version: 66.04
glider: 167
mission: 2
dive: 610
start: 8 31 109 9 5 51
data:
$ID,167
$MISSION,2
$DIVE,610
$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,-21298.541
$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,91
$R_STBD_OVSHOOT,54
$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
$GPS1,085807,2458.822,12302.674,28,0.9,29,-3.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-66.8
$GPS2,090532,2458.958,12302.794,12,1.1,12,-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,181.0,5927,-25.0,-13.200
$D_GRID,1700
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-21.80,0.000,2,0.000,0.000,138,2450,2140
$GC,46,-1.50,-121.7,3.1,-2.1,4,121,8.10,2.17,-60.08,0.000,4,0.232,0.034,2091,972,3989
$GC,253,-0.87,-121.7,60.8,-34.5,39,260,0.77,2.10,0.00,0.000,6,0.183,0.030,2292,2379,3991
$GC,601,-1.05,-121.7,117.9,-12.2,100,608,0.15,2.10,0.00,0.000,4,0.068,0.042,2220,3753,3993
$GC,766,-0.91,-121.7,147.4,-19.0,128,774,0.22,1.90,0.00,0.000,6,0.160,0.022,2282,2396,3994
$GC,1116,-1.19,-121.7,198.2,-11.2,189,1122,0.20,2.10,0.00,0.000,4,0.062,0.044,2191,3749,3996
$GC,1327,-1.03,-121.7,240.0,-19.3,226,1333,0.20,1.83,0.00,0.000,6,0.164,0.022,2244,2446,3996
$GC,1678,-1.27,-121.7,287.2,-11.5,287,1685,0.17,2.03,0.00,0.000,4,0.067,0.044,2162,3751,3996
$GC,1858,-1.08,-121.7,325.0,-20.6,308,1866,0.25,1.80,0.00,0.000,6,0.163,0.022,2229,2474,3996
$GC,2184,-1.27,-121.7,369.9,-12.9,339,2189,0.17,1.98,0.00,0.000,4,0.065,0.044,2152,3746,3996
$GC,2340,-1.04,-121.7,401.0,-21.1,352,2348,0.32,1.75,0.00,0.000,6,0.166,0.024,2240,2512,3996
$GC,2669,-1.31,-121.7,439.9,-10.1,383,2673,0.20,1.92,0.00,0.000,4,0.066,0.045,2151,3746,3996
$GC,2787,-1.10,-121.7,460.6,-19.6,393,2794,0.28,1.73,0.00,0.000,6,0.170,0.023,2225,2530,3995
$GC,3114,-1.36,-121.7,494.9,-10.1,424,3118,0.22,1.90,0.00,0.000,4,0.064,0.045,2126,3747,3994
$GC,3256,-1.12,-121.7,521.7,-21.9,432,3260,0.32,1.70,0.00,0.000,6,0.172,0.025,2213,2562,3993
$GC,3592,-1.35,-121.7,568.6,-13.6,448,3596,0.17,1.88,0.00,0.000,4,0.069,0.047,2137,3757,3992
$GC,3767,-1.24,-121.7,603.2,-18.4,455,3774,0.15,1.67,0.00,0.000,6,0.169,0.025,2174,2591,3991
$GC,4084,-1.35,-121.7,649.1,-14.3,471,4092,0.00,1.80,0.00,0.000,4,0.000,0.048,2167,3745,3988
$GC,4197,-1.42,-121.7,665.2,-14.3,475,4203,0.12,1.65,0.00,0.000,6,0.081,0.025,2119,2598,3988
$GC,4513,-1.32,-121.7,720.8,-18.0,491,4518,0.12,1.83,0.00,0.000,4,0.170,0.047,2142,3760,3985
$GC,4629,-1.27,-121.7,740.9,-16.8,496,4633,0.00,1.70,0.00,0.000,6,0.000,0.025,2142,2604,3984
$GC,4962,-1.27,-121.7,791.9,-14.6,512,4966,0.00,1.80,0.00,0.000,4,0.000,0.051,2139,3744,3981
$GC,5058,-1.27,-121.7,807.0,-16.4,516,5062,0.12,1.60,0.00,0.000,6,0.177,0.025,2168,2633,3980
$GC,5390,-1.41,-121.7,849.0,-12.6,532,5395,0.12,1.75,0.00,0.000,4,0.083,0.048,2114,3758,3977
$GC,5556,-1.28,-121.7,877.6,-17.0,539,5560,0.20,1.60,0.00,0.000,6,0.179,0.028,2164,2657,3976
$GC,5888,-1.42,-121.7,919.7,-12.5,555,5889,0.12,0.00,0.00,0.000,6,0.086,0.000,2120,2657,3974
$GC,6193,-1.42,-121.7,968.1,-16.0,570,6197,0.00,1.73,0.00,0.000,4,0.000,0.052,2113,3749,3972
$GC,6257,-1.32,-121.7,978.8,-17.0,572,6265,0.17,1.60,0.00,0.000,6,0.181,0.027,2155,2651,3971
$STATE,6344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6344,begin apogee
$GC,6352,-0.27,0.0,991.6,13.8,577,6457,1.12,0.00,96.03,1.375,6,0.154,0.000,2487,2413,3532
$STATE,6458,end apogee,CONTROL_FINISHED_OK
$STATE,6458,begin climb
$GC,6463,1.50,121.7,996.4,0.0,582,6576,1.58,2.25,105.00,1.359,4,0.054,0.047,3062,3747,3035
