version: 66.04
glider: 167
mission: 2
dive: 601
start: 8 29 109 20 34 48
data:
$ID,167
$MISSION,2
$DIVE,601
$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,-21129.328
$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,72
$R_STBD_OVSHOOT,41
$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
$GPS1,202730,2458.947,12244.810,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.4
$GPS2,203426,2459.198,12245.067,15,1.9,15,-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,221.5,26310,-25.0,-13.200
$D_GRID,1203
$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,-121.7,0.0,0.0,0,42,0.00,0.00,-23.45,0.000,2,0.000,0.000,142,2384,2174
$GC,46,-1.50,-121.7,3.0,-1.3,4,118,8.32,2.12,-57.08,0.000,4,0.238,0.036,2094,972,3990
$GC,197,-0.77,-121.7,42.4,-44.1,29,204,0.90,2.15,0.00,0.000,6,0.188,0.031,2324,2402,3992
$GC,545,-1.11,-121.7,105.2,-9.9,90,552,0.25,2.08,0.00,0.000,4,0.058,0.044,2205,3749,3994
$GC,650,-0.98,-121.7,121.8,-17.2,108,657,0.22,1.95,0.00,0.000,6,0.165,0.022,2265,2368,3995
$GC,997,-1.18,-121.7,171.6,-12.2,169,1004,0.17,2.15,0.00,0.000,4,0.067,0.041,2179,3758,3997
$GC,1064,-1.03,-121.7,182.2,-17.3,180,1071,0.25,1.92,0.00,0.000,6,0.162,0.021,2246,2386,3997
$GC,1412,-1.18,-121.7,229.9,-13.6,241,1419,0.15,2.12,0.00,0.000,4,0.071,0.043,2178,3753,3997
$GC,1573,-0.96,-121.7,263.3,-21.8,269,1580,0.32,1.90,0.00,0.000,6,0.167,0.023,2268,2409,3997
$GC,1918,-1.26,-121.7,307.0,-12.2,325,1923,0.22,2.10,0.00,0.000,4,0.061,0.044,2165,3754,3997
$GC,2072,-1.11,-121.7,337.4,-19.1,338,2076,0.20,1.88,0.00,0.000,6,0.165,0.024,2217,2441,3997
$GC,2403,-1.21,-121.7,388.4,-15.5,369,2407,0.00,2.05,0.00,0.000,4,0.000,0.048,2218,3754,3997
$GC,2530,-1.29,-121.7,408.3,-15.7,380,2534,0.15,1.88,0.00,0.000,6,0.071,0.023,2156,2438,3997
$GC,2862,-1.21,-121.7,466.8,-16.5,411,2867,0.12,2.05,0.00,0.000,4,0.170,0.044,2178,3747,3997
$GC,3059,-1.21,-121.7,498.3,-15.3,428,3065,0.00,1.83,0.00,0.000,6,0.000,0.024,2178,2462,3995
$GC,3387,-1.21,-121.7,545.7,-14.7,445,3391,0.00,2.03,0.00,0.000,4,0.000,0.049,2178,3744,3993
$GC,3472,-1.21,-121.7,559.6,-16.7,448,3478,0.00,1.83,0.00,0.000,6,0.000,0.025,2178,2483,3993
$GC,3789,-1.28,-121.7,609.2,-15.5,464,3793,0.00,2.00,0.00,0.000,4,0.000,0.050,2177,3747,3991
$GC,4020,-1.28,-121.7,647.5,-16.1,474,4023,0.00,1.77,0.00,0.000,6,0.000,0.025,2177,2518,3989
$GC,4349,-1.36,-121.7,694.9,-13.6,490,4353,0.12,1.95,0.00,0.000,4,0.086,0.048,2123,3757,3986
$GC,4440,-1.19,-121.7,710.9,-18.7,494,4444,0.20,1.80,0.00,0.000,6,0.172,0.025,2192,2541,3986
$GC,4778,-1.35,-121.7,750.4,-11.0,510,4783,0.15,1.92,0.00,0.000,4,0.077,0.050,2136,3752,3982
$GC,4948,-1.25,-121.7,778.1,-15.8,517,4952,0.12,1.75,0.00,0.000,6,0.170,0.025,2186,2572,3981
$GC,5271,-1.38,-121.7,818.1,-12.5,533,5275,0.15,1.85,0.00,0.000,4,0.074,0.049,2126,3746,3979
$GC,5403,-1.22,-121.7,840.2,-17.5,538,5409,0.22,1.67,0.00,0.000,6,0.177,0.025,2182,2587,3978
$GC,5724,-1.38,-121.7,880.0,-12.2,554,5728,0.15,1.83,0.00,0.000,4,0.081,0.049,2126,3744,3976
$GC,5771,-1.26,-121.7,887.6,-16.7,556,5775,0.15,1.70,0.00,0.000,6,0.174,0.025,2168,2599,3975
$GC,6107,-1.34,-121.7,934.9,-13.8,572,6111,0.00,1.83,0.00,0.000,4,0.000,0.052,2165,3747,3974
$GC,6210,-1.34,-121.7,950.1,-14.3,576,6214,0.00,1.65,0.00,0.000,6,0.000,0.027,2165,2617,3972
$STATE,6488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6488,begin apogee
$GC,6496,-0.27,0.0,990.6,14.6,590,6601,1.12,0.00,96.53,1.378,6,0.160,0.000,2489,2383,3531
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6607,1.50,121.7,995.3,0.0,595,6720,1.58,2.30,105.72,1.361,4,0.053,0.028,3069,967,3035
