version: 66.04
glider: 167
mission: 2
dive: 523
start: 8 19 109 9 52 52
data:
$ID,167
$MISSION,2
$DIVE,523
$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,-19435.041
$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,81
$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
$GPS1,094537,2449.153,12238.266,39,0.8,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.3
$GPS2,095231,2449.449,12238.646,15,1.2,26,-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,168.3,16194,-25.0,-13.200
$D_GRID,1071
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.75,0.000,2,0.000,0.000,137,2348,2214
$GC,47,-1.50,-121.7,3.2,-1.9,4,122,8.25,2.22,-58.85,0.000,4,0.239,0.053,2084,3766,3989
$GC,377,-0.64,-121.7,100.5,-33.1,61,384,1.08,2.03,0.00,0.000,6,0.195,0.024,2368,2354,3992
$GC,724,-1.04,-121.7,128.0,-7.2,122,732,0.30,2.22,0.00,0.000,4,0.059,0.047,2232,3764,3994
$GC,763,-0.92,-121.7,133.1,-16.0,128,769,0.20,1.98,0.00,0.000,6,0.173,0.025,2285,2387,3994
$GC,1109,-1.03,-121.7,177.0,-12.9,189,1116,0.12,2.15,0.00,0.000,4,0.079,0.047,2223,3754,3994
$GC,1224,-0.89,-121.7,198.1,-18.8,209,1231,0.25,1.90,0.00,0.000,6,0.170,0.025,2291,2430,3994
$GC,1574,-1.05,-121.7,251.3,-16.3,270,1582,0.15,2.10,0.00,0.000,4,0.071,0.048,2221,3764,3995
$GC,1607,-0.98,-121.7,257.8,-20.1,275,1613,0.15,1.95,0.00,0.000,6,0.169,0.025,2259,2405,3995
$GC,1954,-1.04,-121.7,318.8,-17.2,327,1958,0.00,2.12,0.00,0.000,4,0.000,0.048,2251,3761,3995
$GC,2023,-1.04,-121.7,331.1,-17.1,333,2027,0.00,1.92,0.00,0.000,6,0.000,0.025,2251,2415,3996
$GC,2354,-1.11,-121.7,383.0,-13.6,364,2358,0.00,2.12,0.00,0.000,4,0.000,0.048,2246,3761,3995
$GC,2485,-1.11,-121.7,398.8,-10.6,375,2491,0.00,1.90,0.00,0.000,6,0.000,0.025,2246,2437,3995
$GC,2811,-1.20,-121.7,432.2,-11.2,406,2813,0.15,0.00,0.00,0.000,6,0.077,0.000,2184,2436,3994
$GC,3128,-1.06,-121.7,488.4,-18.9,436,3133,0.20,2.10,0.00,0.000,4,0.177,0.049,2232,3757,3993
$GC,3251,-1.06,-121.7,508.3,-15.4,444,3257,0.00,1.90,0.00,0.000,6,0.000,0.027,2232,2443,3993
$GC,3569,-1.12,-121.7,554.9,-15.3,460,3573,0.00,2.10,0.00,0.000,4,0.000,0.051,2225,3764,3991
$GC,3648,-1.12,-121.7,568.1,-17.0,463,3651,0.00,1.88,0.00,0.000,6,0.000,0.028,2224,2477,3991
$GC,3971,-1.17,-121.7,618.9,-16.4,479,3975,0.00,2.05,0.00,0.000,4,0.000,0.051,2219,3762,3990
$GC,4063,-1.17,-121.7,634.9,-17.1,483,4066,0.00,1.88,0.00,0.000,6,0.000,0.028,2219,2485,3989
$GC,4397,-1.22,-121.7,685.6,-14.7,499,4400,0.00,2.05,0.00,0.000,4,0.000,0.054,2218,3764,3986
$GC,4505,-1.22,-121.7,702.4,-14.7,503,4510,0.00,1.85,0.00,0.000,6,0.000,0.029,2218,2502,3986
