version: 66.04
glider: 167
mission: 2
dive: 614
start: 9 1 109 1 10 31
data:
$ID,167
$MISSION,2
$DIVE,614
$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,-21403.059
$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,74
$R_STBD_OVSHOOT,38
$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
$GPS1,010237,2501.544,12307.651,42,0.9,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-65.9
$GPS2,011008,2501.662,12307.768,14,1.3,14,-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,241.4,9842,-25.0,-13.200
$D_GRID,1713
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-27.92,0.000,2,0.000,0.000,141,2381,2300
$GC,51,-1.50,-121.7,3.3,-2.4,5,117,8.00,2.22,-50.45,0.000,4,0.228,0.052,2084,3773,3989
$GC,334,-0.54,-121.7,110.3,-44.8,54,341,1.15,2.00,0.00,0.000,6,0.186,0.020,2401,2333,3991
$GC,682,-1.27,-121.7,136.4,-6.5,115,690,0.57,2.22,0.00,0.000,4,0.046,0.043,2159,3759,3994
$GC,874,-0.91,-121.7,185.0,-26.0,148,880,0.45,1.88,0.00,0.000,6,0.161,0.021,2286,2417,3994
$GC,1224,-1.21,-121.7,232.7,-12.6,209,1231,0.22,2.08,0.00,0.000,4,0.061,0.043,2186,3758,3995
$GC,1403,-0.98,-121.7,269.1,-22.3,240,1409,0.28,1.88,0.00,0.000,6,0.163,0.021,2261,2421,3996
$GC,1746,-1.24,-121.7,312.9,-12.6,291,1751,0.20,2.08,0.00,0.000,4,0.064,0.044,2174,3757,3996
$GC,1844,-1.09,-121.7,330.5,-19.7,299,1849,0.12,1.88,0.00,0.000,6,0.154,0.022,2223,2454,3996
$GC,2179,-1.27,-121.7,375.4,-12.7,330,2183,0.15,2.03,0.00,0.000,4,0.070,0.043,2154,3763,3995
$GC,2361,-1.12,-121.7,412.0,-18.5,346,2366,0.22,1.80,0.00,0.000,6,0.160,0.023,2214,2488,3996
$GC,2694,-1.28,-121.7,452.1,-11.0,377,2698,0.15,2.00,0.00,0.000,4,0.074,0.046,2152,3768,3995
$GC,2756,-1.17,-121.7,461.6,-15.7,382,2763,0.17,1.80,0.00,0.000,6,0.162,0.023,2197,2504,3995
$GC,3084,-1.32,-121.7,502.9,-12.2,412,3088,0.12,1.98,0.00,0.000,4,0.078,0.046,2144,3769,3993
$GC,3266,-1.20,-121.7,533.8,-18.1,420,3270,0.17,1.77,0.00,0.000,6,0.167,0.024,2188,2530,3993
$GC,3605,-1.36,-121.7,576.1,-12.9,436,3609,0.15,1.92,0.00,0.000,4,0.071,0.047,2123,3759,3991
$GC,3719,-1.22,-121.7,596.7,-17.7,441,3723,0.22,1.73,0.00,0.000,6,0.167,0.024,2183,2558,3990
$GC,4057,-1.35,-121.7,642.3,-13.6,457,4061,0.12,1.90,0.00,0.000,4,0.080,0.048,2136,3764,3987
$GC,4188,-1.27,-121.7,663.6,-16.6,462,4195,0.12,1.73,0.00,0.000,6,0.170,0.025,2165,2567,3986
$GC,4509,-1.36,-121.7,707.4,-12.8,478,4513,0.00,1.90,0.00,0.000,4,0.000,0.050,2165,3753,3983
$GC,4579,-1.43,-121.7,717.3,-13.3,481,4583,0.12,1.70,0.00,0.000,6,0.084,0.025,2117,2582,3982
$GC,4917,-1.34,-121.7,770.7,-16.5,497,4921,0.12,1.85,0.00,0.000,4,0.172,0.048,2141,3754,3979
$GC,5000,-1.34,-121.7,784.7,-15.3,500,5006,0.00,1.67,0.00,0.000,6,0.000,0.025,2141,2593,3979
$GC,5319,-1.34,-121.7,832.0,-15.1,516,5323,0.00,1.88,0.00,0.000,4,0.000,0.051,2140,3757,3976
$GC,5358,-1.34,-121.7,838.9,-15.8,517,5364,0.00,1.67,0.00,0.000,6,0.000,0.025,2139,2596,3976
$GC,5675,-1.34,-121.7,885.7,-15.1,533,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2596,3974
$GC,5986,-1.34,-121.7,931.4,-14.6,548,5990,0.00,1.88,0.00,0.000,4,0.000,0.052,2139,3757,3971
$GC,6059,-1.34,-121.7,942.8,-15.6,551,6063,0.00,1.67,0.00,0.000,6,0.000,0.027,2139,2606,3971
$GC,6387,-1.39,-121.7,987.8,-13.6,567,6391,0.00,1.83,0.00,0.000,4,0.000,0.052,2139,3756,3969
$STATE,6401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6401,begin apogee
$GC,6413,-0.27,0.0,990.4,13.5,567,6519,1.17,0.00,95.43,1.372,6,0.159,0.000,2483,2371,3532
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.50,121.7,994.9,0.0,573,6636,1.60,2.30,104.88,1.358,4,0.056,0.046,3063,3758,3034
