version: 66.04
glider: 167
mission: 2
dive: 525
start: 8 19 109 17 56 8
data:
$ID,167
$MISSION,2
$DIVE,525
$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,-19467.053
$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,75
$R_STBD_OVSHOOT,42
$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
$GPS1,174836,2449.890,12244.336,34,1.0,35,-3.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.4
$GPS2,175548,2450.130,12244.742,11,1.8,15,-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,206.3,10060,-25.0,-13.200
$D_GRID,1242
$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,15,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-22.23,0.000,2,0.000,0.000,137,2444,2132
$GC,45,-1.50,-121.7,3.1,-1.3,4,123,8.30,2.10,-60.67,0.000,4,0.239,0.051,2082,3760,3990
$GC,207,-0.62,-121.7,44.0,-42.6,30,214,1.12,2.03,0.00,0.000,6,0.202,0.023,2373,2349,3992
$GC,555,-0.97,-121.7,89.7,-9.8,91,561,0.28,2.22,0.00,0.000,4,0.059,0.047,2246,3760,3994
$GC,642,-0.79,-121.7,105.2,-19.6,106,649,0.28,1.98,0.00,0.000,6,0.165,0.024,2322,2381,3994
$GC,989,-1.00,-121.7,151.3,-12.4,167,996,0.20,2.15,0.00,0.000,4,0.064,0.046,2221,3754,3996
$GC,1015,-1.00,-121.7,155.5,-16.6,171,1022,0.12,1.98,0.00,0.000,6,0.173,0.024,2251,2374,3996
$GC,1363,-1.00,-121.7,224.9,-19.3,232,1370,0.00,2.15,0.00,0.000,4,0.000,0.047,2243,3751,3997
$GC,1503,-0.94,-121.7,253.0,-20.0,256,1510,0.12,1.90,0.00,0.000,6,0.169,0.025,2274,2421,3997
$GC,1852,-1.08,-121.7,301.9,-11.7,316,1856,0.12,2.10,0.00,0.000,4,0.078,0.047,2218,3755,3997
$GC,1944,-0.93,-121.7,317.3,-18.4,324,1948,0.22,1.90,0.00,0.000,6,0.168,0.025,2279,2434,3997
$GC,2275,-1.11,-121.7,357.5,-12.0,355,2280,0.17,2.08,0.00,0.000,4,0.073,0.048,2205,3751,3997
$GC,2303,-1.11,-121.7,362.1,-16.5,357,2312,0.00,1.88,0.00,0.000,6,0.000,0.025,2205,2439,3997
$GC,2629,-1.04,-121.7,417.9,-17.1,388,2633,0.15,2.08,0.00,0.000,4,0.170,0.048,2235,3751,3996
$GC,2696,-1.04,-121.7,428.3,-14.2,393,2703,0.00,1.85,0.00,0.000,6,0.000,0.026,2235,2462,3996
$GC,3025,-1.13,-121.7,471.0,-13.3,424,3029,0.00,2.05,0.00,0.000,4,0.000,0.051,2234,3754,3995
$GC,3122,-1.18,-121.7,484.9,-13.1,432,3129,0.10,1.83,0.00,0.000,6,0.088,0.028,2191,2500,3995
$GC,3455,-1.11,-121.7,538.8,-17.9,453,3459,0.12,2.00,0.00,0.000,4,0.181,0.051,2218,3754,3993
$GC,3623,-1.11,-121.7,568.5,-15.7,460,3627,0.00,1.80,0.00,0.000,6,0.000,0.028,2218,2524,3992
$GC,3945,-1.17,-121.7,620.8,-17.1,476,3949,0.00,1.95,0.00,0.000,4,0.000,0.053,2212,3750,3991
$GC,3974,-1.17,-121.7,625.9,-17.8,477,3978,0.00,1.77,0.00,0.000,6,0.000,0.028,2212,2534,3990
$GC,4303,-1.22,-121.7,674.0,-13.5,493,4311,0.00,1.95,0.00,0.000,4,0.000,0.053,2205,3759,3987
$GC,4401,-1.22,-121.7,687.7,-13.4,497,4405,0.00,1.77,0.00,0.000,6,0.000,0.029,2206,2572,3986