$GC,4821,-1.22,-121.7,747.2,-14.3,519,4825,0.00,2.03,0.00,0.000,4,0.000,0.054,2218,3764,3984
$GC,4868,-1.22,-121.7,754.2,-14.7,521,4872,0.00,1.85,0.00,0.000,6,0.000,0.029,2218,2508,3983
$GC,5204,-1.27,-121.7,801.3,-14.1,537,5208,0.12,2.00,0.00,0.000,4,0.084,0.054,2166,3750,3982
$GC,5227,-1.20,-121.7,805.5,-16.0,538,5231,0.00,1.80,0.00,0.000,6,0.000,0.028,2166,2528,3981
$GC,5562,-1.06,-121.7,859.8,-15.7,554,5567,0.22,2.28,0.00,0.000,4,0.180,0.028,2229,1003,3979
$GC,5602,-1.21,-121.7,865.3,-12.0,556,5607,0.12,2.35,0.00,0.000,6,0.086,0.038,2186,2515,3980
$GC,5930,-1.21,-121.7,909.4,-13.9,572,5934,0.00,1.98,0.00,0.000,4,0.000,0.054,2179,3763,3977
$GC,6000,-1.10,-121.7,919.9,-15.1,575,6004,0.17,1.80,0.00,0.000,6,0.182,0.028,2222,2547,3976
$GC,6336,-1.20,-121.7,963.1,-13.5,591,6340,0.00,1.98,0.00,0.000,4,0.000,0.055,2219,3770,3975
$GC,6422,-1.27,-121.7,976.6,-14.4,594,6429,0.15,1.80,0.00,0.000,6,0.081,0.031,2163,2566,3974
$STATE,6508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6508,begin apogee
$GC,6516,-0.27,0.0,992.5,18.4,599,6615,1.17,0.00,95.15,1.399,6,0.178,0.000,2485,2396,3532
$STATE,6616,end apogee,CONTROL_FINISHED_OK
$STATE,6616,begin climb
$GC,6620,1.50,121.7,999.5,0.0,604,6736,1.62,2.38,105.80,1.362,4,0.063,0.050,3060,3757,3034
$GC,6884,0.68,125.2,992.0,12.9,616,6894,1.08,2.12,4.15,0.849,6,0.222,0.027,2804,2346,3021
$GC,7217,0.76,190.6,967.7,8.5,632,7281,0.00,2.38,55.67,1.341,4,0.000,0.052,2804,3756,2753
$GC,7380,0.76,190.6,948.7,14.5,639,7383,0.00,2.12,0.00,0.000,6,0.000,0.029,2813,2366,2750
$GC,7709,0.86,190.6,903.3,14.0,655,7713,0.12,2.22,0.00,0.000,4,0.087,0.051,2860,3754,2747
$GC,7838,0.70,190.6,880.4,17.2,660,7845,0.25,2.08,0.00,0.000,6,0.190,0.029,2805,2380,2746
$GC,8156,0.85,211.9,841.6,11.7,676,8181,0.15,2.22,18.45,1.249,4,0.084,0.035,2869,959,2667
$GC,8215,0.85,211.9,833.2,14.3,678,8223,0.00,2.22,0.00,0.000,6,0.000,0.036,2868,2384,2665
$GC,8532,0.85,211.9,787.6,14.5,694,8536,0.00,2.17,0.00,0.000,4,0.000,0.035,2868,966,2663
$GC,8566,0.85,211.9,782.6,13.7,695,8570,0.00,2.22,0.00,0.000,6,0.000,0.035,2869,2407,2663
$GC,8882,0.85,211.9,737.7,14.4,710,8885,0.00,2.12,0.00,0.000,4,0.000,0.055,2869,3752,2661
$GC,8916,0.69,211.9,732.3,16.1,711,8921,0.28,2.05,0.00,0.000,6,0.189,0.028,2808,2372,2661
$GC,9234,0.86,219.8,691.8,12.6,726,9248,0.15,2.30,7.15,1.040,4,0.084,0.053,2865,3758,2636
$GC,9288,0.71,219.8,683.0,17.2,728,9293,0.25,2.03,0.00,0.000,6,0.189,0.029,2810,2403,2636
$GC,9607,0.92,249.6,645.0,11.0,743,9638,0.17,2.25,25.75,1.167,4,0.081,0.054,2885,3764,2514
