version: 66.04
glider: 167
mission: 2
dive: 606
start: 8 30 109 16 52 34
data:
$ID,167
$MISSION,2
$DIVE,606
$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,-21224.994
$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,87
$R_STBD_OVSHOOT,36
$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
$GPS1,164431,2458.431,12248.584,41,1.4,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-69.9
$GPS2,165214,2458.536,12248.735,14,1.3,14,-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,118.8,28168,-25.0,-13.200
$D_GRID,1389
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.92,0.000,2,0.000,0.000,141,2371,2176
$GC,47,-1.50,-121.7,3.2,-2.4,4,116,8.15,2.03,-54.45,0.000,4,0.233,0.034,2094,971,3988
$GC,205,-0.81,-121.7,46.1,-38.4,30,212,0.82,2.15,0.00,0.000,6,0.176,0.032,2312,2396,3990
$GC,553,-0.98,-121.7,105.1,-14.0,91,560,0.15,2.08,0.00,0.000,4,0.072,0.042,2239,3751,3992
$GC,816,-0.98,-121.7,152.9,-16.8,137,823,0.00,1.92,0.00,0.000,6,0.000,0.021,2239,2365,3994
$GC,1165,-1.19,-121.7,204.3,-11.0,198,1171,0.12,2.15,0.00,0.000,4,0.072,0.043,2179,3751,3996
$GC,1426,-1.00,-121.7,251.9,-21.9,244,1433,0.28,1.85,0.00,0.000,6,0.160,0.022,2255,2434,3996
$GC,1776,-1.29,-121.7,296.2,-11.0,305,1783,0.22,2.05,0.00,0.000,4,0.058,0.044,2152,3753,3996
$GC,1966,-1.12,-121.7,332.5,-18.3,323,1972,0.22,1.83,0.00,0.000,6,0.163,0.023,2212,2464,3996
$GC,2293,-1.30,-121.7,373.0,-11.7,354,2297,0.15,2.03,0.00,0.000,4,0.071,0.044,2149,3761,3995
$GC,2509,-1.16,-121.7,413.5,-17.6,373,2513,0.20,1.77,0.00,0.000,6,0.164,0.023,2201,2511,3995
$GC,2841,-1.34,-121.7,455.5,-11.7,404,2845,0.15,1.95,0.00,0.000,4,0.071,0.046,2140,3756,3993
$GC,3040,-1.17,-121.7,491.4,-19.5,421,3047,0.22,1.73,0.00,0.000,6,0.170,0.024,2198,2548,3993
$GC,3371,-1.34,-121.7,534.9,-14.3,440,3375,0.15,1.90,0.00,0.000,4,0.074,0.048,2140,3752,3990
$GC,3516,-1.26,-121.7,562.6,-18.6,446,3520,0.10,1.73,0.00,0.000,6,0.170,0.024,2169,2575,3989
$GC,3846,-1.37,-121.7,612.7,-14.1,462,3850,0.00,1.85,0.00,0.000,4,0.000,0.048,2165,3751,3987
$GC,3943,-1.42,-121.7,628.8,-16.5,466,3947,0.12,1.67,0.00,0.000,6,0.083,0.025,2117,2587,3986
$GC,4275,-1.34,-121.7,688.6,-17.9,482,4276,0.12,0.00,0.00,0.000,6,0.173,0.000,2146,2586,3983
$GC,4582,-1.40,-121.7,735.9,-14.6,497,4586,0.00,1.85,0.00,0.000,4,0.000,0.048,2140,3744,3980
$GC,4711,-1.40,-121.7,756.4,-15.6,502,4717,0.00,1.65,0.00,0.000,6,0.000,0.025,2140,2604,3979
$GC,5030,-1.40,-121.7,802.2,-14.7,518,5034,0.00,1.83,0.00,0.000,4,0.000,0.051,2140,3758,3976
$GC,5166,-1.40,-121.7,824.3,-15.0,524,5171,0.00,1.65,0.00,0.000,6,0.000,0.026,2140,2624,3975
$GC,5500,-1.40,-121.7,875.3,-15.7,540,5504,0.00,1.83,0.00,0.000,4,0.000,0.052,2140,3751,3973
$GC,5554,-1.40,-121.7,883.7,-16.0,542,5557,0.00,1.62,0.00,0.000,6,0.000,0.027,2140,2634,3973
$GC,5882,-1.46,-121.7,932.9,-15.0,558,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2634,3970
$GC,6192,-1.52,-121.7,979.0,-15.0,573,6196,0.15,1.80,0.00,0.000,4,0.084,0.052,2084,3759,3969
$STATE,6250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6250,begin apogee
$GC,6261,-0.27,0.0,990.5,19.7,575,6358,1.42,0.00,93.70,1.396,6,0.178,0.000,2482,2381,3532
$STATE,6359,end apogee,CONTROL_FINISHED_OK
$STATE,6359,begin climb
$GC,6363,1.50,121.7,995.3,0.0,580,6475,1.60,2.28,105.45,1.357,4,0.051,0.045,3063,3748,3034
$GC,6730,0.51,121.7,962.0,17.9,596,6735,1.30,2.03,0.00,0.000,6,0.227,0.024,2752,2365,3030
