version: 66.04
glider: 167
mission: 2
dive: 609
start: 8 31 109 5 1 49
data:
$ID,167
$MISSION,2
$DIVE,609
$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,-21285.686
$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,96
$R_STBD_OVSHOOT,37
$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
$GPS1,045406,2458.342,12259.104,38,1.0,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-68.9
$GPS2,050128,2458.416,12259.249,11,5.5,30,-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,154.8,10754,-25.0,-13.200
$D_GRID,1630
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.65,0.000,2,0.000,0.000,142,2350,2139
$GC,44,-1.50,-121.7,3.1,-1.1,4,119,7.97,1.98,-59.65,0.000,4,0.226,0.037,2090,989,3988
$GC,224,-0.53,-121.7,56.4,-52.2,34,231,1.25,2.10,0.00,0.000,6,0.204,0.027,2403,2412,3989
$GC,572,-1.18,-121.7,96.1,-5.3,95,579,0.50,2.05,0.00,0.000,4,0.046,0.044,2191,3746,3993
$GC,768,-0.89,-121.7,139.0,-18.9,129,775,0.35,1.88,0.00,0.000,6,0.161,0.021,2290,2397,3993
$GC,1116,-1.16,-121.7,188.0,-13.1,190,1123,0.20,2.08,0.00,0.000,4,0.062,0.042,2194,3739,3994
$GC,1339,-0.99,-121.7,236.8,-20.8,229,1346,0.25,1.77,0.00,0.000,6,0.162,0.022,2263,2469,3995
$GC,1691,-1.30,-121.7,278.9,-9.8,290,1697,0.25,1.98,0.00,0.000,4,0.061,0.043,2152,3751,3995
$GC,1815,-1.12,-121.7,301.2,-18.6,310,1821,0.25,1.75,0.00,0.000,6,0.161,0.022,2220,2494,3996
$GC,2141,-1.28,-121.7,347.9,-13.7,341,2145,0.15,1.95,0.00,0.000,4,0.068,0.043,2152,3751,3995
$GC,2317,-1.05,-121.7,385.9,-22.6,356,2325,0.32,1.73,0.00,0.000,6,0.166,0.023,2241,2522,3995
$GC,2644,-1.33,-121.7,427.1,-11.3,387,2648,0.22,1.90,0.00,0.000,4,0.061,0.044,2141,3744,3995
$GC,2746,-1.19,-121.7,444.0,-18.5,396,2750,0.15,1.70,0.00,0.000,6,0.162,0.023,2186,2563,3995
$GC,3077,-1.28,-121.7,488.5,-13.3,427,3081,0.00,1.83,0.00,0.000,4,0.000,0.045,2179,3739,3993
$GC,3178,-1.28,-121.7,502.9,-15.4,435,3182,0.00,1.67,0.00,0.000,6,0.000,0.023,2179,2556,3993
$GC,3503,-1.36,-121.7,551.3,-16.1,451,3507,0.12,1.85,0.00,0.000,4,0.084,0.047,2125,3740,3991
$GC,3659,-1.17,-121.7,581.6,-19.6,457,3666,0.28,1.67,0.00,0.000,6,0.169,0.025,2198,2569,3990
$GC,3978,-1.40,-121.7,621.2,-11.5,473,3982,0.17,1.85,0.00,0.000,4,0.072,0.048,2125,3744,3988
$GC,4025,-1.28,-121.7,628.5,-17.0,475,4029,0.15,1.65,0.00,0.000,6,0.174,0.024,2161,2597,3987
$GC,4365,-1.37,-121.7,675.3,-13.7,491,4368,0.00,1.80,0.00,0.000,4,0.000,0.051,2161,3739,3985
$GC,4483,-1.37,-121.7,693.0,-14.3,496,4486,0.00,1.62,0.00,0.000,6,0.000,0.025,2161,2604,3983
