version: 66.04
glider: 167
mission: 2
dive: 613
start: 8 31 109 21 6 36
data:
$ID,167
$MISSION,2
$DIVE,613
$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,-21387.367
$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,86
$R_STBD_OVSHOOT,44
$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
$GPS1,205901,2500.716,12306.960,40,1.3,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-68.4
$GPS2,210613,2500.875,12307.042,11,1.4,16,-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,237.3,8035,-25.0,-13.200
$D_GRID,1665
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.58,0.000,2,0.000,0.000,137,2431,2137
$GC,44,-1.50,-121.7,3.0,-1.4,4,120,8.10,2.17,-62.03,0.000,4,0.229,0.035,2091,982,3990
$GC,224,-0.84,-121.7,46.2,-36.8,34,231,0.80,2.12,0.00,0.000,6,0.179,0.030,2301,2398,3991
$GC,571,-1.04,-121.7,113.5,-15.1,95,578,0.17,2.08,0.00,0.000,4,0.068,0.044,2218,3749,3993
$GC,834,-0.89,-121.7,169.9,-19.7,141,841,0.25,1.90,0.00,0.000,6,0.164,0.021,2287,2388,3996
$GC,1181,-1.21,-121.7,214.7,-10.7,202,1188,0.22,2.12,0.00,0.000,4,0.061,0.043,2179,3763,3996
$GC,1322,-1.02,-121.7,240.6,-19.2,226,1329,0.25,1.85,0.00,0.000,6,0.163,0.022,2247,2437,3996
$GC,1673,-1.22,-121.7,289.3,-12.6,287,1680,0.17,2.05,0.00,0.000,4,0.067,0.044,2165,3759,3996
$GC,1750,-1.03,-121.7,304.0,-19.8,298,1757,0.30,1.80,0.00,0.000,6,0.166,0.022,2247,2478,3996
$GC,2077,-1.30,-121.7,345.1,-11.5,329,2081,0.22,1.98,0.00,0.000,4,0.064,0.045,2149,3747,3996
$GC,2181,-1.06,-121.7,365.2,-21.7,338,2186,0.25,1.83,0.00,0.000,6,0.167,0.023,2231,2490,3997
$GC,2514,-1.27,-121.7,407.5,-11.8,369,2518,0.17,1.98,0.00,0.000,4,0.069,0.046,2152,3756,3996
$GC,2670,-1.10,-121.7,434.4,-18.9,382,2676,0.28,1.77,0.00,0.000,6,0.165,0.025,2226,2509,3996
$GC,2999,-1.36,-121.7,474.1,-11.2,413,3007,0.20,1.95,0.00,0.000,4,0.069,0.047,2139,3754,3995
$GC,3151,-1.19,-121.7,502.6,-19.6,425,3156,0.20,1.77,0.00,0.000,6,0.167,0.024,2191,2510,3993
$GC,3476,-1.31,-121.7,550.0,-13.8,441,3483,0.00,1.95,0.00,0.000,4,0.000,0.049,2191,3753,3992
$GC,3547,-1.42,-121.7,560.8,-13.7,444,3551,0.20,1.75,0.00,0.000,6,0.069,0.025,2113,2534,3991
$GC,3885,-1.27,-121.7,622.1,-18.7,460,3889,0.20,1.90,0.00,0.000,4,0.170,0.048,2165,3749,3990
$GC,4021,-1.27,-121.7,643.6,-14.7,466,4024,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2550,3988
$GC,4356,-1.35,-121.7,689.7,-14.4,482,4359,0.00,1.90,0.00,0.000,4,0.000,0.050,2165,3755,3986
$GC,4447,-1.35,-121.7,703.7,-14.9,486,4450,0.00,1.73,0.00,0.000,6,0.000,0.025,2165,2559,3985
$GC,4780,-1.45,-121.7,748.7,-13.3,502,4785,0.15,1.88,0.00,0.000,4,0.081,0.049,2101,3746,3982
$GC,4873,-1.26,-121.7,764.5,-18.5,506,4877,0.28,1.70,0.00,0.000,6,0.174,0.025,2173,2573,3981
$GC,5209,-1.40,-121.7,808.6,-13.0,522,5213,0.15,1.88,0.00,0.000,4,0.074,0.050,2111,3760,3978
$GC,5359,-1.27,-121.7,834.2,-17.3,528,5364,0.22,1.70,0.00,0.000,6,0.173,0.025,2169,2586,3977
$GC,5686,-1.41,-121.7,875.3,-11.9,544,5688,0.12,0.00,0.00,0.000,6,0.084,0.000,2123,2586,3974
$GC,5992,-1.41,-121.7,920.0,-14.5,559,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2587,3972
$GC,6300,-1.41,-121.7,965.4,-14.3,574,6303,0.00,1.85,0.00,0.000,4,0.000,0.050,2114,3760,3970
$GC,6425,-1.31,-121.7,985.1,-16.8,579,6429,0.17,1.70,0.00,0.000,6,0.173,0.026,2157,2594,3969
$STATE,6477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6477,begin apogee
$GC,6485,-0.27,0.0,992.5,13.6,582,6589,1.12,0.00,95.50,1.378,6,0.153,0.000,2489,2397,3532
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6594,1.50,121.7,996.8,0.0,587,6706,1.58,2.22,104.88,1.358,4,0.053,0.044,3063,3752,3036
$GC,6837,0.52,121.7,985.5,18.4,598,6843,1.30,2.08,0.00,0.000,6,0.225,0.022,2751,2342,3032