$GC,7048,0.59,179.6,933.4,9.0,611,7103,0.00,2.35,48.35,1.322,4,0.000,0.049,2752,3749,2798
$GC,7359,0.59,179.6,893.0,13.3,625,7363,0.00,2.03,0.00,0.000,6,0.000,0.025,2759,2378,2794
$GC,7693,0.70,209.8,854.5,11.0,641,7721,0.12,0.00,25.75,1.272,6,0.091,0.000,2806,2374,2676
$GC,8023,0.70,209.8,809.4,13.5,657,8027,0.00,2.20,0.00,0.000,4,0.000,0.051,2806,3747,2672
$GC,8048,0.60,209.8,805.7,15.0,658,8052,0.15,2.05,0.00,0.000,6,0.194,0.025,2777,2365,2672
$GC,8382,0.70,227.8,764.9,11.9,674,8404,0.00,2.25,15.80,1.202,4,0.000,0.048,2777,3757,2603
$GC,8529,0.70,227.8,743.7,15.6,680,8533,0.00,2.05,0.00,0.000,6,0.000,0.025,2777,2369,2601
$GC,8852,0.81,233.8,701.0,12.8,696,8864,0.17,2.28,6.32,1.004,4,0.077,0.048,2843,3752,2577
$GC,8956,0.60,233.8,682.1,18.6,700,8963,0.30,2.03,0.00,0.000,6,0.190,0.025,2775,2367,2578
$GC,9273,0.74,242.7,639.9,12.6,716,9288,0.12,2.25,8.60,1.057,4,0.086,0.049,2823,3740,2542
$GC,9380,0.60,242.7,622.0,18.0,720,9387,0.22,1.98,0.00,0.000,6,0.188,0.025,2774,2393,2541
$GC,9697,0.76,245.7,581.0,13.0,736,9707,0.15,2.22,3.90,0.751,4,0.081,0.051,2831,3753,2529
$GC,9924,0.61,245.7,542.5,18.1,746,9928,0.25,2.00,0.00,0.000,6,0.188,0.025,2776,2383,2529
$GC,10260,0.78,252.3,500.2,12.7,762,10270,0.15,0.00,7.03,0.943,6,0.080,0.000,2833,2380,2503
$GC,10574,0.78,252.3,450.0,15.0,791,10578,0.00,2.20,0.00,0.000,4,0.000,0.050,2833,3756,2501
$GC,10637,0.66,252.3,439.3,17.8,796,10643,0.20,1.98,0.00,0.000,6,0.188,0.025,2792,2398,2501
$GC,10963,0.80,263.3,397.4,12.4,827,10976,0.15,0.00,10.52,0.946,6,0.077,0.000,2851,2396,2458
$GC,11292,0.80,263.3,347.3,14.6,858,11295,0.00,2.15,0.00,0.000,4,0.000,0.050,2851,3748,2456
$GC,11552,0.65,263.3,301.5,17.9,881,11557,0.25,2.00,0.00,0.000,6,0.186,0.024,2796,2377,2456
$GC,11897,0.84,272.8,259.3,12.5,940,11916,0.15,2.28,9.38,0.827,4,0.080,0.049,2855,3758,2419
$GC,12094,0.72,272.8,224.7,18.3,974,12101,0.20,2.00,0.00,0.000,6,0.183,0.023,2813,2379,2418
$GC,12444,0.97,335.2,189.8,8.7,1035,12502,0.20,2.25,51.00,0.825,4,0.075,0.049,2896,3754,2163
$GC,12760,0.87,335.2,134.5,18.7,1090,12767,0.17,1.95,0.00,0.000,6,0.184,0.022,2862,2401,2157
$GC,13108,1.10,354.2,88.4,11.8,1151,13133,0.17,2.20,15.35,0.696,4,0.077,0.047,2936,3750,2087
$GC,13389,1.02,354.2,45.1,15.4,1200,13396,0.08,1.92,0.00,0.000,6,0.182,0.022,2911,2429,2085
$GC,13737,1.35,438.1,15.6,7.1,1261,13814,0.25,2.17,66.35,0.632,4,0.062,0.045,3015,3755,1743
$STATE,13835,end climb,SURFACE_DEPTH_REACHED
$STATE,13835,begin surface coast
$FINISH,2.0,1.021692
$STATE,13853,end surface coast,CONTROL_FINISHED_OK
$STATE,13853,begin surface
$SM_CCo,13875,27.08,0.603,0,0,1594,475.15
$SM_GC,2.49,0.00,0.00,27.08,0.000,0.000,0.603,142,2368,1594,-7.62,-0.42,475.15
$IRIDIUM_FIX,2451.31,12249.97,241198,121240
$TT8_MAMPS,0.029146
$HUMID,1768
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,22.3,104.407
$10V_AH,10.5,54.585
$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,27.025,100.050,467.500,27.075,0.000,27.446,34.050,225.169,9.000,0.000,0.000,14.297,2294.983,8290.514,576.791,2437.244,756.675,0.000,1795.634,0.000,2381.390,0.000,57.199,0.000
$DEVICE_MAMPS,233.168,52.156,1395.940,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,867.135,889.659,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69454,1281
$CAP_FILE_SIZE,143808,0
$CFSIZE,260165632,178561024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242, 63.8,1
$GPS,300809,204537,2458.804,12251.942,36,1.2,37,-3.6