version: 66.04
glider: 167
mission: 2
dive: 604
start: 8 30 109 8 47 13
data:
$ID,167
$MISSION,2
$DIVE,604
$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,-21194.646
$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,87
$R_STBD_OVSHOOT,45
$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
$GPS1,083637,2458.604,12247.446,34,1.1,35,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.8
$GPS2,084650,2458.948,12247.780,16,1.0,16,-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,231.5,25680,-25.0,-13.200
$D_GRID,1389
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-29.35,0.000,2,0.000,0.000,139,2366,2346
$GC,52,-1.50,-121.7,3.2,-2.4,5,116,8.12,2.03,-48.70,0.000,4,0.232,0.037,2090,978,3989
$GC,260,-1.00,-121.7,68.3,-28.2,41,267,0.62,2.12,0.00,0.000,6,0.176,0.038,2251,2385,3991
$GC,606,-1.04,-121.7,135.5,-16.6,102,612,0.00,2.10,0.00,0.000,4,0.000,0.044,2243,3760,3995
$GC,672,-1.04,-121.7,147.9,-17.5,113,678,0.00,1.98,0.00,0.000,6,0.000,0.021,2243,2336,3995
$GC,1018,-1.15,-121.7,198.7,-15.1,174,1025,0.00,2.20,0.00,0.000,4,0.000,0.042,2232,3761,3996
$GC,1202,-1.20,-121.7,230.4,-16.0,206,1208,0.12,1.88,0.00,0.000,6,0.075,0.022,2177,2426,3996
$GC,1551,-1.08,-121.7,298.3,-18.2,267,1557,0.17,2.05,0.00,0.000,4,0.163,0.043,2220,3749,3996
$GC,1604,-1.08,-121.7,307.7,-17.3,272,1612,0.00,1.90,0.00,0.000,6,0.000,0.021,2220,2379,3996
$GC,1931,-1.19,-121.7,351.4,-13.2,303,1935,0.00,2.15,0.00,0.000,4,0.000,0.045,2218,3759,3996
$GC,2080,-1.30,-121.7,373.2,-14.5,316,2085,0.15,1.85,0.00,0.000,6,0.071,0.022,2155,2445,3996
$GC,2414,-1.15,-121.7,434.1,-19.1,347,2418,0.20,2.05,0.00,0.000,4,0.166,0.045,2205,3752,3995
$GC,2558,-1.23,-121.7,457.4,-14.2,359,2564,0.00,1.85,0.00,0.000,6,0.000,0.023,2205,2443,3994
$GC,2889,-1.37,-121.7,500.5,-12.7,390,2894,0.20,2.05,0.00,0.000,4,0.068,0.046,2113,3747,3993
$GC,2959,-1.07,-121.7,514.6,-21.6,393,2964,0.45,1.83,0.00,0.000,6,0.173,0.023,2235,2470,3992
$GC,3293,-1.33,-121.7,552.4,-10.5,409,3297,0.20,2.00,0.00,0.000,4,0.068,0.047,2149,3754,3990
$GC,3480,-1.19,-121.7,585.0,-17.6,417,3484,0.17,1.80,0.00,0.000,6,0.173,0.024,2193,2499,3988
$GC,3812,-1.32,-121.7,630.0,-13.6,433,3816,0.12,1.95,0.00,0.000,4,0.080,0.048,2138,3749,3986
$GC,3951,-1.20,-121.7,654.6,-18.3,439,3955,0.20,1.77,0.00,0.000,6,0.173,0.024,2189,2516,3984
$GC,4291,-1.33,-121.7,700.1,-12.9,455,4295,0.12,1.95,0.00,0.000,4,0.078,0.048,2139,3750,3981
$GC,4437,-1.18,-121.7,725.5,-18.3,461,4441,0.22,1.75,0.00,0.000,6,0.175,0.024,2196,2535,3980
$GC,4770,-1.37,-121.7,768.2,-12.1,477,4774,0.17,1.92,0.00,0.000,4,0.074,0.049,2124,3747,3977
$GC,4888,-1.21,-121.7,790.6,-19.2,482,4893,0.25,1.73,0.00,0.000,6,0.174,0.025,2188,2554,3976
$GC,5221,-1.37,-121.7,832.3,-12.0,498,5225,0.15,1.90,0.00,0.000,4,0.074,0.048,2126,3753,3973
$GC,5277,-1.25,-121.7,841.7,-16.5,500,5282,0.15,1.75,0.00,0.000,6,0.172,0.025,2169,2572,3974
$GC,5603,-1.35,-121.7,882.7,-12.3,516,5607,0.00,1.88,0.00,0.000,4,0.000,0.051,2166,3759,3972
$GC,5753,-1.40,-121.7,902.5,-12.9,522,5757,0.12,1.70,0.00,0.000,6,0.086,0.025,2120,2585,3970
$GC,6077,-1.31,-121.7,953.1,-16.2,538,6081,0.15,1.85,0.00,0.000,4,0.176,0.048,2149,3756,3968
$GC,6155,-1.31,-121.7,965.9,-14.7,541,6159,0.00,1.70,0.00,0.000,6,0.000,0.025,2149,2587,3968
$STATE,6329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6329,begin apogee
$GC,6338,-0.27,0.0,992.8,15.4,550,6442,1.20,0.00,95.35,1.376,6,0.170,0.000,2487,2432,3532
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6447,1.50,121.7,998.2,0.0,555,6560,1.60,2.20,105.35,1.361,4,0.055,0.026,3076,1021,3035
$GC,6821,0.69,121.7,973.2,15.2,571,6828,1.08,2.08,0.00,0.000,6,0.222,0.036,2810,2365,3031