$GC,9701,0.76,249.6,629.9,18.1,747,9706,0.25,2.05,0.00,0.000,6,0.189,0.030,2831,2415,2512
$GC,10019,0.96,292.5,595.6,10.1,762,10063,0.17,2.22,37.05,1.136,4,0.077,0.053,2897,3761,2340
$GC,10234,0.83,292.5,554.1,21.9,771,10238,0.22,2.03,0.00,0.000,6,0.189,0.030,2850,2424,2334
$GC,10557,0.97,292.5,501.9,15.3,787,10562,0.12,2.17,0.00,0.000,4,0.086,0.055,2896,3758,2333
$GC,10718,0.84,292.5,471.3,20.5,800,10722,0.20,1.95,0.00,0.000,6,0.189,0.030,2854,2453,2332
$GC,11050,0.99,302.4,428.2,12.5,831,11062,0.12,0.00,8.73,0.939,6,0.087,0.000,2901,2450,2299
$GC,11380,0.99,302.4,366.2,19.2,862,11384,0.00,2.10,0.00,0.000,4,0.000,0.054,2901,3755,2297
$GC,11414,0.99,302.4,359.7,19.4,865,11418,0.00,1.92,0.00,0.000,6,0.000,0.030,2911,2461,2296
$GC,11749,0.99,302.4,298.4,18.6,896,11755,0.00,2.08,0.00,0.000,4,0.000,0.054,2911,3752,2295
$GC,11802,0.91,302.4,285.9,22.3,905,11808,0.12,1.92,0.00,0.000,6,0.177,0.028,2873,2474,2296
$GC,12148,1.06,302.4,224.4,17.5,966,12156,0.12,2.25,0.00,0.000,4,0.086,0.033,2929,974,2295
$GC,12366,1.11,302.4,188.5,14.7,1004,12372,0.00,2.30,0.00,0.000,6,0.000,0.036,2929,2468,2295
$GC,12710,1.11,302.4,130.0,13.9,1065,12716,0.00,2.03,0.00,0.000,4,0.000,0.054,2930,3754,2295
$GC,12787,1.06,333.0,121.1,11.0,1078,12818,0.00,1.90,25.55,0.781,6,0.000,0.028,2938,2451,2173
$GC,13161,1.12,333.0,73.3,14.7,1143,13167,0.00,2.10,0.00,0.000,4,0.000,0.051,2938,3764,2170
$GC,13220,1.06,333.0,62.9,16.7,1153,13225,0.00,1.90,0.00,0.000,6,0.000,0.027,2946,2472,2169
$GC,13565,1.30,408.1,21.8,7.8,1214,13631,0.15,2.17,59.42,0.682,4,0.075,0.051,3007,3765,1867
$STATE,13748,end climb,SURFACE_DEPTH_REACHED
$STATE,13748,begin surface coast
$FINISH,1.9,1.021390
$STATE,13783,end surface coast,CONTROL_FINISHED_OK
$STATE,13783,begin surface
$SM_CCo,13805,49.62,0.652,0,0,1594,475.15
$SM_GC,3.58,0.00,0.00,49.62,0.000,0.000,0.652,137,2362,1594,-7.64,-0.59,475.15
$IRIDIUM_FIX,2439.44,12232.28,131198,050549
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.0,91.715
$10V_AH,10.6,48.443
$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,26.300,128.600,442.875,49.625,0.000,30.117,32.626,177.644,8.000,0.000,0.000,26.651,2252.908,8424.437,600.630,2313.760,669.945,0.000,1785.114,0.000,2242.529,0.000,54.401,0.000
$DEVICE_MAMPS,238.537,55.224,1399.008,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.339,882.234,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66369,1252
$CAP_FILE_SIZE,146725,0
$CFSIZE,260165632,184074240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.389, 44.1,1
$GPS,190809,134507,2449.846,12241.224,38,1.0,39,-3.5