version: 66.04
glider: 167
mission: 2
dive: 611
start: 8 31 109 13 5 49
data:
$ID,167
$MISSION,2
$DIVE,611
$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,-21333.361
$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,53
$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
$GPS1,125801,2459.255,12305.076,40,1.7,41,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-69.0
$GPS2,130528,2459.407,12305.166,11,99.0,30,-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,223.9,4844,-25.0,-13.200
$D_GRID,1745
$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,-29.05,0.000,2,0.000,0.000,139,2400,2339
$GC,53,-1.50,-121.7,3.4,-2.5,5,117,8.05,2.12,-47.67,0.000,4,0.229,0.036,2091,983,3990
$GC,218,-0.90,-121.7,50.1,-35.9,33,225,0.75,2.10,0.00,0.000,6,0.188,0.031,2281,2380,3991
$GC,566,-0.90,-121.7,118.2,-16.3,94,572,0.00,2.10,0.00,0.000,4,0.000,0.044,2273,3754,3993
$GC,790,-1.05,-121.7,153.0,-13.0,133,796,0.00,1.88,0.00,0.000,6,0.000,0.022,2273,2401,3994
$GC,1136,-1.23,-121.7,198.6,-11.9,194,1143,0.20,2.10,0.00,0.000,4,0.062,0.044,2178,3751,3996
$GC,1308,-1.06,-121.7,234.6,-20.0,224,1315,0.22,1.80,0.00,0.000,6,0.157,0.022,2239,2460,3996
$GC,1657,-1.19,-121.7,290.2,-15.0,285,1664,0.12,2.00,0.00,0.000,4,0.074,0.042,2179,3755,3996
$GC,1835,-1.11,-121.7,321.7,-17.1,305,1841,0.15,1.75,0.00,0.000,6,0.163,0.022,2217,2507,3996
$GC,2161,-1.24,-121.7,365.0,-13.5,336,2162,0.10,0.00,0.00,0.000,6,0.082,0.000,2174,2506,3996
$GC,2478,-1.24,-121.7,421.4,-17.5,366,2482,0.00,1.95,0.00,0.000,4,0.000,0.045,2168,3752,3996
$GC,2652,-1.19,-121.7,452.2,-17.4,381,2656,0.00,1.80,0.00,0.000,6,0.000,0.022,2168,2488,3996
$GC,2996,-1.19,-121.7,503.3,-13.2,412,2999,0.00,1.98,0.00,0.000,4,0.000,0.046,2165,3758,3995
$GC,3194,-1.19,-121.7,532.1,-14.3,420,3202,0.12,1.77,0.00,0.000,6,0.164,0.024,2195,2513,3994
$GC,3512,-1.38,-121.7,569.0,-11.5,436,3516,0.17,1.95,0.00,0.000,4,0.070,0.047,2126,3758,3993
$GC,3662,-1.29,-121.7,592.7,-16.6,442,3666,0.15,1.75,0.00,0.000,6,0.170,0.025,2163,2530,3991
$GC,3984,-1.37,-121.7,638.3,-13.7,458,3987,0.00,1.92,0.00,0.000,4,0.000,0.050,2164,3756,3990
$GC,4087,-1.44,-121.7,652.8,-14.0,462,4091,0.10,1.75,0.00,0.000,6,0.067,0.024,2115,2558,3988
$GC,4409,-1.36,-121.7,708.2,-17.5,478,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2557,3986
$GC,4720,-1.28,-121.7,762.2,-17.3,493,4724,0.17,1.90,0.00,0.000,4,0.168,0.050,2165,3754,3983
$GC,4793,-1.37,-121.7,773.5,-13.9,496,4797,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2561,3982
$GC,5121,-1.50,-121.7,816.4,-13.7,512,5125,0.17,1.88,0.00,0.000,4,0.078,0.048,2085,3748,3980
$GC,5319,-1.27,-121.7,855.9,-20.7,520,5326,0.30,1.67,0.00,0.000,6,0.179,0.025,2164,2584,3978
$GC,5637,-1.40,-121.7,898.7,-12.7,536,5641,0.00,1.85,0.00,0.000,4,0.000,0.049,2157,3759,3975
$GC,5799,-1.48,-121.7,920.9,-13.3,543,5803,0.15,1.70,0.00,0.000,6,0.081,0.027,2100,2593,3973
$GC,6137,-1.39,-121.7,974.0,-15.8,559,6142,0.12,2.30,0.00,0.000,4,0.181,0.024,2130,1030,3971
$GC,6160,-1.39,-121.7,978.3,-15.1,560,6165,0.00,2.35,0.00,0.000,6,0.000,0.035,2126,2556,3971
$STATE,6258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6258,begin apogee
$GC,6267,-0.27,0.0,992.2,14.0,565,6371,1.25,0.00,95.88,1.372,6,0.163,0.000,2485,2416,3532
$STATE,6372,end apogee,CONTROL_FINISHED_OK
$STATE,6372,begin climb
$GC,6377,1.50,121.7,996.1,0.0,570,6490,1.60,2.22,105.00,1.357,4,0.054,0.046,3066,3761,3033
$GC,6626,0.51,121.7,982.3,18.8,581,6631,1.33,2.03,0.00,0.000,6,0.226,0.025,2749,2385,3030
$GC,6944,0.60,196.4,954.1,7.8,596,7011,0.00,2.22,62.03,1.333,4,0.000,0.029,2758,981,2730
