2166,3761,3998
$GC,1172,-0.94,-121.7,193.0,-21.9,198,1179,0.40,1.92,0.00,0.000,6,0.170,0.022,2276,2397,3998
$GC,1524,-1.24,-121.7,236.0,-12.1,259,1531,0.25,2.12,0.00,0.000,4,0.060,0.045,2165,3756,3998
$GC,1720,-0.97,-121.7,277.8,-22.1,293,1728,0.38,1.88,0.00,0.000,6,0.170,0.024,2268,2442,3998
$GC,2064,-1.27,-121.7,318.3,-11.1,340,2069,0.25,2.08,0.00,0.000,4,0.061,0.047,2162,3764,3998
$GC,2229,-1.07,-121.7,351.4,-20.2,354,2233,0.25,1.85,0.00,0.000,6,0.170,0.025,2228,2470,3998
$GC,2562,-1.28,-121.7,393.5,-11.5,385,2566,0.17,2.03,0.00,0.000,4,0.069,0.045,2152,3761,3998
$GC,2694,-1.09,-121.7,417.6,-20.3,396,2700,0.28,1.83,0.00,0.000,6,0.170,0.024,2225,2486,3998
$GC,3020,-1.30,-121.7,461.2,-11.6,427,3024,0.17,2.00,0.00,0.000,4,0.070,0.048,2149,3754,3997
$GC,3146,-1.15,-121.7,482.7,-18.8,438,3150,0.22,1.77,0.00,0.000,6,0.174,0.025,2207,2523,3997
$GC,3486,-1.31,-121.7,528.8,-13.6,460,3490,0.15,1.95,0.00,0.000,4,0.076,0.049,2150,3757,3994
$GC,3684,-1.13,-121.7,569.2,-21.2,468,3690,0.25,1.75,0.00,0.000,6,0.178,0.025,2214,2549,3994
$GC,4004,-1.35,-121.7,606.6,-10.9,484,4008,0.20,1.90,0.00,0.000,4,0.070,0.048,2127,3751,3992
$GC,4202,-1.13,-121.7,644.2,-19.5,492,4208,0.32,1.70,0.00,0.000,6,0.179,0.026,2211,2582,3990
$GC,4521,-1.35,-121.7,681.9,-11.3,508,4526,0.20,1.85,0.00,0.000,4,0.070,0.048,2126,3754,3988
$GC,4551,-1.35,-121.7,686.5,-15.0,509,4555,0.00,1.70,0.00,0.000,6,0.000,0.025,2126,2577,3987
$GC,4879,-1.25,-121.7,740.2,-16.5,525,4884,0.17,1.88,0.00,0.000,4,0.177,0.049,2169,3754,3986
$GC,4986,-1.25,-121.7,755.7,-13.4,529,4993,0.00,1.70,0.00,0.000,6,0.000,0.026,2169,2586,3985
$GC,5305,-1.32,-121.7,796.7,-13.2,545,5308,0.00,1.85,0.00,0.000,4,0.000,0.051,2166,3751,3982
$GC,5423,-1.32,-121.7,814.0,-14.0,550,5427,0.00,1.67,0.00,0.000,6,0.000,0.027,2166,2604,3981
$GC,5753,-1.40,-121.7,858.9,-13.7,566,5757,0.12,1.83,0.00,0.000,4,0.089,0.050,2111,3753,3980
$GC,5901,-1.18,-121.7,887.3,-20.2,572,5905,0.32,1.65,0.00,0.000,6,0.189,0.027,2193,2626,3978
$GC,6231,-1.37,-121.7,927.3,-11.8,588,6235,0.17,1.80,0.00,0.000,4,0.076,0.052,2124,3749,3977
$GC,6338,-1.24,-121.7,945.8,-16.5,592,6344,0.22,1.62,0.00,0.000,6,0.186,0.028,2180,2641,3976
$GC,6659,-1.39,-121.7,984.2,-11.6,608,6663,0.15,1.80,0.00,0.000,4,0.083,0.054,2124,3760,3974
$STATE,6695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6695,begin apogee
$GC,6705,-0.27,0.0,990.6,15.6,609,6804,1.27,0.00,95.25,1.398,6,0.174,0.000,2484,2371,3532
$STATE,6805,end apogee,CONTROL_FINISHED_OK
$STATE,6805,begin climb
$GC,6810,1.50,121.7,994.7,0.0,614,6925,1.60,2.38,105.90,1.361,4,0.053,0.047,3063,3754,3034
$GC,7183,0.50,121.7,960.6,18.0,630,7190,1.35,2.05,0.00,0.000,6,0.230,0.023,2744,2361,3030
$GC,7499,0.58,182.7,930.1,8.8,646,7556,0.00,2.33,51.15,1.327,4,0.000,0.051,2744,3756,2786
$GC,7629,0.58,182.7,914.6,14.1,651,7633,0.00,2.10,0.00,0.000,6,0.000,0.024,2754,2351,2783
$GC,7959,0.67,198.3,874.6,12.1,667,7981,0.12,2.33,13.60,1.222,4,0.090,0.050,2800,3754,2722
$GC,8055,0.49,198.3,859.3,17.7,671,8060,0.28,2.05,0.00,0.000,6,0.186,0.024,2740,2362,2721
$GC,8378,0.67,212.0,819.8,12.2,687,8400,0.15,2.28,13.15,1.203,4,0.086,0.050,2795,3744,2666
