version: 66.04
glider: 167
mission: 2
dive: 612
start: 8 31 109 17 2 44
data:
$ID,167
$MISSION,2
$DIVE,612
$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,-21369.928
$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,46
$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
$GPS1,165455,2459.654,12306.225,43,1.2,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.7
$GPS2,170223,2459.798,12306.294,15,2.1,34,-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,243.7,5751,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.55,0.000,2,0.000,0.000,139,2410,2137
$GC,44,-1.50,-121.7,3.0,-1.8,4,119,8.07,2.15,-61.88,0.000,4,0.229,0.052,2077,3767,3990
$GC,134,-0.65,-121.7,13.9,-33.4,18,141,1.10,1.98,0.00,0.000,6,0.202,0.020,2363,2360,3991
$GC,482,-0.95,-121.7,77.6,-11.6,79,488,0.22,1.92,0.00,0.000,4,0.059,0.021,2261,1011,3993
$GC,513,-1.07,-121.7,82.5,-16.0,84,520,0.00,2.08,0.00,0.000,6,0.000,0.030,2261,2406,3993
$GC,861,-1.13,-121.7,146.2,-16.0,145,868,0.12,2.05,0.00,0.000,4,0.076,0.043,2204,3749,3995
$GC,1031,-0.91,-121.7,182.5,-22.9,174,1038,0.30,1.88,0.00,0.000,6,0.157,0.021,2289,2410,3996
$GC,1383,-1.22,-121.7,226.7,-11.6,235,1390,0.25,2.08,0.00,0.000,4,0.059,0.043,2178,3750,3996
$GC,1470,-1.02,-121.7,243.4,-20.3,250,1476,0.25,1.83,0.00,0.000,6,0.168,0.021,2245,2442,3996
$GC,1817,-1.20,-121.7,293.8,-13.7,311,1823,0.15,2.03,0.00,0.000,4,0.071,0.044,2178,3750,3996
$GC,1958,-1.11,-121.7,319.2,-17.6,326,1962,0.17,1.83,0.00,0.000,6,0.161,0.021,2224,2446,3996
$GC,2290,-1.26,-121.7,361.4,-12.8,357,2294,0.15,2.03,0.00,0.000,4,0.071,0.043,2154,3754,3997
$GC,2423,-1.06,-121.7,387.7,-20.3,368,2431,0.30,1.80,0.00,0.000,6,0.162,0.022,2236,2467,3997
$GC,2750,-1.32,-121.7,427.5,-11.4,399,2754,0.20,2.00,0.00,0.000,4,0.064,0.044,2150,3750,3997
$GC,2853,-1.15,-121.7,446.5,-20.5,408,2858,0.17,1.80,0.00,0.000,6,0.159,0.022,2212,2502,3997
$GC,3187,-1.36,-121.7,489.8,-13.0,439,3191,0.20,1.95,0.00,0.000,4,0.064,0.046,2126,3751,3995
$GC,3391,-1.18,-121.7,531.6,-19.8,451,3395,0.25,1.75,0.00,0.000,6,0.168,0.023,2192,2525,3993
$GC,3731,-1.36,-121.7,575.6,-12.0,467,3735,0.15,1.92,0.00,0.000,4,0.074,0.044,2126,3761,3991
$GC,3832,-1.23,-121.7,593.7,-17.3,471,3836,0.20,1.73,0.00,0.000,6,0.168,0.022,2178,2546,3991
$GC,4159,-1.36,-121.7,635.6,-12.7,487,4164,0.12,1.90,0.00,0.000,4,0.083,0.048,2126,3760,3988
$GC,4199,-1.25,-121.7,642.4,-16.4,488,4207,0.15,1.77,0.00,0.000,6,0.166,0.023,2170,2542,3987
$GC,4517,-1.36,-121.7,685.5,-13.8,504,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2542,3985
$GC,4828,-1.48,-121.7,727.7,-13.4,519,4832,0.17,1.92,0.00,0.000,4,0.071,0.049,2097,3760,3981
$GC,4924,-1.28,-121.7,745.6,-19.0,523,4928,0.25,1.73,0.00,0.000,6,0.175,0.024,2162,2561,3980
$GC,5255,-1.38,-121.7,790.5,-13.4,539,5259,0.00,1.90,0.00,0.000,4,0.000,0.049,2155,3746,3978
$GC,5417,-1.44,-121.7,814.4,-14.8,546,5422,0.08,1.73,0.00,0.000,6,0.072,0.026,2118,2581,3977
$GC,5754,-1.38,-121.7,870.8,-17.0,562,5758,0.00,1.85,0.00,0.000,4,0.000,0.050,2111,3754,3973
$GC,5856,-1.26,-121.7,889.9,-18.2,566,5860,0.22,1.67,0.00,0.000,6,0.170,0.025,2169,2594,3973
$GC,6183,-1.42,-121.7,929.5,-11.9,582,6184,0.15,0.00,0.00,0.000,6,0.077,0.000,2114,2594,3971
$GC,6488,-1.37,-121.7,977.8,-16.1,597,6492,0.00,1.85,0.00,0.000,4,0.000,0.051,2109,3741,3969
$GC,6547,-1.26,-121.7,988.0,-17.7,599,6551,0.22,1.67,0.00,0.000,6,0.176,0.026,2166,2590,3968
$STATE,6555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6556,begin apogee
$GC,6564,-0.27,0.0,990.3,17.7,600,6668,1.08,0.00,95.47,1.374,6,0.154,0.000,2484,2414,3532
$STATE,6669,end apogee,CONTROL_FINISHED_OK
$STATE,6669,begin climb
