version: 66.04
glider: 167
mission: 2
dive: 514
start: 8 17 109 21 22 37
data:
$ID,167
$MISSION,2
$DIVE,514
$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,-19244.514
$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,76
$R_STBD_OVSHOOT,39
$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
$GPS1,211507,2455.967,12215.169,26,1.4,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-72.1
$GPS2,212216,2456.081,12215.083,14,99.0,33,-3.5
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$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,106.7,57403,-25.0,-13.200
$D_GRID,1024
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.40,0.000,2,0.000,0.000,136,2371,2156
$GC,45,-1.50,-121.7,3.2,-1.9,4,117,8.18,2.28,-56.95,0.000,4,0.235,0.054,2085,3768,3990
$GC,323,-0.80,-121.7,90.0,-26.6,52,330,0.88,2.05,0.00,0.000,6,0.187,0.026,2319,2358,3993
$GC,670,-1.01,-121.7,135.9,-12.8,113,677,0.17,2.22,0.00,0.000,4,0.071,0.048,2233,3763,3997
$GC,718,-0.83,-121.7,144.5,-20.6,121,725,0.28,2.00,0.00,0.000,6,0.167,0.026,2307,2382,3997
$GC,1065,-1.08,-121.7,190.4,-11.8,182,1073,0.17,2.17,0.00,0.000,4,0.066,0.048,2221,3759,3998
$GC,1154,-0.94,-121.7,206.8,-18.5,197,1161,0.20,1.98,0.00,0.000,6,0.167,0.027,2274,2396,3998
$GC,1502,-1.03,-121.7,257.3,-14.1,258,1508,0.00,2.15,0.00,0.000,4,0.000,0.051,2274,3750,3998
$GC,1583,-1.11,-121.7,268.7,-14.7,272,1590,0.15,1.98,0.00,0.000,6,0.078,0.028,2213,2396,3998
$GC,1921,-1.03,-121.7,328.4,-16.6,318,1925,0.12,2.15,0.00,0.000,4,0.175,0.048,2235,3751,3997
$GC,2046,-1.03,-121.7,349.5,-16.0,329,2054,0.00,1.98,0.00,0.000,6,0.000,0.028,2235,2396,3998
$GC,2381,-1.03,-121.7,402.4,-16.8,360,2385,0.00,2.17,0.00,0.000,4,0.000,0.052,2232,3760,3998
$GC,2432,-1.03,-121.7,411.7,-16.9,364,2438,0.00,1.98,0.00,0.000,6,0.000,0.028,2232,2405,3998
$GC,2757,-1.10,-121.7,462.8,-14.8,395,2761,0.00,2.15,0.00,0.000,4,0.000,0.052,2231,3751,3997
$GC,2803,-1.10,-121.7,469.9,-15.6,399,2807,0.00,1.92,0.00,0.000,6,0.000,0.028,2231,2435,3997
$GC,3135,-1.17,-121.7,519.3,-14.9,424,3139,0.00,2.12,0.00,0.000,4,0.000,0.054,2231,3761,3996
$GC,3278,-1.23,-121.7,539.1,-13.0,430,3283,0.15,1.90,0.00,0.000,6,0.084,0.029,2173,2472,3995
$GC,3610,-1.09,-121.7,592.1,-16.8,446,3614,0.20,2.08,0.00,0.000,4,0.174,0.052,2223,3758,3994
$GC,3677,-1.09,-121.7,602.1,-12.9,449,3680,0.00,1.88,0.00,0.000,6,0.000,0.030,2223,2487,3993
$GC,4006,-1.16,-121.7,645.9,-14.1,465,4009,0.00,2.05,0.00,0.000,4,0.000,0.054,2218,3760,3992
$GC,4079,-1.16,-121.7,657.4,-15.6,468,4082,0.00,1.85,0.00,0.000,6,0.000,0.030,2218,2505,3990
$GC,4409,-1.23,-121.7,701.7,-13.0,484,4413,0.00,2.03,0.00,0.000,4,0.000,0.057,2218,3757,3988
$GC,4523,-1.23,-121.7,717.1,-13.2,489,4527,0.00,1.83,0.00,0.000,6,0.000,0.032,2218,2534,3987
$GC,4857,-1.29,-121.7,759.2,-13.0,505,4861,0.15,1.98,0.00,0.000,4,0.085,0.057,2162,3749,3985
$GC,4886,-1.18,-121.7,763.7,-16.9,506,4890,0.15,1.80,0.00,0.000,6,0.186,0.031,2196,2535,3985
$GC,5213,-1.18,-121.7,809.8,-13.1,522,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2535,3983
$GC,5525,-1.18,-121.7,850.6,-13.1,537,5528,0.00,1.98,0.00,0.000,4,0.000,0.055,2192,3756,3981
$GC,5564,-1.18,-121.7,856.6,-14.4,538,5570,0.00,1.80,0.00,0.000,6,0.000,0.031,2192,2544,3981
$GC,5880,-1.18,-121.7,899.3,-14.1,554,5888,0.00,1.98,0.00,0.000,4,0.000,0.057,2192,3760,3979
$GC,5974,-1.18,-121.7,913.8,-15.5,558,5978,0.00,1.80,0.00,0.000,6,0.000,0.031,2192,2555,3979
$GC,6307,-1.18,-121.7,965.5,-15.9,574,6311,0.00,1.95,0.00,0.000,4,0.000,0.058,2192,3754,3977
$GC,6347,-1.18,-121.7,971.8,-16.1,575,6353,0.00,1.77,0.00,0.000,6,0.000,0.031,2192,2567,3977
$STATE,6474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6474,begin apogee
$GC,6483,-0.27,0.0,991.0,14.8,582,6582,1.05,0.00,95.62,1.402,6,0.166,0.000,2488,2403,3532