$GC,6728,0.53,121.7,982.3,17.4,594,6734,1.27,2.08,0.00,0.000,6,0.225,0.023,2756,2331,3031
$GC,7052,0.62,197.1,954.9,7.7,610,7117,0.00,0.00,63.20,1.335,6,0.000,0.000,2756,2330,2728
$GC,7421,0.75,214.6,913.5,11.9,628,7444,0.20,2.30,15.77,1.243,4,0.077,0.050,2837,3749,2655
$GC,7592,0.51,214.6,882.5,19.6,635,7597,0.38,2.05,0.00,0.000,6,0.189,0.025,2746,2372,2653
$GC,7909,0.70,232.4,842.5,11.9,650,7932,0.17,2.22,16.05,1.231,4,0.081,0.049,2812,3747,2583
$GC,8025,0.56,232.4,823.5,17.1,655,8030,0.20,2.08,0.00,0.000,6,0.192,0.025,2766,2359,2581
$GC,8353,0.70,232.4,778.7,13.5,671,8357,0.12,2.22,0.00,0.000,4,0.085,0.049,2813,3753,2579
$GC,8561,0.55,232.4,740.8,18.3,680,8566,0.22,2.03,0.00,0.000,6,0.188,0.025,2758,2381,2578
$GC,8878,0.72,232.4,699.0,13.3,695,8882,0.15,2.17,0.00,0.000,4,0.082,0.049,2815,3743,2577
$GC,8948,0.58,232.4,687.8,17.0,698,8952,0.20,2.00,0.00,0.000,6,0.189,0.026,2765,2398,2576
$GC,9275,0.73,232.4,644.8,13.3,714,9280,0.15,2.15,0.00,0.000,4,0.081,0.050,2823,3743,2576
$GC,9473,0.58,232.4,609.5,18.1,723,9478,0.22,2.00,0.00,0.000,6,0.189,0.027,2770,2396,2575
$GC,9801,0.75,246.7,568.3,12.2,739,9817,0.15,2.17,11.23,1.066,4,0.081,0.049,2827,3750,2526
$GC,9924,0.62,246.7,548.3,17.6,743,9928,0.22,1.98,0.00,0.000,6,0.188,0.025,2780,2384,2525
$GC,10246,0.79,253.5,507.2,12.7,759,10260,0.15,2.25,7.15,0.944,4,0.079,0.049,2837,3755,2498
$GC,10516,0.66,253.5,460.1,18.5,780,10520,0.20,1.92,0.00,0.000,6,0.188,0.025,2796,2426,2496
$GC,10847,0.79,256.1,413.8,13.0,811,10859,0.12,2.15,3.88,0.676,4,0.084,0.050,2844,3743,2486
$GC,10967,0.65,256.1,393.6,18.2,821,10971,0.22,1.88,0.00,0.000,6,0.185,0.025,2796,2446,2486
$GC,11298,0.82,260.8,349.6,12.9,852,11313,0.15,2.05,5.70,0.782,4,0.080,0.049,2853,3741,2468
$GC,11568,0.68,260.8,302.8,18.0,875,11574,0.25,1.85,0.00,0.000,6,0.184,0.025,2798,2463,2467
$GC,11913,0.89,287.4,263.5,11.3,935,11944,0.17,2.08,23.40,0.864,4,0.074,0.048,2874,3755,2359
$GC,12002,0.74,287.4,248.7,18.1,950,12009,0.25,1.90,0.00,0.000,6,0.179,0.023,2818,2440,2357
$GC,12349,0.98,330.4,207.1,10.1,1011,12391,0.17,0.00,35.38,0.812,6,0.073,0.000,2894,2437,2183
$GC,12734,0.98,330.4,143.3,15.6,1078,12740,0.00,2.15,0.00,0.000,4,0.000,0.028,2903,981,2178
$GC,12781,1.10,330.4,135.6,14.2,1086,12787,0.00,2.25,0.00,0.000,6,0.000,0.030,2904,2466,2178
$GC,13127,1.14,362.0,86.0,10.9,1147,13158,0.12,2.08,25.55,0.692,4,0.081,0.048,2959,3754,2055
$GC,13323,1.02,362.0,49.5,16.2,1181,13330,0.22,1.80,0.00,0.000,6,0.179,0.023,2910,2491,2052
$GC,13671,1.36,450.4,18.9,6.8,1242,13748,0.28,2.28,69.60,0.627,4,0.062,0.027,3032,987,1693
$STATE,13784,end climb,SURFACE_DEPTH_REACHED
$STATE,13785,begin surface coast
$FINISH,1.8,1.020479
$STATE,13800,end surface coast,CONTROL_FINISHED_OK
$STATE,13800,begin surface
$SM_CCo,13824,17.98,0.536,1,0,1594,475.15
$SM_GC,2.65,0.00,0.00,17.98,0.000,0.000,0.536,139,2399,1594,-7.63,0.45,475.15
$IRIDIUM_FIX,2446.56,12300.54,251198,050542
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.1,105.084
$10V_AH,10.5,54.925
$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,29.600,106.400,477.925,17.975,0.000,24.678,31.710,214.064,9.250,0.000,0.000,12.226,2296.828,8166.413,612.105,2451.315,753.203,0.000,1840.150,0.000,2388.459,0.000,54.441,0.000
$DEVICE_MAMPS,231.634,52.156,1375.231,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.152,869.304,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69440,1264
$CAP_FILE_SIZE,151159,0
$CFSIZE,260165632,178245632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.388, 47.8,1
$GPS,310809,125801,2459.255,12305.076,40,1.7,41,-3.6