version: 66.04
glider: 167
mission: 2
dive: 607
start: 8 30 109 20 53 38
data:
$ID,167
$MISSION,2
$DIVE,607
$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,-21239.914
$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,97
$R_STBD_OVSHOOT,43
$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
$GPS1,204537,2458.804,12251.942,36,1.2,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.2
$GPS2,205319,2459.012,12252.132,14,1.2,14,-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,137.8,22654,-25.0,-13.200
$D_GRID,1567
$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,-29.10,0.000,2,0.000,0.000,141,2368,2331
$GC,53,-1.50,-121.7,3.2,-1.8,5,118,7.97,2.03,-47.47,0.000,4,0.227,0.036,2093,1002,3990
$GC,201,-0.84,-121.7,44.7,-38.8,30,208,0.82,2.08,0.00,0.000,6,0.192,0.028,2301,2391,3991
$GC,549,-0.94,-121.7,106.8,-16.9,91,555,0.00,2.08,0.00,0.000,4,0.000,0.044,2296,3746,3993
$GC,799,-1.17,-121.7,143.7,-13.5,135,806,0.25,1.85,0.00,0.000,6,0.060,0.022,2192,2425,3995
$GC,1147,-1.17,-121.7,209.2,-14.9,196,1154,0.00,2.05,0.00,0.000,4,0.000,0.044,2187,3752,3996
$GC,1317,-1.05,-121.7,238.9,-19.7,225,1323,0.20,1.85,0.00,0.000,6,0.156,0.022,2242,2437,3996
$GC,1668,-1.28,-121.7,282.9,-12.5,286,1674,0.17,2.05,0.00,0.000,4,0.066,0.044,2162,3756,3997
$GC,1825,-1.10,-121.7,313.4,-20.3,307,1832,0.22,1.83,0.00,0.000,6,0.163,0.023,2222,2468,3997
$GC,2152,-1.30,-121.7,360.7,-12.5,338,2156,0.17,2.00,0.00,0.000,4,0.066,0.044,2139,3750,3997
$GC,2285,-1.10,-121.7,386.3,-21.7,349,2292,0.30,1.77,0.00,0.000,6,0.163,0.024,2221,2504,3997
$GC,2613,-1.35,-121.7,427.6,-11.0,380,2617,0.20,1.95,0.00,0.000,4,0.064,0.046,2138,3751,3996
$GC,2829,-1.19,-121.7,468.2,-18.7,399,2833,0.20,1.75,0.00,0.000,6,0.163,0.025,2190,2536,3996
$GC,3168,-1.34,-121.7,514.1,-12.7,426,3172,0.12,1.90,0.00,0.000,4,0.076,0.048,2137,3743,3993
$GC,3230,-1.24,-121.7,524.0,-16.0,428,3238,0.17,1.70,0.00,0.000,6,0.167,0.025,2181,2560,3993
$GC,3548,-1.37,-121.7,569.2,-14.3,444,3552,0.12,1.88,0.00,0.000,4,0.082,0.048,2126,3753,3991
$GC,3719,-1.22,-121.7,601.2,-19.3,451,3723,0.22,1.67,0.00,0.000,6,0.171,0.026,2184,2597,3989
$GC,4042,-1.37,-121.7,646.3,-13.3,467,4046,0.15,1.80,0.00,0.000,4,0.074,0.048,2124,3740,3987
$GC,4091,-1.26,-121.7,654.3,-18.1,469,4095,0.20,1.65,0.00,0.000,6,0.172,0.025,2175,2596,3987
$GC,4430,-1.41,-121.7,700.3,-12.7,485,4434,0.15,1.83,0.00,0.000,4,0.080,0.048,2113,3754,3984
$GC,4469,-1.26,-121.7,707.6,-18.1,486,4476,0.17,1.67,0.00,0.000,6,0.174,0.025,2163,2619,3983
$GC,4790,-1.37,-121.7,751.5,-14.2,502,4794,0.00,1.77,0.00,0.000,4,0.000,0.051,2162,3741,3980
$GC,4875,-1.42,-121.7,765.1,-15.2,505,4881,0.12,1.62,0.00,0.000,6,0.081,0.026,2115,2620,3980
$GC,5192,-1.34,-121.7,821.1,-18.1,521,5196,0.12,1.80,0.00,0.000,4,0.175,0.050,2138,3754,3977
$GC,5228,-1.27,-121.7,827.7,-18.2,522,5232,0.12,1.65,0.00,0.000,6,0.176,0.026,2166,2617,3977
$GC,5550,-1.42,-121.7,871.5,-13.2,538,5554,0.15,1.80,0.00,0.000,4,0.079,0.049,2111,3753,3974
$GC,5621,-1.30,-121.7,882.9,-17.4,541,5625,0.20,1.62,0.00,0.000,6,0.177,0.025,2160,2632,3974
$GC,5958,-1.42,-121.7,928.4,-13.5,557,5963,0.12,1.80,0.00,0.000,4,0.087,0.049,2113,3767,3972
$GC,6029,-1.32,-121.7,940.5,-18.4,560,6033,0.15,1.62,0.00,0.000,6,0.179,0.025,2148,2644,3972
$GC,6365,-1.41,-121.7,986.7,-13.4,576,6369,0.00,1.77,0.00,0.000,4,0.000,0.052,2144,3742,3969
$STATE,6386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6386,begin apogee
$GC,6397,-0.27,0.0,990.6,14.4,577,6501,1.17,0.00,95.80,1.378,6,0.158,0.000,2486,2371,3532
$STATE,6502,end apogee,CONTROL_FINISHED_OK
$STATE,6502,begin climb
$GC,6507,1.50,121.7,995.8,0.0,582,6620,1.58,2.30,105.25,1.359,4,0.052,0.047,3061,3747,3035