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6586,1.50,121.7,994.6,0.0,587,6699,1.62,2.33,105.75,1.358,4,0.064,0.051,3060,3758,3035
$GC,6834,0.68,121.7,978.7,16.6,598,6840,1.08,2.17,0.00,0.000,6,0.222,0.028,2805,2332,3031
$GC,7157,0.77,194.8,951.0,7.9,614,7220,0.00,0.00,61.62,1.338,6,0.000,0.000,2805,2330,2737
$GC,7530,0.96,236.9,913.4,10.1,632,7573,0.20,2.40,35.78,1.305,4,0.079,0.056,2885,3757,2567
$GC,7655,0.80,236.9,894.0,16.8,637,7660,0.22,2.15,0.00,0.000,6,0.187,0.029,2837,2354,2564
$GC,7973,0.92,252.6,854.7,12.1,652,7995,0.12,2.33,13.98,1.219,4,0.089,0.056,2883,3743,2502
$GC,8052,0.80,252.6,842.3,15.6,655,8057,0.20,2.08,0.00,0.000,6,0.187,0.028,2840,2364,2501
$GC,8375,0.95,276.8,804.6,11.4,671,8400,0.12,0.00,22.10,1.245,6,0.091,0.000,2885,2361,2403
$GC,8706,0.95,276.8,754.7,16.2,687,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2360,2399
$GC,9015,0.95,276.8,701.9,17.9,702,9019,0.00,2.25,0.00,0.000,4,0.000,0.054,2885,3756,2397
$GC,9084,0.84,276.8,688.2,21.1,705,9089,0.17,2.08,0.00,0.000,6,0.186,0.030,2849,2373,2396
$GC,9406,0.96,276.8,634.1,16.6,721,9410,0.12,2.25,0.00,0.000,4,0.091,0.054,2896,3761,2396
$GC,9485,0.85,276.8,617.4,21.3,724,9492,0.20,2.05,0.00,0.000,6,0.190,0.030,2856,2391,2396
$GC,9802,0.97,276.8,569.2,14.7,740,9807,0.12,2.20,0.00,0.000,4,0.091,0.052,2901,3751,2396
$GC,9869,0.86,276.8,556.5,19.3,743,9874,0.20,2.00,0.00,0.000,6,0.188,0.030,2860,2400,2395
$GC,10197,0.96,276.8,507.0,16.0,759,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2398,2395
$GC,10513,1.08,276.8,455.8,15.7,786,10517,0.20,2.20,0.00,0.000,4,0.076,0.054,2941,3761,2395
$GC,10639,0.84,276.8,428.2,23.2,797,10644,0.38,2.03,0.00,0.000,6,0.190,0.031,2852,2412,2394
$GC,10965,0.99,276.8,377.8,13.5,827,10970,0.15,2.17,0.00,0.000,4,0.082,0.034,2917,967,2394
$GC,11078,0.99,276.8,361.1,14.6,836,11084,0.00,2.22,0.00,0.000,6,0.000,0.035,2917,2413,2394
$GC,11407,0.99,276.8,309.9,15.3,867,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2414,2394
$GC,11746,0.99,276.8,257.0,15.5,922,11752,0.00,2.12,0.00,0.000,4,0.000,0.052,2916,3756,2394
$GC,11974,0.87,276.8,216.5,20.2,962,11981,0.25,2.03,0.00,0.000,6,0.179,0.029,2859,2407,2394
$GC,12325,1.08,291.8,166.7,12.1,1023,12344,0.17,2.17,12.40,0.801,4,0.077,0.033,2941,958,2342
$GC,12358,1.08,291.8,161.2,15.2,1028,12364,0.00,2.28,0.00,0.000,6,0.000,0.035,2941,2438,2341
$GC,12703,1.08,291.8,101.8,13.7,1089,12709,0.00,2.25,0.00,0.000,4,0.000,0.031,2948,950,2340
$GC,12738,1.08,291.8,96.6,16.2,1095,12745,0.00,2.28,0.00,0.000,6,0.000,0.035,2948,2429,2340
$GC,13086,1.09,299.5,47.3,12.6,1156,13099,0.00,2.30,8.18,0.664,4,0.000,0.031,2955,952,2309
$GC,13152,1.20,337.6,40.0,10.4,1167,13189,0.00,2.20,31.12,0.709,6,0.000,0.033,2955,2395,2155
$GC,13532,1.60,465.3,3.8,3.9,1233,13552,0.35,0.00,17.27,0.650,2,0.061,0.000,3096,2396,2062
$STATE,13553,end climb,SURFACE_DEPTH_REACHED
$STATE,13553,begin surface coast
$FINISH,2.0,1.020978
$STATE,13636,end surface coast,CONTROL_FINISHED_OK
$STATE,13637,begin surface
$SM_CCo,13657,86.50,0.657,0,0,1595,475.15
$SM_GC,3.06,0.00,0.00,86.50,0.000,0.000,0.657,136,2396,1595,-7.64,0.37,475.15
$IRIDIUM_FIX,2444.18,12214.42,111198,171705
$TT8_MAMPS,0.029146
$HUMID,1865
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,23.0,90.179
$10V_AH,10.6,47.699
$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,26.400,112.675,403.825,86.500,0.000,30.578,41.184,177.781,8.250,0.000,0.000,34.650,2227.443,8438.230,605.348,2239.668,657.601,0.000,1738.267,0.000,2164.380,0.000,54.416,0.000
$DEVICE_MAMPS,234.702,57.525,1402.076,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.775,874.095,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66471,1251
$CAP_FILE_SIZE,140015,0
$CFSIZE,260165632,184762368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,223.1,1
$GPS,180809,011301,2454.929,12216.425,39,1.4,39,-3.5