$GC,8537,0.54,212.0,792.0,18.1,694,8542,0.20,2.00,0.00,0.000,6,0.189,0.025,2751,2394,2665
$GC,8873,0.67,214.2,745.4,13.0,710,8878,0.12,2.20,0.00,0.000,4,0.091,0.051,2798,3762,2664
$GC,9094,0.53,214.2,709.6,16.6,720,9098,0.20,2.00,0.00,0.000,6,0.189,0.027,2757,2403,2662
$GC,9427,0.69,239.2,669.5,11.4,736,9453,0.15,0.00,23.48,1.182,6,0.082,0.000,2813,2399,2556
$GC,9757,0.69,239.2,622.4,14.4,752,9761,0.00,2.12,0.00,0.000,4,0.000,0.031,2818,982,2553
$GC,9819,0.75,239.2,613.6,14.1,754,9825,0.00,2.20,0.00,0.000,6,0.000,0.033,2818,2412,2552
$GC,10136,0.75,239.2,566.8,15.5,770,10139,0.00,2.12,0.00,0.000,4,0.000,0.051,2818,3756,2551
$GC,10278,0.62,239.2,542.2,17.2,776,10282,0.17,1.95,0.00,0.000,6,0.194,0.026,2785,2424,2550
$GC,10596,0.72,239.2,496.9,14.1,792,10599,0.00,2.15,0.00,0.000,4,0.000,0.031,2793,982,2550
$GC,10677,0.86,239.2,485.9,13.9,799,10682,0.17,2.22,0.00,0.000,6,0.077,0.033,2860,2429,2549
$GC,11003,0.74,239.2,432.1,16.5,829,11008,0.15,2.10,0.00,0.000,4,0.189,0.051,2824,3753,2549
$GC,11143,0.62,239.2,408.7,16.2,840,11150,0.20,1.92,0.00,0.000,6,0.193,0.026,2779,2435,2549
$GC,11470,0.76,254.6,367.2,12.1,871,11492,0.12,2.20,12.75,0.950,4,0.084,0.050,2827,3764,2492
$GC,11618,0.65,254.6,343.6,17.0,884,11622,0.15,1.88,0.00,0.000,6,0.196,0.025,2794,2483,2491
$GC,11951,0.79,279.0,300.1,11.4,915,11981,0.12,2.30,21.23,0.917,4,0.085,0.029,2851,987,2393
$GC,12129,0.87,279.0,273.4,16.0,945,12136,0.00,2.30,0.00,0.000,6,0.000,0.033,2851,2470,2391
$GC,12477,0.87,279.0,219.8,16.2,1006,12482,0.00,2.03,0.00,0.000,4,0.000,0.052,2851,3754,2389
$GC,12739,0.74,279.0,177.1,15.9,1052,12745,0.15,1.88,0.00,0.000,6,0.190,0.025,2824,2458,2389
$GC,13086,0.90,297.9,135.1,11.8,1113,13111,0.12,2.10,16.50,0.766,4,0.084,0.048,2874,3745,2316
$GC,13367,0.83,297.9,92.3,14.5,1162,13373,0.15,1.88,0.00,0.000,6,0.178,0.025,2846,2445,2314
$GC,13714,1.16,397.8,65.3,6.0,1223,13802,0.25,2.25,78.35,0.702,4,0.067,0.029,2957,977,1909
$GC,13815,1.16,397.8,53.2,17.2,1240,13821,0.00,2.22,0.00,0.000,6,0.000,0.032,2957,2407,1906
$GC,14162,1.30,429.5,12.2,10.9,1301,14194,0.12,2.22,25.20,0.624,4,0.077,0.026,3019,970,1780
$STATE,14243,end climb,SURFACE_DEPTH_REACHED
$STATE,14243,begin surface coast
$FINISH,1.8,1.001388
$STATE,14272,end surface coast,CONTROL_FINISHED_OK
$STATE,14272,begin surface
$SM_CCo,14295,34.10,0.621,0,0,1595,475.15
$SM_GC,2.72,0.00,0.00,34.10,0.000,0.000,0.621,139,2390,1595,-7.63,0.20,475.15
$IRIDIUM_FIX,2453.69,12242.68,231198,040405
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.0,103.048
$10V_AH,10.5,53.907
$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,29.600,120.675,456.550,34.100,0.000,30.101,39.723,187.369,8.250,0.000,0.000,15.201,2380.769,8485.245,598.650,2526.470,761.079,0.000,1868.477,0.000,2467.574,0.000,54.408,0.000
$DEVICE_MAMPS,233.168,53.690,1398.241,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.348,929.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69693,1319
$CAP_FILE_SIZE,154261,0
$CFSIZE,260165632,179171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 76.3,1
$GPS,290809,123036,2459.785,12242.562,39,1.1,40,-3.6