version: 66.04
glider: 167
mission: 2
dive: 605
start: 8 30 109 12 48 24
data:
$ID,167
$MISSION,2
$DIVE,605
$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,-21210.068
$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,85
$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
$GPS1,124106,2458.800,12248.047,29,1.3,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.2
$GPS2,124801,2458.955,12248.293,9,1.9,14,-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,233.4,25750,-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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.98,0.000,2,0.000,0.000,139,2409,2171
$GC,45,-1.50,-121.7,3.0,-1.2,4,118,8.12,2.10,-56.75,0.000,4,0.232,0.036,2093,976,3990
$GC,239,-0.85,-121.7,58.3,-34.2,37,246,0.80,2.12,0.00,0.000,6,0.175,0.031,2304,2389,3992
$GC,588,-0.97,-121.7,115.4,-16.4,98,596,0.12,2.10,0.00,0.000,4,0.080,0.044,2244,3754,3994
$GC,784,-0.88,-121.7,153.4,-20.8,132,791,0.17,1.90,0.00,0.000,6,0.160,0.023,2291,2411,3996
$GC,1132,-1.19,-121.7,194.1,-10.3,193,1139,0.22,2.10,0.00,0.000,4,0.059,0.044,2188,3763,3996
$GC,1192,-1.04,-121.7,204.1,-18.7,203,1199,0.20,1.88,0.00,0.000,6,0.163,0.022,2241,2432,3997
$GC,1541,-1.19,-121.7,256.7,-13.6,264,1547,0.12,2.05,0.00,0.000,4,0.074,0.044,2188,3750,3997
$GC,1702,-1.05,-121.7,285.7,-18.6,292,1708,0.17,1.85,0.00,0.000,6,0.164,0.023,2233,2439,3997
$GC,2035,-1.19,-121.7,331.2,-14.6,332,2039,0.12,2.05,0.00,0.000,4,0.077,0.045,2179,3753,3997
$GC,2117,-1.01,-121.7,347.0,-20.9,339,2121,0.25,1.85,0.00,0.000,6,0.162,0.023,2247,2448,3997
$GC,2448,-1.26,-121.7,391.0,-13.2,370,2452,0.20,2.05,0.00,0.000,4,0.063,0.045,2154,3760,3997
$GC,2588,-1.11,-121.7,414.5,-19.6,382,2593,0.25,1.83,0.00,0.000,6,0.164,0.023,2222,2480,3997
$GC,2922,-1.29,-121.7,459.9,-12.9,413,2926,0.17,2.00,0.00,0.000,4,0.068,0.047,2149,3756,3995
$GC,3053,-1.12,-121.7,484.3,-19.6,424,3060,0.25,1.77,0.00,0.000,6,0.172,0.024,2215,2513,3994
$GC,3388,-1.32,-121.7,529.4,-12.7,445,3392,0.17,1.95,0.00,0.000,4,0.069,0.048,2146,3753,3993
$GC,3456,-1.19,-121.7,542.3,-19.5,448,3460,0.20,1.75,0.00,0.000,6,0.173,0.024,2196,2533,3991
$GC,3794,-1.34,-121.7,590.5,-13.5,464,3798,0.15,1.92,0.00,0.000,4,0.075,0.048,2137,3751,3990
$GC,3933,-1.21,-121.7,615.1,-19.0,470,3937,0.20,1.75,0.00,0.000,6,0.172,0.025,2187,2543,3988
$GC,4270,-1.35,-121.7,663.3,-13.1,486,4275,0.12,1.92,0.00,0.000,4,0.080,0.050,2137,3757,3985
$GC,4440,-1.20,-121.7,694.3,-18.3,493,4444,0.20,1.73,0.00,0.000,6,0.173,0.025,2187,2567,3984
$GC,4766,-1.35,-121.7,736.4,-12.1,509,4768,0.12,0.00,0.00,0.000,6,0.081,0.000,2140,2567,3981
$GC,5070,-1.35,-121.7,783.3,-15.1,524,5074,0.00,1.88,0.00,0.000,4,0.000,0.051,2137,3747,3978
$GC,5172,-1.25,-121.7,799.6,-16.1,528,5180,0.15,1.70,0.00,0.000,6,0.179,0.027,2173,2581,3978
$GC,5502,-1.36,-121.7,841.8,-13.0,544,5505,0.00,1.85,0.00,0.000,4,0.000,0.050,2166,3753,3975
$GC,5603,-1.36,-121.7,856.9,-14.7,548,5607,0.00,1.70,0.00,0.000,6,0.000,0.026,2166,2588,3974
$GC,5927,-1.45,-121.7,898.7,-12.2,564,5932,0.15,1.85,0.00,0.000,4,0.084,0.052,2110,3743,3972
$GC,6094,-1.27,-121.7,927.0,-17.6,571,6098,0.22,1.65,0.00,0.000,6,0.180,0.028,2167,2616,3971
$GC,6424,-1.37,-121.7,969.3,-12.8,587,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2616,3969
$STATE,6583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6583,begin apogee
$GC,6591,-0.27,0.0,990.2,12.5,595,6689,1.10,0.00,93.65,1.401,6,0.156,0.000,2489,2386,3532
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6694,1.50,121.7,993.2,0.0,600,6807,1.58,2.22,105.53,1.361,4,0.053,0.027,3071,965,3034
