version: 66.04
glider: 167
mission: 2
dive: 608
start: 8 31 109 0 57 11
data:
$ID,167
$MISSION,2
$DIVE,608
$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,-21253.945
$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,83
$R_STBD_OVSHOOT,49
$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
$GPS1,004936,2458.675,12255.421,34,0.9,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.0
$GPS2,005648,2458.721,12255.606,9,1.6,13,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,141.0,16826,-25.0,-13.200
$D_GRID,1674
$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,-121.7,0.0,0.0,0,38,0.00,0.00,-20.67,0.000,2,0.000,0.000,140,2368,2109
$GC,43,-1.50,-121.7,3.1,-2.0,3,122,8.15,2.05,-62.05,0.000,4,0.235,0.036,2091,990,3989
$GC,201,-0.71,-121.7,43.1,-44.0,29,209,1.00,2.10,0.00,0.000,6,0.191,0.032,2349,2379,3991
$GC,551,-1.09,-121.7,100.0,-11.2,90,557,0.30,2.12,0.00,0.000,4,0.054,0.044,2214,3763,3993
$GC,745,-0.93,-121.7,140.5,-20.7,124,752,0.22,1.92,0.00,0.000,6,0.163,0.021,2276,2387,3994
$GC,1092,-1.13,-121.7,190.1,-13.9,185,1100,0.17,2.12,0.00,0.000,4,0.065,0.043,2192,3760,3995
$GC,1345,-0.93,-121.7,240.3,-21.4,229,1353,0.30,1.83,0.00,0.000,6,0.164,0.023,2275,2463,3996
$GC,1698,-1.25,-121.7,277.6,-9.6,290,1705,0.25,2.00,0.00,0.000,4,0.059,0.044,2165,3753,3996
$GC,1956,-1.09,-121.7,325.3,-19.7,323,1962,0.22,1.77,0.00,0.000,6,0.164,0.024,2225,2503,3996
$GC,2283,-1.27,-121.7,367.9,-12.1,354,2287,0.15,1.95,0.00,0.000,4,0.071,0.045,2162,3759,3996
$GC,2502,-1.16,-121.7,407.3,-17.2,373,2510,0.17,1.73,0.00,0.000,6,0.165,0.024,2207,2545,3996
$GC,2829,-1.33,-121.7,450.0,-12.0,404,2834,0.17,1.90,0.00,0.000,4,0.069,0.047,2137,3762,3995
$GC,2909,-1.13,-121.7,464.2,-19.5,411,2913,0.28,1.70,0.00,0.000,6,0.169,0.023,2210,2564,3995
$GC,3239,-1.33,-121.7,505.6,-11.7,440,3243,0.17,1.88,0.00,0.000,4,0.070,0.048,2139,3762,3993
$GC,3342,-1.19,-121.7,522.6,-17.5,444,3346,0.22,1.70,0.00,0.000,6,0.171,0.024,2197,2570,3993
$GC,3667,-1.39,-121.7,562.3,-11.0,460,3672,0.17,1.88,0.00,0.000,4,0.073,0.048,2125,3764,3991
$GC,3808,-1.23,-121.7,587.6,-19.6,466,3813,0.22,1.67,0.00,0.000,6,0.174,0.025,2182,2601,3990
$GC,4146,-1.37,-121.7,636.7,-13.0,482,4150,0.15,1.83,0.00,0.000,4,0.078,0.049,2124,3760,3987
$GC,4265,-1.26,-121.7,658.2,-17.2,487,4269,0.15,1.65,0.00,0.000,6,0.167,0.025,2168,2633,3986
$GC,4595,-1.36,-121.7,703.0,-13.3,503,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2633,3984
$GC,4904,-1.47,-121.7,743.4,-12.9,518,4908,0.17,1.77,0.00,0.000,4,0.075,0.051,2097,3753,3981
$GC,4983,-1.26,-121.7,758.4,-19.5,521,4987,0.28,1.62,0.00,0.000,6,0.175,0.026,2168,2631,3980
$GC,5306,-1.38,-121.7,804.8,-13.7,537,5310,0.00,1.77,0.00,0.000,4,0.000,0.049,2166,3762,3978
$GC,5376,-1.46,-121.7,814.7,-13.8,540,5380,0.17,1.62,0.00,0.000,6,0.077,0.025,2101,2636,3976
$GC,5712,-1.33,-121.7,871.2,-17.0,556,5716,0.17,1.77,0.00,0.000,4,0.176,0.051,2143,3750,3974
$GC,5747,-1.28,-121.7,877.3,-15.9,557,5751,0.00,1.60,0.00,0.000,6,0.000,0.028,2143,2648,3974
$GC,6069,-1.28,-121.7,921.8,-13.9,573,6073,0.00,1.77,0.00,0.000,4,0.000,0.052,2139,3747,3972
$GC,6171,-1.28,-121.7,936.7,-14.3,577,6174,0.00,1.60,0.00,0.000,6,0.000,0.027,2139,2641,3971
$GC,6494,-1.28,-121.7,982.3,-14.3,593,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2642,3969
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6553,begin apogee
$GC,6561,-0.27,0.0,991.1,14.5,596,6666,1.23,0.00,95.57,1.378,6,0.163,0.000,2489,2392,3532
$STATE,6666,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6671,1.50,121.7,995.5,0.0,601,6784,1.58,2.30,105.03,1.359,4,0.052,0.026,3071,956,3035
$GC,7039,0.70,121.7,966.7,16.7,617,7045,1.08,2.17,0.00,0.000,6,0.225,0.035,2807,2366,3031