$GC,4811,-1.46,-121.7,737.1,-13.2,512,4815,0.15,1.80,0.00,0.000,4,0.082,0.050,2099,3743,3981
$GC,4919,-1.25,-121.7,757.1,-19.0,516,4927,0.30,1.60,0.00,0.000,6,0.180,0.025,2176,2631,3979
$GC,5237,-1.41,-121.7,798.0,-12.5,532,5241,0.15,1.75,0.00,0.000,4,0.077,0.048,2113,3742,3977
$GC,5277,-1.30,-121.7,804.4,-16.8,533,5284,0.17,1.60,0.00,0.000,6,0.179,0.025,2156,2634,3976
$GC,5595,-1.38,-121.7,847.3,-13.8,549,5598,0.00,1.75,0.00,0.000,4,0.000,0.051,2152,3738,3974
$GC,5658,-1.38,-121.7,856.8,-15.4,551,5664,0.00,1.60,0.00,0.000,6,0.000,0.027,2152,2636,3973
$GC,5976,-1.46,-121.7,901.9,-14.2,567,5980,0.12,1.75,0.00,0.000,4,0.088,0.051,2099,3733,3971
$GC,6027,-1.29,-121.7,911.0,-18.2,569,6031,0.25,1.60,0.00,0.000,6,0.182,0.027,2163,2631,3971
$GC,6359,-1.42,-121.7,956.3,-13.8,585,6363,0.12,1.77,0.00,0.000,4,0.086,0.049,2113,3731,3968
$GC,6410,-1.32,-121.7,965.4,-17.2,587,6414,0.15,1.58,0.00,0.000,6,0.179,0.026,2148,2661,3968
$STATE,6589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6589,begin apogee
$GC,6599,-0.27,0.0,992.4,14.4,596,6703,1.15,0.00,95.28,1.384,6,0.158,0.000,2484,2398,3532
$STATE,6704,end apogee,CONTROL_FINISHED_OK
$STATE,6704,begin climb
$GC,6707,1.50,121.7,997.4,0.0,601,6822,1.60,2.30,105.40,1.367,4,0.055,0.046,3063,3748,3034
$GC,7078,0.53,121.7,965.9,17.4,617,7085,1.30,2.05,0.00,0.000,6,0.229,0.021,2754,2339,3031
$GC,7395,0.60,181.7,936.3,8.8,633,7450,0.00,2.33,49.95,1.330,4,0.000,0.050,2754,3737,2791
$GC,7631,0.60,181.7,903.9,16.5,643,7637,0.00,2.00,0.00,0.000,6,0.000,0.024,2759,2386,2786
$GC,7949,0.68,185.6,861.2,12.9,659,7958,0.12,2.20,3.72,0.785,4,0.090,0.050,2806,3734,2775
$GC,8005,0.46,185.6,852.2,17.1,661,8010,0.32,1.98,0.00,0.000,6,0.189,0.025,2731,2371,2774
$GC,8328,0.68,226.4,815.8,10.2,677,8371,0.20,2.25,35.92,1.274,4,0.077,0.050,2812,3737,2609
$GC,8490,0.54,226.4,789.3,17.6,684,8495,0.25,2.03,0.00,0.000,6,0.189,0.025,2757,2369,2605
$GC,8812,0.71,234.7,748.8,12.6,700,8827,0.15,2.25,7.55,1.071,4,0.082,0.048,2814,3737,2575
$GC,8961,0.57,234.7,724.2,17.8,706,8966,0.22,1.98,0.00,0.000,6,0.192,0.026,2766,2390,2573
$GC,9279,0.72,240.4,682.3,12.8,721,9290,0.12,2.15,5.60,0.960,4,0.086,0.048,2813,3744,2554
$GC,9426,0.59,240.4,655.4,18.6,727,9432,0.20,2.00,0.00,0.000,6,0.192,0.025,2773,2378,2553
$GC,9743,0.73,240.4,606.7,14.6,743,9747,0.12,2.17,0.00,0.000,4,0.087,0.050,2820,3735,2552
$GC,9845,0.60,240.4,588.8,17.6,747,9852,0.20,1.98,0.00,0.000,6,0.193,0.025,2778,2376,2551
