version: 66.04
glider: 167
mission: 2
dive: 600
start: 8 29 109 16 47 40
data:
$ID,167
$MISSION,2
$DIVE,600
$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,-21113.289
$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,38
$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
$GPS1,163637,2459.229,12243.839,38,1.0,39,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-70.7
$GPS2,164720,2459.555,12244.191,13,1.8,13,-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,218.6,27184,-25.0,-13.200
$D_GRID,1429
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.88,0.000,2,0.000,0.000,137,2451,2153
$GC,44,-1.50,-121.7,3.2,-2.6,4,119,8.18,2.17,-58.03,0.000,4,0.232,0.035,2087,987,3989
$GC,224,-0.96,-121.7,51.3,-35.9,34,231,0.70,2.15,0.00,0.000,6,0.179,0.035,2267,2401,3991
$GC,571,-0.96,-121.7,121.9,-16.7,95,577,0.00,2.08,0.00,0.000,4,0.000,0.044,2259,3758,3993
$GC,663,-1.06,-121.7,134.9,-13.9,111,669,0.00,1.98,0.00,0.000,6,0.000,0.022,2258,2348,3994
$GC,1010,-1.24,-121.7,185.2,-12.6,172,1018,0.17,2.20,0.00,0.000,4,0.064,0.044,2175,3760,3996
$GC,1145,-0.99,-121.7,210.5,-21.3,195,1152,0.30,1.90,0.00,0.000,6,0.166,0.023,2257,2417,3995
$GC,1496,-1.19,-121.7,256.1,-12.8,256,1504,0.17,2.10,0.00,0.000,4,0.064,0.046,2178,3761,3996
$GC,1706,-1.02,-121.7,297.8,-20.1,292,1713,0.25,1.90,0.00,0.000,6,0.165,0.024,2245,2430,3996
$GC,2040,-1.28,-121.7,339.3,-12.3,324,2045,0.20,2.08,0.00,0.000,4,0.067,0.046,2153,3755,3995
$GC,2141,-1.07,-121.7,360.0,-21.1,332,2148,0.30,1.88,0.00,0.000,6,0.163,0.024,2234,2438,3995
$GC,2467,-1.31,-121.7,403.0,-12.3,363,2472,0.20,2.08,0.00,0.000,4,0.066,0.047,2151,3758,3994
$GC,2678,-1.11,-121.7,443.4,-20.0,381,2682,0.20,1.90,0.00,0.000,6,0.166,0.025,2221,2469,3993
$GC,3011,-1.31,-121.7,483.8,-11.1,412,3015,0.17,2.03,0.00,0.000,4,0.068,0.047,2150,3756,3991
$GC,3260,-1.17,-121.7,526.1,-16.3,428,3264,0.20,1.83,0.00,0.000,6,0.169,0.025,2201,2498,3989
$GC,3598,-1.33,-121.7,567.9,-13.0,444,3602,0.15,2.00,0.00,0.000,4,0.072,0.050,2140,3760,3986
$GC,3806,-1.15,-121.7,607.6,-18.6,453,3810,0.25,1.77,0.00,0.000,6,0.177,0.026,2204,2537,3984
$GC,4137,-1.34,-121.7,649.2,-12.3,469,4143,0.17,1.92,0.00,0.000,4,0.071,0.049,2125,3750,3982
$GC,4323,-1.17,-121.7,684.1,-18.8,477,4327,0.28,1.73,0.00,0.000,6,0.174,0.026,2197,2567,3980
$GC,4656,-1.33,-121.7,725.2,-12.3,493,4661,0.15,1.90,0.00,0.000,4,0.078,0.051,2140,3759,3978
$GC,4775,-1.21,-121.7,745.2,-17.0,498,4779,0.17,1.73,0.00,0.000,6,0.177,0.027,2182,2579,3976
$GC,5106,-1.34,-121.7,787.9,-13.2,514,5110,0.00,1.85,0.00,0.000,4,0.000,0.052,2179,3747,3974
$GC,5366,-1.41,-121.7,826.0,-14.7,525,5370,0.12,1.70,0.00,0.000,6,0.067,0.028,2123,2615,3972
$GC,5688,-1.32,-121.7,883.7,-17.8,541,5692,0.12,1.83,0.00,0.000,4,0.183,0.052,2148,3753,3970
$GC,5839,-1.32,-121.7,908.4,-16.1,547,5842,0.00,1.65,0.00,0.000,6,0.000,0.028,2149,2628,3969
$GC,6161,-1.32,-121.7,958.4,-15.0,563,6164,0.00,1.80,0.00,0.000,4,0.000,0.053,2144,3758,3967
$GC,6299,-1.26,-121.7,980.8,-16.7,569,6303,0.12,1.65,0.00,0.000,6,0.186,0.028,2171,2640,3967
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6369,-0.27,0.0,990.3,13.8,572,6472,1.08,0.00,95.15,1.374,6,0.155,0.000,2487,2381,3532
$STATE,6473,end apogee,CONTROL_FINISHED_OK
$STATE,6473,begin climb
$GC,6477,1.50,121.7,994.1,0.0,577,6590,1.60,2.25,105.38,1.358,4,0.056,0.028,3074,953,3035
$GC,6606,0.94,267.6,1001.5,2.6,582,6741,0.77,2.25,124.20,1.336,6,0.219,0.034,2887,2371,2440