$GC,6893,0.53,121.7,959.3,17.7,589,6900,1.27,2.03,0.00,0.000,6,0.226,0.022,2758,2365,3030
$GC,7211,0.60,180.0,928.4,9.0,605,7266,0.00,2.35,48.30,1.323,4,0.000,0.048,2758,3758,2797
$GC,7521,0.56,180.0,884.7,15.5,619,7525,0.00,2.03,0.00,0.000,6,0.000,0.023,2763,2386,2793
$GC,7856,0.63,185.2,842.1,12.8,635,7863,0.00,0.00,4.75,0.927,6,0.000,0.000,2762,2384,2776
$GC,8164,0.72,194.4,801.6,12.5,650,8179,0.15,2.15,9.00,1.135,4,0.081,0.029,2829,977,2739
$GC,8248,0.72,194.4,789.2,15.2,653,8254,0.00,2.15,0.00,0.000,6,0.000,0.032,2829,2383,2738
$GC,8565,0.61,194.4,740.7,15.1,669,8570,0.17,2.17,0.00,0.000,4,0.183,0.050,2779,3759,2737
$GC,8606,0.53,194.4,734.7,14.7,671,8610,0.15,2.05,0.00,0.000,6,0.188,0.026,2752,2360,2737
$GC,8940,0.70,223.4,696.4,11.1,687,8972,0.15,2.30,25.67,1.200,4,0.084,0.051,2809,3748,2621
$GC,9078,0.59,223.4,674.8,17.0,693,9083,0.17,2.03,0.00,0.000,6,0.192,0.025,2776,2378,2618
$GC,9413,0.71,224.7,628.8,13.1,709,9417,0.00,2.20,0.00,0.000,4,0.000,0.050,2776,3755,2616
$GC,9549,0.71,224.7,608.4,14.2,715,9553,0.00,2.00,0.00,0.000,6,0.000,0.025,2776,2393,2615
$GC,9885,0.84,233.0,566.1,12.6,731,9899,0.20,2.22,8.52,1.019,4,0.074,0.050,2859,3755,2581
$GC,9985,0.61,233.0,548.5,17.9,735,9989,0.35,2.00,0.00,0.000,6,0.191,0.025,2778,2383,2581
$GC,10303,0.76,242.8,508.5,12.5,750,10315,0.15,0.00,9.35,1.001,6,0.082,0.000,2835,2379,2542
$GC,10623,0.76,242.8,458.2,16.1,777,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2379,2540
$GC,10950,0.76,242.8,406.4,15.2,808,10954,0.00,2.20,0.00,0.000,4,0.000,0.050,2835,3761,2539
$GC,11116,0.66,242.8,380.3,15.8,822,11123,0.20,1.98,0.00,0.000,6,0.183,0.025,2794,2400,2538
$GC,11444,0.83,264.6,340.5,11.6,853,11470,0.15,2.22,18.62,0.937,4,0.080,0.049,2852,3757,2452
$GC,11641,0.75,264.6,304.4,18.1,870,11648,0.17,1.92,0.00,0.000,6,0.186,0.024,2819,2421,2450
$GC,11987,0.91,288.7,257.2,11.5,928,12018,0.15,2.17,21.17,0.865,4,0.079,0.048,2878,3751,2353
$GC,12096,0.79,288.7,240.1,17.3,946,12102,0.20,1.90,0.00,0.000,6,0.182,0.023,2836,2433,2351
$GC,12443,0.95,292.8,195.7,12.9,1007,12452,0.15,2.15,4.55,0.607,4,0.078,0.046,2894,3754,2338
$GC,12647,0.83,292.8,158.5,17.4,1042,12653,0.22,1.90,0.00,0.000,6,0.181,0.022,2846,2423,2337
$GC,12996,1.07,345.4,117.4,9.4,1103,13044,0.17,2.20,42.75,0.736,4,0.073,0.046,2922,3760,2122
$GC,13143,1.00,345.4,95.2,17.6,1128,13149,0.00,1.90,0.00,0.000,6,0.000,0.021,2931,2429,2118
$GC,13490,1.11,376.6,50.7,10.9,1189,13519,0.00,0.00,25.00,0.656,6,0.000,0.000,2932,2427,1996
$GC,13859,1.38,447.8,7.8,8.0,1254,13903,0.22,0.00,40.58,0.612,2,0.062,0.000,3026,2426,1788
$STATE,13904,end climb,SURFACE_DEPTH_REACHED
$STATE,13904,begin surface coast
$FINISH,1.8,1.021397
$STATE,13925,end surface coast,CONTROL_FINISHED_OK
$STATE,13925,begin surface
$SM_CCo,13947,35.10,0.599,0,0,1594,475.15
$SM_GC,3.06,0.00,0.00,35.10,0.000,0.000,0.599,139,2423,1594,-7.63,1.13,475.15
$IRIDIUM_FIX,2451.31,12305.12,251198,212136
$TT8_MAMPS,0.029146
$HUMID,1749
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,12
$24V_AH,23.1,105.750
$10V_AH,10.6,55.264
$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,27.875,103.475,458.575,35.100,0.000,24.537,57.897,186.950,11.000,0.000,0.000,15.061,2286.139,8401.193,575.738,2394.792,768.664,0.000,1786.898,0.000,2337.434,0.000,54.420,0.000
$DEVICE_MAMPS,227.799,52.156,1372.163,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.624,865.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69459,1265
$CAP_FILE_SIZE,146194,0
$CFSIZE,260165632,177938432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.349, 60.7,1
$GPS,010909,050500,2502.157,12308.710,38,1.2,44,-3.6