$GC,7362,0.57,158.9,931.1,10.5,633,7399,0.15,2.22,31.02,1.312,4,0.202,0.030,2776,966,2884
$GC,7501,0.60,176.9,915.9,11.9,639,7524,0.00,2.17,16.73,1.250,6,0.000,0.034,2776,2371,2809
$GC,7832,0.61,184.9,872.9,12.6,655,7846,0.00,2.28,7.15,1.093,4,0.000,0.052,2776,3762,2778
$GC,7954,0.48,184.9,855.6,14.6,660,7959,0.15,2.08,0.00,0.000,6,0.191,0.025,2740,2362,2777
$GC,8278,0.66,218.9,819.3,10.7,676,8313,0.15,2.30,30.10,1.269,4,0.084,0.051,2797,3760,2639
$GC,8359,0.54,218.9,806.8,17.5,679,8366,0.20,2.08,0.00,0.000,6,0.188,0.026,2753,2380,2637
$GC,8678,0.69,218.9,764.6,13.2,695,8683,0.15,2.22,0.00,0.000,4,0.083,0.051,2810,3763,2634
$GC,8712,0.56,218.9,758.5,17.8,696,8718,0.22,2.05,0.00,0.000,6,0.190,0.027,2762,2371,2634
$GC,9030,0.69,218.9,713.4,14.1,712,9034,0.12,2.22,0.00,0.000,4,0.086,0.050,2809,3762,2632
$GC,9153,0.54,218.9,691.4,17.8,717,9161,0.25,2.00,0.00,0.000,6,0.189,0.027,2755,2398,2632
$GC,9472,0.72,237.2,652.6,11.9,733,9495,0.17,0.00,15.27,1.149,6,0.081,0.000,2826,2396,2564
$GC,9805,0.72,237.2,602.0,15.3,749,9808,0.00,2.17,0.00,0.000,4,0.000,0.051,2826,3756,2561
$GC,9862,0.56,237.2,592.0,18.0,751,9866,0.25,1.98,0.00,0.000,6,0.190,0.025,2764,2414,2561
$GC,10180,0.74,248.8,551.8,12.4,766,10196,0.15,2.17,10.32,1.048,4,0.080,0.050,2822,3766,2517
$GC,10291,0.62,248.8,534.1,18.3,770,10296,0.17,2.00,0.00,0.000,6,0.196,0.025,2786,2413,2515
$GC,10621,0.76,253.0,489.8,12.9,789,10634,0.12,2.15,5.03,0.838,4,0.085,0.048,2835,3758,2499
$GC,10889,0.62,253.0,442.9,19.4,812,10896,0.22,1.95,0.00,0.000,6,0.189,0.026,2785,2426,2498
$GC,11215,0.78,258.4,399.9,12.8,843,11227,0.12,2.12,5.68,0.830,4,0.084,0.051,2835,3759,2479
$GC,11415,0.68,258.4,364.8,17.3,860,11422,0.17,1.92,0.00,0.000,6,0.192,0.025,2800,2436,2478
$GC,11741,0.85,304.3,325.2,9.9,891,11787,0.15,2.22,39.15,0.946,4,0.077,0.051,2859,3765,2291
$GC,11895,0.76,304.3,297.1,21.2,905,11903,0.17,1.95,0.00,0.000,6,0.186,0.025,2825,2443,2286
$GC,12244,0.92,304.3,245.7,15.1,966,12250,0.15,2.10,0.00,0.000,4,0.079,0.049,2883,3758,2284
$GC,12434,0.77,304.3,210.2,19.3,999,12441,0.22,1.88,0.00,0.000,6,0.185,0.024,2834,2454,2284
$GC,12782,0.94,306.7,164.0,13.0,1060,12789,0.15,2.08,0.00,0.000,4,0.077,0.047,2893,3767,2284
$GC,12836,0.79,306.7,154.8,17.0,1069,12843,0.25,1.88,0.00,0.000,6,0.184,0.023,2838,2453,2284
$GC,13184,1.04,335.4,112.2,11.1,1130,13215,0.17,2.12,25.23,0.733,4,0.074,0.046,2915,3755,2163
$GC,13349,0.94,336.6,86.9,13.1,1158,13355,0.17,1.83,0.00,0.000,6,0.182,0.023,2880,2482,2161
$GC,13696,1.31,428.0,54.0,6.6,1219,13778,0.30,2.30,72.60,0.671,4,0.061,0.026,3012,981,1785
$GC,13910,1.31,428.0,26.1,14.7,1256,13916,0.00,2.35,0.00,0.000,6,0.000,0.030,3013,2522,1780
$STATE,14055,end climb,SURFACE_DEPTH_REACHED
$STATE,14055,begin surface coast
$FINISH,1.8,1.008046
$STATE,14073,end surface coast,CONTROL_FINISHED_OK
$STATE,14073,begin surface
$SM_CCo,14094,34.25,0.611,0,0,1594,475.15
$SM_GC,2.80,0.00,0.00,34.25,0.000,0.000,0.611,141,2349,1594,-7.62,-0.96,475.15
$IRIDIUM_FIX,2448.93,12251.97,241198,202007
$TT8_MAMPS,0.029146
$HUMID,1754
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.1,104.746
$10V_AH,10.5,54.755
$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,29.425,111.100,458.875,34.250,0.000,29.388,44.874,183.675,9.250,0.000,0.000,13.399,2325.088,8448.280,598.991,2424.979,756.961,0.000,1833.374,0.000,2368.004,0.000,54.427,0.000
$DEVICE_MAMPS,234.702,52.156,1377.532,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,868.922,897.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69491,1285
$CAP_FILE_SIZE,151783,0
$CFSIZE,260165632,178397184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.305, 67.7,1
$GPS,310809,045406,2458.342,12259.104,38,1.0,43,-3.6