version: 66.04
glider: 167
mission: 2
dive: 520
start: 8 18 109 21 47 7
data:
$ID,167
$MISSION,2
$DIVE,520
$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,-19376.5
$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,80
$R_STBD_OVSHOOT,40
$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
$GPS1,213937,2449.759,12226.387,32,1.2,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.2
$GPS2,214646,2449.792,12226.419,15,2.4,34,-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,91.1,35688,-25.0,-13.200
$D_GRID,1174
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-29.75,0.000,2,0.000,0.000,137,2392,2291
$GC,51,-1.50,-121.7,3.1,-1.0,5,130,8.23,2.15,-60.78,0.000,4,0.238,0.041,2090,998,3990
$GC,334,-0.83,-121.7,72.3,-31.2,54,341,0.85,2.12,0.00,0.000,6,0.192,0.035,2305,2391,3992
$GC,681,-0.96,-121.7,118.2,-12.9,115,687,0.00,2.15,0.00,0.000,4,0.000,0.050,2301,3761,3994
$GC,893,-1.08,-121.7,145.9,-12.8,152,900,0.20,1.98,0.00,0.000,6,0.067,0.025,2218,2389,3995
$GC,1240,-0.96,-121.7,202.4,-15.6,213,1245,0.17,0.00,0.00,0.000,6,0.170,0.000,2269,2387,3996
$GC,1587,-1.05,-121.7,248.8,-14.7,274,1594,0.00,2.17,0.00,0.000,4,0.000,0.050,2262,3763,3996
$GC,1775,-1.05,-121.7,281.0,-17.8,307,1781,0.00,1.95,0.00,0.000,6,0.000,0.025,2261,2402,3996
$GC,2113,-1.10,-121.7,338.5,-19.2,348,2117,0.12,2.15,0.00,0.000,4,0.083,0.049,2206,3756,3996
$GC,2192,-0.97,-121.7,354.9,-21.4,354,2198,0.22,1.92,0.00,0.000,6,0.167,0.027,2265,2429,3996
$GC,2518,-1.14,-121.7,402.1,-13.3,385,2522,0.15,2.10,0.00,0.000,4,0.077,0.050,2205,3751,3996
$GC,2616,-1.01,-121.7,418.1,-18.0,393,2620,0.17,1.90,0.00,0.000,6,0.169,0.028,2250,2445,3996
$GC,2947,-1.14,-121.7,459.9,-11.8,424,2949,0.12,0.00,0.00,0.000,6,0.080,0.000,2200,2444,3996
$GC,3267,-1.06,-121.7,507.1,-15.0,452,3272,0.15,2.10,0.00,0.000,4,0.176,0.050,2232,3760,3995
$GC,3289,-1.06,-121.7,511.0,-14.6,453,3293,0.00,1.90,0.00,0.000,6,0.000,0.028,2232,2449,3995
$GC,3619,-1.13,-121.7,554.0,-12.8,469,3623,0.00,2.08,0.00,0.000,4,0.000,0.052,2224,3751,3994
$GC,3703,-1.13,-121.7,565.7,-13.9,472,3710,0.00,1.88,0.00,0.000,6,0.000,0.029,2224,2471,3993
$GC,4020,-1.19,-121.7,609.0,-12.7,488,4024,0.00,2.17,0.00,0.000,4,0.000,0.030,2224,1002,3992
$GC,4061,-1.28,-121.7,615.1,-14.9,489,4067,0.15,2.25,0.00,0.000,6,0.080,0.038,2167,2458,3992
$GC,4378,-1.13,-121.7,670.3,-17.1,505,4382,0.17,2.20,0.00,0.000,4,0.199,0.028,2213,995,3991
$GC,4439,-1.21,-121.7,679.8,-13.5,507,4445,0.00,2.25,0.00,0.000,6,0.000,0.037,2213,2454,3991