$GC,10162,0.75,249.0,548.5,12.6,763,10177,0.12,2.22,8.70,1.019,4,0.086,0.051,2826,3733,2516
$GC,10237,0.63,249.0,536.8,17.6,766,10241,0.17,1.98,0.00,0.000,6,0.195,0.025,2785,2395,2514
$GC,10556,0.77,249.0,491.6,13.7,784,10560,0.12,2.15,0.00,0.000,4,0.085,0.049,2833,3738,2514
$GC,10817,0.63,249.0,445.5,17.3,806,10823,0.22,1.98,0.00,0.000,6,0.189,0.025,2785,2396,2513
$GC,11145,0.83,266.9,408.0,11.9,837,11168,0.17,2.15,15.43,0.984,4,0.076,0.049,2853,3742,2445
$GC,11383,0.68,266.9,365.2,18.8,858,11388,0.25,1.98,0.00,0.000,6,0.188,0.025,2798,2393,2443
$GC,11709,0.87,285.0,322.1,11.9,888,11733,0.17,2.17,16.67,0.912,4,0.074,0.048,2868,3746,2370
$GC,11978,0.73,285.0,273.9,16.4,924,11986,0.22,1.92,0.00,0.000,6,0.184,0.025,2820,2422,2368
$GC,12327,0.88,285.0,227.5,13.5,985,12334,0.12,2.10,0.00,0.000,4,0.087,0.048,2871,3740,2367
$GC,12403,0.76,285.0,214.2,18.1,998,12410,0.20,1.90,0.00,0.000,6,0.181,0.023,2829,2413,2367
$GC,12754,0.98,312.0,173.3,11.2,1059,12784,0.17,0.00,22.77,0.785,6,0.074,0.000,2898,2411,2259
$GC,13123,0.98,314.2,111.0,13.0,1124,13130,0.00,2.10,0.00,0.000,4,0.000,0.047,2898,3744,2257
$GC,13249,0.89,314.2,93.0,13.9,1146,13256,0.15,1.88,0.00,0.000,6,0.179,0.022,2870,2425,2257
$GC,13596,1.20,382.8,57.9,8.2,1207,13662,0.22,2.15,55.83,0.678,4,0.067,0.046,2969,3738,1970
$GC,13919,1.13,388.2,13.2,12.8,1263,13932,0.12,1.83,5.05,0.486,6,0.186,0.021,2949,2453,1948
$STATE,13992,end climb,SURFACE_DEPTH_REACHED
$STATE,13992,begin surface coast
$FINISH,2.0,1.021025
$STATE,14019,end surface coast,CONTROL_FINISHED_OK
$STATE,14019,begin surface
$SM_CCo,14041,65.57,0.620,0,0,1595,475.15
$SM_GC,2.77,0.00,0.00,65.57,0.000,0.000,0.620,138,2450,1595,-7.63,1.87,475.15
$IRIDIUM_FIX,2448.93,12257.25,251198,010111
$TT8_MAMPS,0.029146
$HUMID,1748
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,5
$24V_AH,23.0,104.915
$10V_AH,10.5,54.841
$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,30.100,112.075,427.875,65.575,0.000,30.646,32.448,187.316,9.250,0.000,0.000,31.112,2330.021,8389.420,614.938,2465.688,738.833,0.000,1848.904,0.000,2390.553,0.000,54.419,0.000
$DEVICE_MAMPS,229.333,51.389,1384.435,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,865.368,892.132,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69583,1280
$CAP_FILE_SIZE,152928,0
$CFSIZE,260165632,178319360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.376, 50.3,1
$GPS,310809,085807,2458.822,12302.674,28,0.9,29,-3.6