$GC,6974,0.71,121.7,966.9,15.5,611,6980,1.05,2.17,0.00,0.000,6,0.224,0.035,2812,2363,3030
$GC,7297,0.56,169.9,934.2,9.7,627,7345,0.17,2.22,40.60,1.321,4,0.201,0.032,2771,974,2838
$GC,7577,0.64,187.3,902.6,11.9,639,7597,0.00,2.15,14.98,1.238,6,0.000,0.036,2771,2361,2768
$GC,7920,0.64,187.3,856.7,13.9,656,7923,0.00,2.22,0.00,0.000,4,0.000,0.053,2771,3764,2764
$GC,7955,0.53,187.3,851.3,16.0,657,7959,0.00,2.10,0.00,0.000,6,0.000,0.028,2775,2365,2764
$GC,8277,0.53,187.3,807.1,13.6,673,8281,0.00,2.22,0.00,0.000,4,0.000,0.051,2776,3755,2763
$GC,8317,0.39,187.3,801.1,15.7,674,8324,0.30,2.08,0.00,0.000,6,0.190,0.028,2708,2351,2762
$GC,8635,0.68,229.4,768.2,10.1,690,8680,0.22,2.33,36.25,1.253,4,0.077,0.052,2800,3760,2594
$GC,8768,0.55,229.4,746.6,18.5,695,8776,0.17,2.08,0.00,0.000,6,0.191,0.029,2761,2390,2591
$GC,9086,0.68,229.4,701.1,14.6,711,9091,0.12,2.20,0.00,0.000,4,0.087,0.051,2810,3757,2589
$GC,9345,0.52,229.4,652.9,19.5,722,9352,0.28,2.05,0.00,0.000,6,0.186,0.028,2748,2374,2588
$GC,9662,0.71,235.6,611.1,12.7,738,9670,0.17,0.00,5.25,0.906,6,0.079,0.000,2813,2371,2571
$GC,9971,0.71,235.6,563.1,15.3,753,9974,0.00,2.22,0.00,0.000,4,0.000,0.053,2813,3758,2570
$GC,10051,0.57,235.6,549.5,17.6,756,10056,0.22,2.00,0.00,0.000,6,0.189,0.028,2766,2403,2569
$GC,10369,0.73,246.6,509.1,12.4,771,10384,0.15,2.20,10.23,1.018,4,0.080,0.053,2823,3760,2525
$GC,10512,0.59,246.6,483.5,17.9,780,10516,0.22,2.00,0.00,0.000,6,0.189,0.028,2774,2415,2524
$GC,10844,0.75,249.5,438.6,13.0,811,10857,0.15,2.20,3.88,0.693,4,0.081,0.050,2832,3764,2514
$GC,10965,0.59,249.5,418.7,17.1,821,10970,0.28,1.98,0.00,0.000,6,0.185,0.025,2770,2410,2514
$GC,11293,0.79,270.2,377.7,11.7,851,11317,0.17,2.20,18.60,0.973,4,0.077,0.029,2851,986,2429
$GC,11482,0.79,270.2,348.6,15.8,867,11489,0.00,2.20,0.00,0.000,6,0.000,0.035,2850,2413,2426
$GC,11810,0.79,270.2,294.4,16.2,900,11816,0.00,2.12,0.00,0.000,4,0.000,0.051,2851,3761,2426
$GC,12073,0.62,270.2,247.5,19.4,946,12080,0.30,1.98,0.00,0.000,6,0.186,0.026,2782,2409,2425
$GC,12423,0.91,322.3,209.6,9.4,1007,12471,0.22,2.25,42.40,0.844,4,0.066,0.049,2878,3755,2217
$GC,12728,0.77,322.3,154.2,16.0,1060,12735,0.22,1.98,0.00,0.000,6,0.179,0.025,2826,2424,2212
$GC,13076,1.01,362.4,111.1,10.3,1121,13118,0.17,2.20,32.53,0.746,4,0.074,0.028,2913,986,2053
$GC,13375,1.21,369.9,69.0,12.7,1173,13388,0.17,2.22,6.93,0.608,6,0.071,0.033,2981,2441,2023
$GC,13731,1.26,408.5,25.2,10.4,1235,13768,0.00,2.28,31.75,0.650,4,0.000,0.026,2990,973,1866
$GC,13837,1.32,408.5,10.1,15.4,1253,13843,0.00,2.22,0.00,0.000,6,0.000,0.032,2990,2427,1862
$STATE,13886,end climb,SURFACE_DEPTH_REACHED
$STATE,13887,begin surface coast
$FINISH,1.9,1.021329
$STATE,13910,end surface coast,CONTROL_FINISHED_OK
$STATE,13911,begin surface
$SM_CCo,13932,49.78,0.629,0,0,1594,475.15
$SM_GC,3.41,0.00,0.00,49.78,0.000,0.000,0.629,139,2430,1594,-7.63,1.33,475.15
$IRIDIUM_FIX,2451.31,12244.69,231198,161623
$TT8_MAMPS,0.029146
$HUMID,1779
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.0,103.563
$10V_AH,10.5,54.161
$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,27.900,114.400,445.625,49.775,0.000,29.094,34.674,179.607,8.250,0.000,0.000,15.412,2294.717,8325.346,593.804,2461.022,717.282,0.000,1826.138,0.000,2391.478,0.000,54.413,0.000
$DEVICE_MAMPS,237.770,52.923,1377.532,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.273,876.136,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69510,1266
$CAP_FILE_SIZE,149143,0
$CFSIZE,260165632,178946048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206, 77.0,1
$GPS,300809,002907,2458.670,12245.622,35,1.0,35,-3.6