$GC,6673,1.50,121.7,995.0,0.0,605,6785,1.60,2.28,105.25,1.356,4,0.054,0.045,3064,3752,3034
$GC,7041,0.52,121.7,963.8,16.6,621,7048,1.30,2.08,0.00,0.000,6,0.227,0.022,2755,2338,3030
$GC,7359,0.61,198.8,937.8,7.6,637,7430,0.00,2.38,64.05,1.333,4,0.000,0.049,2755,3741,2720
$GC,7685,0.61,198.8,894.4,15.0,651,7691,0.00,2.00,0.00,0.000,6,0.000,0.024,2759,2382,2714
$GC,8002,0.74,208.5,854.0,12.5,667,8017,0.17,2.22,8.52,1.137,4,0.081,0.050,2832,3741,2682
$GC,8165,0.51,208.5,824.9,19.0,674,8170,0.35,2.03,0.00,0.000,6,0.186,0.025,2750,2363,2680
$GC,8487,0.70,221.5,784.2,12.3,690,8509,0.15,2.30,12.32,1.184,4,0.081,0.049,2807,3756,2629
$GC,8566,0.57,221.5,771.2,18.0,693,8571,0.17,2.03,0.00,0.000,6,0.189,0.024,2768,2376,2628
$GC,8890,0.70,228.4,729.3,12.7,709,8904,0.12,2.28,7.32,1.061,4,0.087,0.051,2816,3754,2600
$GC,9093,0.56,228.4,692.7,18.9,718,9098,0.25,2.03,0.00,0.000,6,0.186,0.024,2761,2372,2599
$GC,9421,0.74,235.4,649.2,12.7,734,9435,0.17,2.28,7.00,1.018,4,0.079,0.050,2827,3756,2572
$GC,9477,0.59,235.4,640.0,18.6,736,9482,0.25,1.98,0.00,0.000,6,0.187,0.024,2772,2396,2571
$GC,9796,0.77,249.2,599.3,12.2,751,9813,0.15,0.00,12.52,1.097,6,0.081,0.000,2828,2393,2516
$GC,10123,0.77,249.2,547.3,15.6,767,10126,0.00,2.17,0.00,0.000,4,0.000,0.050,2827,3758,2513
$GC,10261,0.66,249.2,524.2,17.8,773,10265,0.17,1.98,0.00,0.000,6,0.191,0.025,2794,2402,2512
$GC,10591,0.79,249.2,478.1,13.5,795,10595,0.12,2.15,0.00,0.000,4,0.083,0.050,2841,3745,2512
$GC,10840,0.65,249.2,432.9,19.1,816,10847,0.22,1.88,0.00,0.000,6,0.185,0.025,2792,2446,2511
$GC,11166,0.81,252.6,388.8,13.0,847,11176,0.15,2.25,3.78,0.658,4,0.078,0.029,2855,986,2502
$GC,11247,0.87,252.6,376.6,16.0,854,11251,0.00,2.25,0.00,0.000,6,0.000,0.033,2855,2452,2501
$GC,11577,0.87,252.6,327.6,14.1,884,11580,0.00,2.03,0.00,0.000,4,0.000,0.051,2855,3746,2501
$GC,11838,0.71,252.6,284.8,17.5,914,11845,0.20,1.83,0.00,0.000,6,0.184,0.026,2813,2482,2501
$GC,12185,0.87,258.3,238.7,12.8,975,12199,0.15,2.08,6.72,0.749,4,0.082,0.048,2874,3748,2477
$GC,12454,0.70,258.3,194.5,15.5,1022,12460,0.28,1.85,0.00,0.000,6,0.181,0.025,2811,2461,2476
$GC,12802,0.98,306.6,157.8,9.7,1083,12846,0.20,0.00,39.70,0.779,6,0.071,0.000,2896,2458,2282
$GC,13191,1.05,306.6,104.6,13.2,1150,13197,0.00,2.17,0.00,0.000,4,0.000,0.028,2906,982,2278
$GC,13289,1.20,339.7,91.9,10.8,1167,13326,0.17,2.25,26.73,0.703,6,0.069,0.029,2976,2472,2145
$GC,13670,1.16,366.8,46.7,11.2,1233,13699,0.00,2.00,22.33,0.649,4,0.000,0.048,2976,3748,2035
$GC,13956,1.08,366.8,3.4,14.9,1283,13962,0.22,1.85,0.00,0.000,6,0.184,0.021,2928,2433,2032
$STATE,13967,end climb,SURFACE_DEPTH_REACHED
$STATE,13967,begin surface coast
$FINISH,1.9,0.997853
$STATE,13990,end surface coast,CONTROL_FINISHED_OK
$STATE,13990,begin surface
$SM_CCo,14011,81.07,0.616,0,0,1595,475.15
$SM_GC,3.03,0.00,0.00,81.07,0.000,0.000,0.616,137,2430,1595,-7.64,1.33,475.15
$IRIDIUM_FIX,2451.31,12303.82,251198,131336
$TT8_MAMPS,0.029146
$HUMID,1746
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,12
$24V_AH,21.2,105.416
$10V_AH,10.5,55.095
$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,28.875,107.550,411.725,81.075,0.000,31.074,30.266,186.817,11.000,0.000,0.000,35.937,2348.316,8331.963,606.259,2493.967,753.462,0.000,1844.739,0.000,2414.544,0.000,54.422,0.000
$DEVICE_MAMPS,229.333,52.156,1374.464,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,871.563,898.134,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69533,1289
$CAP_FILE_SIZE,152239,0
$CFSIZE,260165632,178085888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.322, 46.5,1
$GPS,310809,205901,2500.716,12306.960,40,1.3,41,-3.6