version: 66.04
glider: 167
mission: 2
dive: 599
start: 8 29 109 12 38 10
data:
$ID,167
$MISSION,2
$DIVE,599
$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,-21098.689
$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,80
$R_STBD_OVSHOOT,38
$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
$GPS1,123036,2459.785,12242.562,39,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.5
$GPS2,123750,2500.065,12242.859,12,1.7,12,-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,200.1,28577,-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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.88,0.000,2,0.000,0.000,139,2390,2173
$GC,45,-1.50,-121.7,3.3,-3.1,4,112,8.05,2.12,-52.40,0.000,4,0.229,0.035,2092,979,3990
$GC,186,-0.90,-121.7,36.9,-36.6,27,193,0.75,2.15,0.00,0.000,6,0.181,0.031,2286,2399,3992
$GC,534,-0.98,-121.7,105.7,-15.3,88,540,0.00,2.08,0.00,0.000,4,0.000,0.044,2278,3751,3994
$GC,724,-1.11,-121.7,135.4,-15.2,121,731,0.15,1.95,0.00,0.000,6,0.071,0.023,2212,2372,3996
$GC,1073,-1.11,-121.7,200.7,-18.3,182,1080,0.00,2.15,0.00,0.000,4,0.000,0.044,2205,3756,3997
$GC,1201,-1.04,-121.7,223.3,-16.4,204,1208,0.15,1.88,0.00,0.000,6,0.158,0.021,2244,2422,3997
$GC,1549,-1.22,-121.7,270.6,-13.8,265,1556,0.17,2.08,0.00,0.000,4,0.068,0.044,2158,3750,3997
$GC,1704,-0.99,-121.7,303.7,-21.7,291,1711,0.38,1.83,0.00,0.000,6,0.163,0.023,2262,2458,3997
$GC,2030,-1.29,-121.7,337.1,-9.1,322,2035,0.25,2.03,0.00,0.000,4,0.064,0.045,2153,3752,3997
$GC,2289,-1.14,-121.7,384.1,-17.3,344,2296,0.22,1.77,0.00,0.000,6,0.165,0.023,2212,2505,3997
$GC,2617,-1.28,-121.7,430.5,-13.8,375,2621,0.15,1.95,0.00,0.000,4,0.073,0.047,2148,3747,3997
$GC,2744,-1.11,-121.7,453.8,-19.2,386,2748,0.28,1.75,0.00,0.000,6,0.172,0.023,2222,2524,3996
$GC,3076,-1.31,-121.7,496.3,-11.7,417,3081,0.20,1.92,0.00,0.000,4,0.067,0.048,2137,3746,3993
$GC,3233,-1.14,-121.7,524.4,-17.2,424,3241,0.28,1.70,0.00,0.000,6,0.169,0.025,2209,2563,3993
$GC,3554,-1.34,-121.7,565.2,-12.2,440,3558,0.17,1.88,0.00,0.000,4,0.074,0.048,2137,3751,3991
$GC,3673,-1.16,-121.7,588.1,-21.0,445,3677,0.25,1.67,0.00,0.000,6,0.174,0.025,2201,2588,3990
$GC,4004,-1.33,-121.7,634.5,-13.3,461,4008,0.15,1.83,0.00,0.000,4,0.074,0.048,2139,3743,3987
$GC,4061,-1.22,-121.7,644.6,-17.6,463,4065,0.15,1.67,0.00,0.000,6,0.171,0.024,2181,2604,3986
$GC,4388,-1.32,-121.7,687.9,-12.6,479,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2604,3985
$GC,4693,-1.43,-121.7,726.2,-12.9,494,4697,0.17,1.83,0.00,0.000,4,0.081,0.049,2110,3753,3982
$GC,4856,-1.19,-121.7,755.9,-19.5,501,4861,0.32,1.67,0.00,0.000,6,0.179,0.026,2194,2605,3980
$GC,5196,-1.37,-121.7,800.1,-12.8,517,5200,0.17,1.83,0.00,0.000,4,0.077,0.051,2124,3749,3978
$GC,5299,-1.20,-121.7,819.3,-20.0,521,5303,0.25,1.65,0.00,0.000,6,0.180,0.026,2187,2617,3978
$GC,5624,-1.36,-121.7,863.7,-13.0,537,5628,0.15,1.80,0.00,0.000,4,0.078,0.050,2126,3747,3975
$GC,5727,-1.22,-121.7,880.7,-17.8,541,5731,0.17,1.65,0.00,0.000,6,0.177,0.026,2176,2640,3974
$GC,6049,-1.35,-121.7,923.1,-12.7,557,6053,0.00,1.77,0.00,0.000,4,0.000,0.051,2170,3737,3972
$GC,6124,-1.40,-121.7,933.7,-14.1,560,6128,0.12,1.60,0.00,0.000,6,0.087,0.027,2125,2640,3972
$GC,6454,-1.33,-121.7,986.6,-16.4,576,6458,0.00,1.80,0.00,0.000,4,0.000,0.054,2124,3744,3970
$STATE,6467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6467,begin apogee
$GC,6477,-0.27,0.0,990.2,16.5,576,6584,1.27,0.00,96.28,1.381,6,0.173,0.000,2485,2357,3532
$STATE,6585,end apogee,CONTROL_FINISHED_OK
$STATE,6585,begin climb
$GC,6590,1.50,121.7,995.4,0.0,582,6704,1.60,2.20,105.57,1.365,4,0.056,0.028,3071,990,3035