$GC,4757,-1.21,-121.7,723.6,-13.2,523,4761,0.00,2.05,0.00,0.000,4,0.000,0.052,2205,3756,3988
$GC,4785,-1.21,-121.7,728.0,-14.0,524,4788,0.00,1.90,0.00,0.000,6,0.000,0.028,2205,2459,3988
$GC,5113,-1.21,-121.7,773.3,-13.4,540,5117,0.00,2.08,0.00,0.000,4,0.000,0.054,2205,3749,3987
$GC,5164,-1.21,-121.7,781.0,-14.2,542,5168,0.00,1.90,0.00,0.000,6,0.000,0.030,2205,2487,3986
$GC,5491,-1.21,-121.7,824.1,-12.5,558,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2487,3984
$GC,5802,-1.21,-121.7,863.5,-12.3,573,5806,0.00,2.05,0.00,0.000,4,0.000,0.055,2205,3755,3983
$GC,5848,-1.21,-121.7,870.0,-14.2,575,5852,0.00,1.90,0.00,0.000,6,0.000,0.031,2205,2481,3982
$GC,6181,-1.21,-121.7,909.9,-11.7,591,6185,0.00,2.20,0.00,0.000,4,0.000,0.031,2205,1001,3981
$GC,6268,-1.30,-121.7,919.7,-11.3,594,6274,0.12,2.28,0.00,0.000,6,0.084,0.041,2162,2462,3981
$GC,6584,-1.17,-121.7,964.2,-14.2,610,6589,0.15,2.08,0.00,0.000,4,0.196,0.054,2192,3755,3979
$GC,6653,-1.13,-121.7,973.5,-13.8,613,6656,0.00,1.90,0.00,0.000,6,0.000,0.030,2192,2476,3979
$STATE,6791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6791,begin apogee
$GC,6799,-0.27,0.0,991.3,12.4,620,6906,1.05,0.00,98.10,1.383,6,0.169,0.000,2486,2378,3532
$STATE,6906,end apogee,CONTROL_FINISHED_OK
$STATE,6907,begin climb
$GC,6910,1.50,121.7,992.9,0.0,625,7023,1.62,2.35,105.75,1.362,4,0.058,0.050,3066,3756,3035
$GC,7198,0.65,121.7,967.0,17.6,638,7204,1.12,2.12,0.00,0.000,6,0.220,0.028,2797,2353,3031
$GC,7516,0.77,179.9,936.9,9.0,653,7571,0.00,2.38,49.10,1.329,4,0.000,0.054,2797,3740,2798
$GC,7730,0.78,191.2,911.5,12.4,662,7745,0.00,2.08,10.38,1.177,6,0.000,0.028,2803,2373,2752
$GC,8066,0.95,216.7,873.7,11.4,679,8096,0.20,2.20,23.08,1.276,4,0.075,0.033,2892,969,2647
$GC,8169,0.95,216.7,858.2,16.1,683,8175,0.00,2.17,0.00,0.000,6,0.000,0.035,2892,2360,2645
$GC,8487,0.86,216.7,809.4,14.6,699,8492,0.15,2.25,0.00,0.000,4,0.187,0.053,2855,3766,2643
$GC,8549,0.76,216.7,800.0,14.8,702,8554,0.15,2.10,0.00,0.000,6,0.191,0.028,2828,2362,2643
$GC,8878,0.89,238.5,761.6,11.6,718,8903,0.12,2.33,18.73,1.220,4,0.088,0.054,2875,3755,2559
$GC,9014,0.77,238.5,740.8,16.6,724,9019,0.20,2.08,0.00,0.000,6,0.186,0.029,2832,2394,2557
$GC,9349,0.90,240.5,697.2,13.1,740,9353,0.12,2.20,0.00,0.000,4,0.086,0.053,2879,3755,2555
$GC,9405,0.77,240.5,687.4,18.0,742,9410,0.22,2.08,0.00,0.000,6,0.186,0.029,2828,2379,2555
$GC,9724,0.94,246.1,644.5,12.8,757,9738,0.15,2.22,7.10,1.022,4,0.084,0.037,2885,956,2527
$GC,9905,0.99,246.1,617.2,14.9,765,9909,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,2374,2526