$GC,7138,0.55,171.3,942.6,9.6,587,7186,0.20,2.12,41.88,1.326,4,0.196,0.030,2759,1015,2832
$GC,7234,0.68,203.4,933.0,10.9,591,7273,0.12,2.10,28.20,1.284,6,0.091,0.035,2803,2362,2700
$GC,7584,0.68,203.4,882.6,14.8,608,7587,0.00,2.22,0.00,0.000,4,0.000,0.053,2803,3765,2695
$GC,7828,0.51,203.4,841.0,17.1,618,7834,0.25,1.98,0.00,0.000,6,0.187,0.027,2748,2422,2694
$GC,8145,0.65,207.8,800.2,12.9,634,8154,0.12,2.17,3.88,0.804,4,0.087,0.052,2795,3750,2684
$GC,8224,0.50,207.8,787.4,17.7,637,8228,0.22,1.92,0.00,0.000,6,0.188,0.028,2745,2441,2683
$GC,8547,0.67,222.8,746.5,12.1,653,8569,0.15,2.17,14.35,1.185,4,0.084,0.032,2802,1016,2622
$GC,8605,0.74,222.8,738.4,14.5,655,8609,0.00,2.15,0.00,0.000,6,0.000,0.034,2802,2410,2621
$GC,8927,0.74,222.8,688.6,15.7,671,8931,0.00,2.12,0.00,0.000,4,0.000,0.051,2802,3758,2620
$GC,8997,0.62,222.8,676.5,17.9,674,9000,0.00,1.92,0.00,0.000,6,0.000,0.025,2810,2443,2619
$GC,9331,0.62,222.8,622.3,16.0,690,9336,0.12,2.10,0.00,0.000,4,0.193,0.050,2780,3752,2618
$GC,9516,0.62,222.8,591.7,15.6,698,9520,0.00,1.92,0.00,0.000,6,0.000,0.028,2787,2434,2618
$GC,9839,0.68,222.8,547.6,13.2,714,9843,0.00,2.10,0.00,0.000,4,0.000,0.048,2787,3757,2617
$GC,9931,0.63,222.8,533.1,15.5,718,9935,0.00,1.88,0.00,0.000,6,0.000,0.026,2791,2478,2617
$GC,10259,0.72,247.9,492.4,11.4,736,10286,0.00,2.10,20.58,1.064,4,0.000,0.049,2790,3750,2520
$GC,10443,0.72,247.9,464.5,16.1,752,10450,0.00,1.85,0.00,0.000,6,0.000,0.025,2799,2476,2517
$GC,10775,0.80,247.9,417.7,14.6,783,10779,0.12,2.17,0.00,0.000,4,0.082,0.027,2855,1012,2517
$GC,10815,0.80,247.9,410.7,16.0,786,10819,0.00,2.20,0.00,0.000,6,0.000,0.032,2855,2446,2517
$GC,11152,0.73,247.9,353.2,17.0,817,11156,0.15,2.08,0.00,0.000,4,0.181,0.050,2819,3760,2516
$GC,11232,0.66,247.9,339.3,16.0,824,11236,0.05,1.88,0.00,0.000,6,0.169,0.025,2798,2487,2516
$GC,11561,0.79,261.8,295.9,12.2,857,11580,0.12,2.25,12.18,0.885,4,0.082,0.028,2855,1023,2463
$GC,11764,0.86,280.0,268.1,11.9,892,11788,0.00,2.20,16.15,0.873,6,0.000,0.035,2855,2455,2391
$GC,12128,0.86,280.0,215.4,13.3,956,12135,0.00,2.05,0.00,0.000,4,0.000,0.050,2855,3761,2389
$GC,12390,0.78,280.0,168.6,17.9,1002,12396,0.12,1.83,0.00,0.000,6,0.189,0.026,2835,2495,2388
$GC,12738,0.92,299.4,128.7,11.8,1063,12762,0.12,2.03,17.20,0.752,4,0.082,0.050,2883,3756,2310
$GC,12869,0.76,299.4,110.6,15.3,1085,12876,0.25,1.75,0.00,0.000,6,0.175,0.024,2826,2530,2309
$GC,13216,1.06,343.9,75.2,10.0,1146,13259,0.22,2.03,36.10,0.704,4,0.064,0.048,2922,3757,2128
$GC,13515,1.09,368.3,34.0,11.4,1198,13541,0.00,1.77,19.95,0.645,6,0.000,0.023,2925,2526,2029
$STATE,13827,end climb,SURFACE_DEPTH_REACHED
$STATE,13827,begin surface coast
$FINISH,1.8,1.000903
$STATE,13856,end surface coast,CONTROL_FINISHED_OK
$STATE,13860,begin surface
$SM_CCo,13881,80.07,0.623,0,0,1594,475.15
$SM_GC,2.80,0.00,0.00,80.07,0.000,0.000,0.623,139,2409,1594,-7.63,0.74,475.15
$IRIDIUM_FIX,2448.93,12246.68,241198,080811
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.60
$XPDR_PINGS,7
$24V_AH,23.0,104.071
$10V_AH,10.5,54.416
$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,25.900,115.275,411.150,80.075,0.000,57.199,60.925,252.689,9.750,0.000,0.000,16.863,2293.635,8385.022,585.822,2440.065,862.231,0.000,1810.856,0.000,2370.202,0.000,54.422,0.000
$DEVICE_MAMPS,232.401,63.661,1375.998,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.207,877.218,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66307,1258
$CAP_FILE_SIZE,150206,0
$CFSIZE,260165632,178712576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218, 61.9,1
$GPS,300809,124106,2458.800,12248.047,29,1.3,30,-3.6