$GC,6959,0.69,121.7,964.1,16.5,598,6965,1.08,2.12,0.00,0.000,6,0.225,0.034,2808,2371,3030
$GC,7282,0.52,153.1,928.5,10.9,614,7314,0.20,2.12,26.55,1.306,4,0.198,0.029,2759,1004,2907
$GC,7568,0.61,178.3,896.4,11.4,626,7597,0.00,2.10,22.12,1.280,6,0.000,0.033,2759,2369,2805
$GC,7912,0.67,183.2,853.7,12.8,643,7920,0.10,0.00,5.22,0.976,6,0.096,0.000,2796,2369,2784
$GC,8216,0.62,183.2,810.9,13.7,658,8220,0.00,2.20,0.00,0.000,4,0.000,0.051,2796,3763,2783
$GC,8279,0.41,183.2,801.3,15.4,660,8285,0.35,2.03,0.00,0.000,6,0.197,0.027,2713,2381,2782
$GC,8597,0.66,220.5,767.6,10.5,676,8639,0.20,2.33,32.40,1.253,4,0.079,0.051,2794,3761,2632
$GC,8882,0.54,220.5,719.8,16.5,688,8889,0.20,2.05,0.00,0.000,6,0.188,0.028,2751,2381,2627
$GC,9199,0.72,244.2,681.0,11.5,704,9225,0.17,2.25,19.77,1.180,4,0.079,0.052,2818,3755,2536
$GC,9290,0.57,244.2,666.4,18.4,708,9295,0.25,2.05,0.00,0.000,6,0.186,0.026,2764,2379,2534
$GC,9618,0.72,249.7,623.0,12.8,724,9627,0.15,0.00,5.90,0.950,6,0.079,0.000,2821,2376,2513
$GC,9927,0.72,249.7,576.2,15.2,739,9931,0.00,2.22,0.00,0.000,4,0.000,0.053,2821,3761,2511
$GC,10088,0.59,249.7,548.5,17.8,746,10092,0.22,2.03,0.00,0.000,6,0.188,0.027,2772,2397,2511
$GC,10415,0.74,249.7,501.8,13.6,762,10420,0.15,2.17,0.00,0.000,4,0.081,0.049,2829,3751,2510
$GC,10480,0.59,249.7,490.8,19.0,767,10485,0.25,2.00,0.00,0.000,6,0.188,0.025,2773,2380,2510
$GC,10806,0.76,260.0,448.9,12.5,797,10821,0.15,2.25,9.43,0.974,4,0.081,0.052,2829,3748,2472
$GC,10998,0.62,260.0,415.8,18.1,814,11002,0.22,1.92,0.00,0.000,6,0.188,0.026,2782,2434,2471
$GC,11329,0.76,267.0,372.2,12.7,845,11342,0.12,2.17,7.62,0.887,4,0.084,0.048,2829,3755,2442
$GC,11436,0.68,267.0,354.8,18.4,854,11440,0.15,1.92,0.00,0.000,6,0.193,0.025,2803,2422,2442
$GC,11768,0.79,267.0,308.8,13.2,885,11772,0.00,2.12,0.00,0.000,4,0.000,0.030,2812,982,2441
$GC,11913,0.94,268.2,290.7,13.1,904,11920,0.20,2.25,0.00,0.000,6,0.069,0.034,2887,2442,2441
$GC,12262,0.82,268.2,234.9,15.6,965,12269,0.17,2.08,0.00,0.000,4,0.183,0.048,2838,3763,2441
$GC,12526,0.70,268.2,190.3,16.8,1011,12532,0.15,1.90,0.00,0.000,6,0.191,0.025,2810,2448,2441
$GC,12874,0.86,275.4,150.2,12.7,1072,12887,0.15,2.15,8.38,0.733,4,0.082,0.048,2870,3758,2409
$GC,13143,0.73,275.4,110.7,13.9,1119,13150,0.22,1.88,0.00,0.000,6,0.183,0.025,2820,2459,2409
$GC,13490,1.09,379.8,86.6,5.6,1180,13579,0.28,2.17,82.62,0.723,4,0.064,0.046,2934,3760,1981
$GC,13835,1.05,390.3,36.1,12.4,1240,13848,0.00,1.88,8.62,0.594,6,0.000,0.024,2943,2455,1940
$STATE,14117,end climb,SURFACE_DEPTH_REACHED
$STATE,14117,begin surface coast
$FINISH,1.8,0.997375
$STATE,14142,end surface coast,CONTROL_FINISHED_OK
$STATE,14142,begin surface
$SM_CCo,14162,63.92,0.630,0,0,1594,475.15
$SM_GC,3.18,0.00,0.00,63.92,0.000,0.000,0.630,137,2451,1594,-7.64,1.92,475.15
$IRIDIUM_FIX,2453.69,12241.40,231198,080834
$TT8_MAMPS,0.028379
$HUMID,1757
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.0,103.216
$10V_AH,10.5,53.993
$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,28.850,106.600,430.500,63.925,0.000,27.365,38.455,194.995,8.750,0.000,0.000,14.903,2354.615,8501.723,578.002,2476.404,739.515,0.000,1814.507,0.000,2414.296,0.000,57.151,0.000
$DEVICE_MAMPS,229.333,53.690,1381.367,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,877.809,904.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69562,1294
$CAP_FILE_SIZE,151146,0
$CFSIZE,260165632,179101696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.192, 74.9,1
$GPS,290809,163637,2459.229,12243.839,38,1.0,39,-3.6