$GC,7050,0.76,267.6,915.4,20.3,604,7054,0.20,2.20,0.00,0.000,4,0.190,0.050,2830,3757,2433
$GC,7193,0.60,267.6,887.4,19.9,610,7197,0.20,2.08,0.00,0.000,6,0.192,0.026,2780,2365,2432
$GC,7511,0.71,267.6,840.9,14.6,625,7515,0.00,2.22,0.00,0.000,4,0.000,0.050,2780,3755,2430
$GC,7562,0.71,267.6,832.0,17.0,627,7566,0.00,2.05,0.00,0.000,6,0.000,0.026,2788,2358,2430
$GC,7890,0.80,267.6,782.3,15.0,643,7895,0.15,2.25,0.00,0.000,4,0.078,0.051,2845,3758,2428
$GC,8004,0.59,267.6,759.1,21.0,648,8008,0.32,1.98,0.00,0.000,6,0.186,0.028,2770,2402,2428
$GC,8331,0.75,267.6,708.8,15.1,664,8336,0.15,2.17,0.00,0.000,4,0.081,0.052,2826,3754,2427
$GC,8434,0.62,267.6,688.3,21.7,668,8438,0.20,1.95,0.00,0.000,6,0.190,0.026,2778,2415,2427
$GC,8755,0.75,267.6,637.6,15.1,684,8760,0.12,2.15,0.00,0.000,4,0.085,0.048,2826,3763,2426
$GC,8802,0.61,267.6,629.1,19.1,686,8806,0.20,1.98,0.00,0.000,6,0.191,0.025,2778,2419,2426
$GC,9129,0.76,267.6,578.8,14.8,702,9134,0.15,2.15,0.00,0.000,4,0.081,0.052,2835,3753,2425
$GC,9193,0.60,267.6,566.6,21.6,705,9197,0.28,1.95,0.00,0.000,6,0.188,0.025,2774,2398,2425
$GC,9528,0.77,267.6,514.5,15.2,721,9532,0.15,2.17,0.00,0.000,4,0.081,0.052,2829,3760,2424
$GC,9641,0.65,267.6,492.9,20.5,727,9645,0.20,1.92,0.00,0.000,6,0.190,0.027,2789,2443,2425
$GC,9972,0.78,267.6,445.0,14.1,758,9977,0.12,2.10,0.00,0.000,4,0.084,0.051,2836,3748,2424
$GC,10059,0.65,267.6,429.2,19.1,765,10063,0.22,1.88,0.00,0.000,6,0.190,0.025,2789,2454,2424
$GC,10390,0.80,281.8,383.1,12.2,796,10407,0.15,2.12,10.35,0.938,4,0.080,0.050,2845,3744,2383
$GC,10449,0.66,281.8,373.8,17.5,801,10453,0.17,1.88,0.00,0.000,6,0.185,0.025,2795,2469,2382
$GC,10780,0.83,281.8,326.6,14.9,832,10784,0.15,2.05,0.00,0.000,4,0.081,0.051,2851,3751,2381
$GC,10864,0.69,281.8,309.7,21.0,839,10871,0.22,1.83,0.00,0.000,6,0.190,0.026,2804,2494,2381
$GC,11207,0.84,281.8,257.8,15.2,895,11213,0.12,2.25,0.00,0.000,4,0.087,0.030,2854,992,2381
$GC,11300,0.91,281.8,243.6,15.5,911,11306,0.00,2.30,0.00,0.000,6,0.000,0.034,2854,2492,2381
$GC,11646,0.91,281.8,188.8,14.1,972,11653,0.00,1.98,0.00,0.000,4,0.000,0.051,2854,3750,2381
$GC,11908,0.82,281.8,143.9,16.6,1018,11914,0.00,1.77,0.00,0.000,6,0.000,0.025,2864,2513,2381
$GC,12255,0.87,281.8,99.7,13.7,1079,12261,0.00,2.25,0.00,0.000,4,0.000,0.029,2868,993,2381
$GC,12518,1.22,425.5,82.6,2.8,1125,12640,0.30,2.38,113.78,0.713,6,0.063,0.033,2982,2558,1795
$GC,12981,1.22,425.5,12.2,14.3,1206,12987,0.00,1.88,0.00,0.000,4,0.000,0.049,2982,3757,1786
$STATE,13031,end climb,SURFACE_DEPTH_REACHED
$STATE,13032,begin surface coast
$FINISH,1.8,1.009507
$STATE,13048,end surface coast,CONTROL_FINISHED_OK
$STATE,13048,begin surface
$SM_CCo,13072,36.05,0.621,0,0,1594,475.15
$SM_GC,3.17,0.00,0.00,36.05,0.000,0.000,0.621,142,2384,1594,-7.62,0.03,475.15
$IRIDIUM_FIX,2448.93,12243.40,231198,161613
$TT8_MAMPS,0.029146
$HUMID,1825
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,5
$24V_AH,23.0,103.394
$10V_AH,10.6,54.076
$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,27.700,112.500,448.850,36.050,0.000,57.879,74.310,265.165,9.250,0.000,0.000,13.971,2215.906,7728.168,561.354,2369.152,866.315,0.000,1761.934,0.000,2300.738,0.000,54.425,0.000
$DEVICE_MAMPS,232.401,52.923,1373.697,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,825.252,849.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66341,1218
$CAP_FILE_SIZE,146112,0
$CFSIZE,260165632,179027968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229, 77.1,1
$GPS,290809,202730,2458.947,12244.810,40,1.0,40,-3.6