$GC,6877,0.53,121.7,965.1,17.4,598,6883,1.27,2.00,0.00,0.000,6,0.228,0.023,2758,2376,3030
$GC,7194,0.61,189.1,935.8,8.3,613,7256,0.00,0.00,56.20,1.326,6,0.000,0.000,2758,2375,2759
$GC,7569,0.72,198.6,893.2,12.5,631,7584,0.15,2.25,8.65,1.141,4,0.086,0.051,2814,3740,2722
$GC,7722,0.52,198.6,867.6,17.7,637,7732,0.28,2.00,0.00,0.000,6,0.190,0.024,2753,2369,2720
$GC,8041,0.67,208.4,825.8,12.5,653,8056,0.12,2.20,9.85,1.160,4,0.091,0.048,2800,3751,2681
$GC,8108,0.54,208.4,814.9,17.4,656,8113,0.20,2.00,0.00,0.000,6,0.190,0.025,2760,2388,2680
$GC,8443,0.69,228.9,773.1,11.7,672,8468,0.12,2.22,18.75,1.219,4,0.088,0.050,2806,3733,2597
$GC,8510,0.58,228.9,763.0,16.4,675,8514,0.20,2.00,0.00,0.000,6,0.186,0.025,2765,2384,2596
$GC,8844,0.73,230.8,719.1,13.1,691,8849,0.15,2.17,0.00,0.000,4,0.081,0.050,2822,3744,2594
$GC,8952,0.57,230.8,700.1,18.5,695,8959,0.25,1.98,0.00,0.000,6,0.188,0.026,2764,2410,2593
$GC,9271,0.73,231.9,656.7,13.1,711,9275,0.15,2.15,0.00,0.000,4,0.080,0.049,2821,3754,2592
$GC,9311,0.58,231.9,650.0,17.9,713,9315,0.22,1.98,0.00,0.000,6,0.190,0.025,2771,2405,2592
$GC,9644,0.74,247.6,607.9,12.1,729,9668,0.15,2.17,15.40,1.121,4,0.084,0.050,2827,3750,2521
$GC,9793,0.61,247.6,583.6,17.9,735,9797,0.22,1.95,0.00,0.000,6,0.189,0.025,2779,2418,2519
$GC,10120,0.76,247.6,538.4,13.4,751,10125,0.15,2.12,0.00,0.000,4,0.082,0.049,2835,3744,2518
$GC,10296,0.63,247.6,507.7,17.5,759,10300,0.22,1.90,0.00,0.000,6,0.189,0.026,2787,2445,2518
$GC,10627,0.76,248.0,463.1,13.2,787,10631,0.12,2.08,0.00,0.000,4,0.085,0.049,2835,3741,2518
$GC,10771,0.65,248.0,438.1,18.1,799,10777,0.20,1.90,0.00,0.000,6,0.189,0.026,2794,2435,2517
$GC,11097,0.79,257.0,395.2,12.5,830,11109,0.12,0.00,8.65,0.917,6,0.086,0.000,2841,2434,2484
$GC,11424,0.79,257.0,348.5,13.5,861,11428,0.00,2.10,0.00,0.000,4,0.000,0.050,2842,3755,2482
$GC,11684,0.68,257.0,306.7,14.9,884,11689,0.20,1.90,0.00,0.000,6,0.184,0.025,2801,2430,2481
$GC,12027,0.92,310.1,269.1,9.3,939,12080,0.17,2.17,44.15,0.892,4,0.070,0.049,2877,3738,2266
$GC,12336,0.77,310.1,214.1,20.2,993,12343,0.22,1.83,0.00,0.000,6,0.183,0.024,2828,2469,2261
$GC,12685,0.97,318.4,168.0,12.6,1054,12698,0.17,2.10,7.25,0.693,4,0.075,0.048,2904,3751,2233
$GC,12871,0.84,318.4,135.9,16.3,1086,12878,0.22,1.83,0.00,0.000,6,0.178,0.024,2853,2481,2232
$GC,13219,1.06,334.2,92.8,12.1,1147,13239,0.17,2.08,14.57,0.692,4,0.074,0.046,2929,3755,2168
$GC,13444,0.96,340.5,56.7,12.7,1186,13457,0.20,1.80,6.32,0.577,6,0.174,0.022,2885,2486,2144
$GC,13801,1.34,434.3,33.1,6.4,1248,13883,0.30,0.00,73.72,0.644,6,0.059,0.000,3011,2484,1760
$STATE,14012,end climb,SURFACE_DEPTH_REACHED
$STATE,14012,begin surface coast
$FINISH,1.8,1.008369
$STATE,14030,end surface coast,CONTROL_FINISHED_OK
$STATE,14030,begin surface
$SM_CCo,14051,29.73,0.605,0,0,1594,475.15
$SM_GC,2.74,0.00,0.00,29.73,0.000,0.000,0.605,140,2368,1594,-7.62,-0.42,475.15
$IRIDIUM_FIX,2448.93,12249.97,241198,161607
$TT8_MAMPS,0.029146
$HUMID,1762
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,23.0,104.578
$10V_AH,10.5,54.670
$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,29.325,108.100,464.575,29.725,0.000,25.849,36.591,226.596,9.000,0.000,0.000,14.292,2327.085,8418.127,584.251,2425.792,778.128,0.000,1813.371,0.000,2361.204,0.000,54.418,0.000
$DEVICE_MAMPS,227.799,63.661,1378.299,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,870.768,896.276,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69513,1288
$CAP_FILE_SIZE,152039,0
$CFSIZE,260165632,178475008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.261, 67.3,1
$GPS,310809,004936,2458.675,12255.421,34,0.9,34,-3.6