$GC,7094,0.81,225.9,939.5,11.1,602,7126,0.25,2.12,26.33,1.279,6,0.072,0.032,2850,2351,2611
$GC,7453,0.70,225.9,881.1,16.4,620,7455,0.17,0.00,0.00,0.000,6,0.183,0.000,2806,2352,2605
$GC,7758,0.70,225.9,835.9,14.6,635,7761,0.00,2.22,0.00,0.000,4,0.000,0.050,2806,3765,2603
$GC,7866,0.58,225.9,818.1,17.2,639,7875,0.17,2.08,0.00,0.000,6,0.184,0.027,2770,2352,2602
$GC,8183,0.72,225.9,774.7,14.0,655,8188,0.12,2.25,0.00,0.000,4,0.086,0.050,2818,3761,2601
$GC,8381,0.57,225.9,737.4,20.5,664,8386,0.25,2.05,0.00,0.000,6,0.184,0.028,2762,2375,2600
$GC,8709,0.73,225.9,690.4,13.8,680,8713,0.15,2.10,0.00,0.000,4,0.078,0.031,2825,967,2599
$GC,8751,0.73,225.9,684.2,15.9,682,8754,0.00,2.17,0.00,0.000,6,0.000,0.034,2825,2385,2599
$GC,9085,0.73,225.9,630.1,15.7,698,9089,0.00,2.15,0.00,0.000,4,0.000,0.031,2825,968,2598
$GC,9118,0.73,225.9,624.6,16.0,699,9122,0.00,2.17,0.00,0.000,6,0.000,0.034,2825,2392,2599
$GC,9442,0.73,225.9,574.9,15.6,715,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2392,2598
$GC,9750,0.73,225.9,527.1,14.8,730,9754,0.00,2.15,0.00,0.000,4,0.000,0.050,2825,3756,2597
$GC,9846,0.59,225.9,510.6,17.3,734,9851,0.22,2.03,0.00,0.000,6,0.188,0.025,2774,2366,2596
$GC,10175,0.79,254.8,471.3,11.1,761,10202,0.17,2.25,21.80,1.052,4,0.077,0.048,2848,3758,2492
$GC,10458,0.64,254.8,423.7,17.7,785,10465,0.28,1.98,0.00,0.000,6,0.187,0.025,2787,2407,2489
$GC,10784,0.83,258.8,379.6,12.9,816,10796,0.17,2.15,4.32,0.712,4,0.075,0.050,2863,3756,2477
$GC,10845,0.65,258.8,369.7,17.4,821,10849,0.30,2.00,0.00,0.000,6,0.188,0.024,2795,2401,2476
$GC,11177,0.86,269.2,324.5,12.4,852,11193,0.17,2.17,10.68,0.881,4,0.078,0.049,2863,3758,2433
$GC,11449,0.72,269.2,278.6,19.0,886,11456,0.22,1.90,0.00,0.000,6,0.183,0.025,2814,2439,2432
$GC,11797,0.91,277.8,234.2,12.6,947,11816,0.17,2.15,8.50,0.775,4,0.075,0.048,2892,3754,2398
$GC,11859,0.74,277.8,223.9,17.8,957,11866,0.30,1.90,0.00,0.000,6,0.184,0.024,2822,2433,2398
$GC,12208,0.97,308.2,178.0,11.0,1018,12240,0.17,2.22,25.85,0.789,4,0.072,0.027,2907,982,2275
$GC,12304,1.02,308.2,164.1,14.1,1034,12310,0.00,2.25,0.00,0.000,6,0.000,0.031,2908,2454,2272
$GC,12651,1.02,308.2,111.8,15.1,1095,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2454,2271
$GC,12997,1.15,356.3,73.7,9.7,1156,13044,0.12,2.10,38.60,0.686,4,0.080,0.048,2964,3761,2078
$GC,13124,1.02,356.3,54.7,15.8,1177,13131,0.25,1.92,0.00,0.000,6,0.179,0.022,2909,2417,2074
$GC,13473,1.30,406.3,15.1,9.6,1238,13521,0.22,2.12,39.70,0.620,4,0.064,0.025,3015,983,1874
$STATE,13560,end climb,SURFACE_DEPTH_REACHED
$STATE,13560,begin surface coast
$FINISH,1.9,1.008481
$STATE,13585,end surface coast,CONTROL_FINISHED_OK
$STATE,13585,begin surface
$SM_CCo,13608,51.20,0.608,0,0,1594,475.15
$SM_GC,3.10,0.00,0.00,51.20,0.000,0.000,0.608,139,2410,1594,-7.63,0.76,475.15
$IRIDIUM_FIX,2451.31,12301.83,251198,090938
$TT8_MAMPS,0.029146
$HUMID,1728
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,10
$24V_AH,23.1,105.251
$10V_AH,10.5,55.009
$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,27.050,105.575,438.675,51.200,0.000,29.138,33.259,192.169,10.500,0.000,0.000,34.192,2262.322,8128.443,587.795,2381.913,738.324,0.000,1781.035,0.000,2307.928,0.000,54.434,0.000
$DEVICE_MAMPS,229.333,49.855,1372.163,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.862,882.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66331,1257
$CAP_FILE_SIZE,143938,0
$CFSIZE,260165632,178171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.333, 56.8,1
$GPS,310809,165455,2459.654,12306.225,43,1.2,43,-3.6