$GC,7161,0.61,191.1,956.5,8.2,614,7226,0.00,2.40,57.83,1.333,4,0.000,0.049,2751,3754,2753
$GC,7429,0.61,191.1,922.4,15.0,626,7433,0.00,2.03,0.00,0.000,6,0.000,0.025,2759,2385,2748
$GC,7764,0.73,205.3,881.6,12.2,642,7786,0.17,2.22,12.70,1.217,4,0.079,0.049,2826,3741,2694
$GC,7811,0.52,205.3,874.2,17.4,644,7816,0.30,2.00,0.00,0.000,6,0.188,0.025,2750,2400,2693
$GC,8140,0.68,220.6,833.7,12.1,660,8163,0.15,2.17,14.30,1.220,4,0.082,0.031,2815,970,2631
$GC,8233,0.73,220.6,819.6,15.4,664,8237,0.00,2.17,0.00,0.000,6,0.000,0.033,2815,2380,2630
$GC,8566,0.73,220.6,766.6,15.6,680,8570,0.00,2.17,0.00,0.000,4,0.000,0.052,2815,3758,2627
$GC,8664,0.58,220.6,749.3,18.9,684,8668,0.22,2.03,0.00,0.000,6,0.189,0.026,2767,2375,2628
$GC,8986,0.71,222.3,706.1,13.1,700,8990,0.12,2.22,0.00,0.000,4,0.086,0.051,2815,3764,2627
$GC,9100,0.56,222.3,687.2,18.5,705,9104,0.25,2.00,0.00,0.000,6,0.186,0.028,2760,2405,2626
$GC,9422,0.74,237.6,647.1,12.1,721,9444,0.17,2.20,14.32,1.140,4,0.079,0.052,2825,3761,2562
$GC,9538,0.60,237.6,626.7,18.8,726,9542,0.20,2.00,0.00,0.000,6,0.191,0.027,2779,2421,2561
$GC,9872,0.73,241.3,579.4,12.9,742,9881,0.10,2.17,4.40,0.816,4,0.093,0.051,2817,3750,2548
$GC,10021,0.64,241.3,557.1,15.2,748,10025,0.15,1.92,0.00,0.000,6,0.192,0.027,2790,2435,2547
$GC,10343,0.77,248.7,516.5,12.7,764,10353,0.10,0.00,7.47,0.966,6,0.092,0.000,2829,2432,2518
$GC,10661,0.77,248.7,469.2,15.2,788,10665,0.00,2.10,0.00,0.000,4,0.000,0.049,2829,3757,2516
$GC,10858,0.68,248.7,434.8,16.8,805,10864,0.15,1.92,0.00,0.000,6,0.189,0.025,2802,2430,2516
$GC,11184,0.81,256.1,390.9,12.7,836,11195,0.12,0.00,7.62,0.883,6,0.082,0.000,2851,2426,2487
$GC,11511,0.81,256.1,343.7,14.0,867,11515,0.00,2.12,0.00,0.000,4,0.000,0.050,2851,3763,2486
$GC,11771,0.69,256.1,301.3,15.8,890,11775,0.15,1.92,0.00,0.000,6,0.173,0.026,2807,2458,2486
$GC,12117,0.89,296.9,259.5,10.2,950,12159,0.17,2.10,34.58,0.872,4,0.074,0.047,2883,3766,2319
$GC,12416,0.76,296.9,208.4,17.3,1002,12422,0.25,1.90,0.00,0.000,6,0.180,0.024,2827,2447,2316
$GC,12763,1.01,331.7,162.5,10.7,1063,12800,0.17,2.20,27.95,0.769,4,0.074,0.028,2913,972,2180
$GC,12820,1.01,331.7,155.1,14.3,1072,12827,0.00,2.28,0.00,0.000,6,0.000,0.031,2913,2454,2178
$GC,13168,1.01,331.7,101.5,15.8,1133,13174,0.00,2.20,0.00,0.000,4,0.000,0.027,2922,977,2176
$GC,13187,1.01,331.7,98.6,14.5,1136,13194,0.00,2.25,0.00,0.000,6,0.000,0.030,2922,2465,2176
$GC,13536,1.16,392.0,57.8,8.8,1197,13589,0.00,0.00,47.83,0.669,6,0.000,0.000,2922,2466,1933
$GC,13933,1.43,427.7,14.5,10.6,1266,13968,0.30,0.00,29.10,0.608,6,0.058,0.000,3044,2466,1786
$STATE,14000,end climb,SURFACE_DEPTH_REACHED
$STATE,14000,begin surface coast
$FINISH,1.9,1.001173
$STATE,14019,end surface coast,CONTROL_FINISHED_OK
$STATE,14019,begin surface
$SM_CCo,14040,35.22,0.601,0,0,1594,475.15
$SM_GC,3.15,0.00,0.00,35.22,0.000,0.000,0.601,141,2381,1594,-7.62,-0.06,475.15
$IRIDIUM_FIX,2448.93,12305.82,251198,171730
$TT8_MAMPS,0.029146
$HUMID,1739
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,10
$24V_AH,23.1,105.584
$10V_AH,10.5,55.180
$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,28.250,104.325,458.475,35.225,0.000,29.506,32.697,193.040,10.500,0.000,0.000,16.810,2311.276,8441.376,585.106,2430.793,732.653,0.000,1813.428,0.000,2365.387,0.000,54.436,0.000
$DEVICE_MAMPS,229.333,86.671,1378.299,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,865.558,882.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69461,1281
$CAP_FILE_SIZE,148452,0
$CFSIZE,260165632,178016256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.322, 50.6,1
$GPS,010909,010237,2501.544,12307.651,42,0.9,42,-3.6