$GC,10234,0.99,246.1,563.8,16.9,781,10238,0.00,2.20,0.00,0.000,4,0.000,0.053,2885,3758,2525
$GC,10285,0.86,246.1,554.6,17.1,783,10290,0.15,2.08,0.00,0.000,6,0.193,0.028,2858,2367,2525
$GC,10607,0.94,246.1,510.7,13.4,799,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2363,2525
$GC,10924,1.02,246.1,464.1,15.8,825,10929,0.15,2.25,0.00,0.000,4,0.081,0.051,2916,3764,2524
$GC,11057,0.82,246.1,435.7,23.1,836,11062,0.30,2.08,0.00,0.000,6,0.183,0.029,2846,2379,2524
$GC,11383,0.95,250.1,385.2,12.9,866,11395,0.12,2.25,4.60,0.765,4,0.085,0.054,2893,3761,2512
$GC,11430,0.83,250.1,378.0,15.5,870,11435,0.22,2.05,0.00,0.000,6,0.186,0.028,2845,2386,2511
$GC,11756,1.00,267.0,339.8,12.0,900,11778,0.17,0.00,15.50,0.953,6,0.078,0.000,2911,2382,2442
$GC,12104,1.00,267.0,275.0,22.0,942,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2382,2441
$GC,12449,1.01,271.8,221.5,12.9,1003,12462,0.00,2.22,5.18,0.716,4,0.000,0.053,2911,3761,2424
$GC,12498,0.87,271.8,214.1,15.2,1011,12505,0.22,2.00,0.00,0.000,6,0.182,0.029,2863,2406,2424
$GC,12845,1.04,271.8,164.4,13.8,1072,12852,0.15,2.17,0.00,0.000,4,0.081,0.051,2920,3757,2423
$GC,13080,0.95,271.8,119.3,21.2,1113,13086,0.15,1.98,0.00,0.000,6,0.190,0.029,2889,2439,2423
$GC,13426,1.15,345.3,77.0,7.9,1174,13492,0.17,2.30,59.12,0.755,4,0.078,0.033,2974,978,2123
$GC,13552,1.15,345.3,58.5,20.1,1195,13558,0.00,2.30,0.00,0.000,6,0.000,0.035,2974,2447,2119
$GC,13898,1.23,345.3,4.4,13.6,1256,13905,0.00,2.08,0.00,0.000,4,0.000,0.052,2974,3754,2115
$STATE,13909,end climb,SURFACE_DEPTH_REACHED
$STATE,13909,begin surface coast
$FINISH,1.9,1.006322
$STATE,13932,end surface coast,CONTROL_FINISHED_OK
$STATE,13933,begin surface
$SM_CCo,13956,97.70,0.678,0,0,1594,475.15
$SM_GC,2.91,0.00,0.00,97.70,0.000,0.000,0.678,136,2370,1594,-7.64,-0.37,475.15
$IRIDIUM_FIX,2441.81,12224.99,121198,171708
$TT8_MAMPS,0.029146
$HUMID,1823
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,22.9,91.200
$10V_AH,10.6,48.197
$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,25.900,118.600,396.625,97.700,0.000,23.587,35.158,187.164,8.500,0.000,0.000,35.466,2258.137,8619.196,619.605,2311.157,666.464,0.000,1788.749,0.000,2231.638,0.000,54.398,0.000
$DEVICE_MAMPS,237.770,67.496,1382.901,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,858.928,871.912,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66358,1262
$CAP_FILE_SIZE,144876,0
$CFSIZE,260165632,184303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,127.1,1
$GPS,190809,014237,2449.290,12229.151,36,1.1,36,-3.5