$GC,7065,0.69,121.7,961.2,15.4,616,7072,1.08,2.15,0.00,0.000,6,0.225,0.033,2807,2365,3030
$GC,7383,0.57,163.1,927.9,10.2,632,7425,0.17,2.20,34.47,1.315,4,0.199,0.031,2763,966,2867
$GC,7521,0.67,188.2,913.5,11.4,638,7551,0.10,2.17,22.05,1.271,6,0.097,0.034,2799,2363,2764
$GC,7876,0.63,188.2,862.3,14.9,655,7880,0.00,2.20,0.00,0.000,4,0.000,0.051,2799,3756,2758
$GC,8081,0.43,188.2,827.6,17.2,664,8086,0.32,2.08,0.00,0.000,6,0.189,0.025,2725,2339,2758
$GC,8409,0.65,210.4,788.3,11.6,680,8435,0.17,2.35,19.10,1.232,4,0.081,0.051,2798,3760,2674
$GC,8571,0.51,210.4,762.2,16.1,687,8576,0.25,2.03,0.00,0.000,6,0.185,0.025,2744,2384,2671
$GC,8893,0.73,254.7,727.7,10.0,703,8938,0.17,2.28,37.72,1.223,4,0.079,0.050,2816,3762,2492
$GC,8968,0.61,254.7,717.0,16.3,706,8973,0.20,2.08,0.00,0.000,6,0.188,0.026,2776,2389,2489
$GC,9290,0.74,254.7,674.3,13.2,722,9292,0.12,0.00,0.00,0.000,6,0.085,0.000,2825,2384,2486
$GC,9600,0.74,254.7,623.2,16.9,737,9604,0.00,2.20,0.00,0.000,4,0.000,0.051,2825,3761,2485
$GC,9692,0.60,254.7,606.1,19.1,741,9696,0.22,2.03,0.00,0.000,6,0.189,0.026,2776,2387,2484
$GC,10020,0.75,254.7,560.7,13.7,757,10025,0.12,2.20,0.00,0.000,4,0.085,0.049,2825,3761,2484
$GC,10133,0.63,254.7,539.9,19.4,762,10137,0.17,2.00,0.00,0.000,6,0.194,0.026,2786,2414,2483
$GC,10452,0.75,254.7,492.8,14.4,779,10457,0.10,2.15,0.00,0.000,4,0.092,0.049,2826,3761,2482
$GC,10480,0.70,254.7,487.5,19.2,781,10486,0.00,2.00,0.00,0.000,6,0.000,0.025,2829,2410,2483
$GC,10809,0.70,254.7,437.3,15.6,812,10813,0.00,2.15,0.00,0.000,4,0.000,0.048,2829,3759,2482
$GC,11070,0.60,254.7,388.9,18.6,835,11075,0.22,1.98,0.00,0.000,6,0.189,0.026,2780,2404,2482
$GC,11401,0.80,272.0,345.0,11.9,866,11425,0.17,2.22,13.77,0.939,4,0.075,0.051,2846,3757,2422
$GC,11462,0.67,272.0,335.6,16.6,871,11466,0.22,1.95,0.00,0.000,6,0.188,0.024,2798,2418,2422
$GC,11793,0.83,272.0,290.4,13.4,907,11800,0.15,2.12,0.00,0.000,4,0.077,0.028,2865,987,2420
$GC,11886,0.83,272.0,276.9,15.2,923,11893,0.00,2.20,0.00,0.000,6,0.000,0.032,2865,2429,2420
$GC,12233,0.83,272.0,224.4,14.9,984,12239,0.00,2.10,0.00,0.000,4,0.000,0.051,2865,3762,2420
$GC,12496,0.67,272.0,180.5,13.7,1030,12502,0.28,1.90,0.00,0.000,6,0.179,0.025,2802,2451,2420
$GC,12844,0.95,312.1,139.9,10.3,1091,12886,0.20,2.15,33.33,0.779,4,0.069,0.048,2887,3755,2257
$GC,13143,0.89,316.7,94.2,12.9,1143,13153,0.12,1.88,4.90,0.566,6,0.186,0.024,2868,2447,2240
$GC,13499,1.16,379.5,56.3,8.6,1204,13557,0.20,2.15,50.28,0.685,4,0.070,0.047,2953,3758,1983
$GC,13780,1.16,379.5,18.7,13.2,1253,13786,0.00,1.83,0.00,0.000,6,0.000,0.023,2963,2481,1977
$STATE,13956,end climb,SURFACE_DEPTH_REACHED
$STATE,13956,begin surface coast
$FINISH,1.8,1.020941
$STATE,13989,end surface coast,CONTROL_FINISHED_OK
$STATE,13989,begin surface
$SM_CCo,14012,71.45,0.621,0,0,1594,475.15
$SM_GC,3.01,0.00,0.00,71.45,0.000,0.000,0.621,141,2371,1594,-7.62,-0.34,475.15
$IRIDIUM_FIX,2448.93,12249.97,241198,080825
$TT8_MAMPS,0.028379
$HUMID,1745
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,23.0,104.237
$10V_AH,10.5,54.500
$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,28.025,108.575,414.800,71.450,0.000,31.187,29.132,181.634,8.750,0.000,0.000,14.794,2340.406,8404.457,578.000,2428.638,740.539,0.000,1802.125,0.000,2373.062,0.000,54.424,0.000
$DEVICE_MAMPS,232.401,86.671,1400.542,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,874.325,907.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69523,1290
$CAP_FILE_SIZE,149276,0
$CFSIZE,260165632,178634752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 72.7,1
$GPS,300809,164431,2458.431,12248.584,41,1.4,42,-3.6