$GC,4732,-1.22,-121.7,725.3,-11.0,513,4736,0.00,1.90,0.00,0.000,4,0.000,0.055,2205,3758,3985
$GC,4789,-1.22,-121.7,732.2,-11.7,515,4792,0.00,1.75,0.00,0.000,6,0.000,0.030,2205,2571,3984
$GC,5111,-1.22,-121.7,765.6,-10.5,531,5115,0.00,2.33,0.00,0.000,4,0.000,0.029,2205,1003,3981
$GC,5163,-1.31,-121.7,771.2,-10.6,533,5168,0.15,2.38,0.00,0.000,6,0.080,0.038,2153,2538,3981
$GC,5480,-1.16,-121.7,820.3,-16.2,548,5484,0.20,1.95,0.00,0.000,4,0.197,0.055,2204,3754,3979
$GC,5559,-1.16,-121.7,832.4,-14.5,551,5562,0.00,1.75,0.00,0.000,6,0.000,0.031,2204,2574,3978
$GC,5882,-1.22,-121.7,877.2,-13.8,567,5886,0.00,1.90,0.00,0.000,4,0.000,0.056,2204,3755,3976
$GC,5932,-1.22,-121.7,884.5,-14.4,569,5936,0.00,1.75,0.00,0.000,6,0.000,0.031,2203,2577,3976
$GC,6261,-1.29,-121.7,930.4,-14.6,585,6266,0.12,1.90,0.00,0.000,4,0.084,0.054,2151,3756,3974
$GC,6352,-1.09,-121.7,947.4,-19.8,589,6356,0.30,1.73,0.00,0.000,6,0.189,0.031,2227,2599,3974
$STATE,6682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6682,begin apogee
$GC,6694,-0.27,0.0,992.2,12.7,605,6792,0.88,0.00,94.85,1.405,6,0.154,0.000,2486,2401,3532
$STATE,6793,end apogee,CONTROL_FINISHED_OK
$STATE,6793,begin climb
$GC,6796,1.50,121.7,996.8,0.0,610,6907,1.60,0.00,106.18,1.363,6,0.058,0.000,3060,2400,3035
$GC,7212,0.82,121.7,964.2,14.4,630,7218,0.82,2.20,0.00,0.000,4,0.219,0.031,2859,955,3030
$GC,7411,0.83,208.8,948.4,6.9,639,7489,0.00,2.20,73.35,1.337,6,0.000,0.040,2858,2365,2680
$GC,7808,0.85,221.9,904.0,12.3,658,7828,0.00,2.33,11.75,1.203,4,0.000,0.057,2858,3764,2627
$GC,8033,0.73,221.9,869.9,15.8,668,8038,0.20,2.10,0.00,0.000,6,0.186,0.028,2818,2366,2624
$GC,8361,0.89,233.6,829.3,12.3,684,8377,0.15,2.28,11.00,1.184,4,0.082,0.053,2876,3764,2578
$GC,8430,0.75,233.6,817.7,18.8,686,8435,0.25,2.05,0.00,0.000,6,0.187,0.028,2821,2401,2577
$GC,8758,0.90,233.6,773.6,13.5,702,8762,0.15,2.17,0.00,0.000,4,0.083,0.034,2882,964,2576
$GC,8791,0.90,233.6,768.5,15.9,703,8795,0.00,2.22,0.00,0.000,6,0.000,0.036,2882,2407,2575
$GC,9109,0.90,233.6,718.6,15.6,718,9112,0.00,2.20,0.00,0.000,4,0.000,0.035,2887,967,2575
$GC,9159,0.90,233.6,710.4,14.8,720,9163,0.00,2.20,0.00,0.000,6,0.000,0.035,2888,2394,2575
$GC,9480,0.90,233.6,660.4,15.2,736,9484,0.00,2.15,0.00,0.000,4,0.000,0.053,2888,3754,2574
$GC,9600,0.74,233.6,640.3,17.6,741,9604,0.28,2.05,0.00,0.000,6,0.194,0.029,2825,2387,2573
$GC,9927,0.91,240.7,600.2,12.7,757,9941,0.15,2.28,6.60,0.986,4,0.081,0.053,2882,3760,2550
$GC,10005,0.78,240.7,587.0,17.6,760,10010,0.22,2.08,0.00,0.000,6,0.189,0.029,2834,2368,2549
$GC,10321,0.92,240.7,544.3,13.5,775,10326,0.12,2.10,0.00,0.000,4,0.088,0.034,2885,970,2548
$GC,10379,0.98,240.7,535.7,15.0,777,10383,0.00,2.20,0.00,0.000,6,0.000,0.036,2884,2399,2548
$GC,10699,0.98,244.6,487.9,12.9,796,10710,0.00,2.17,4.68,0.813,4,0.000,0.053,2884,3758,2534
$GC,10815,0.87,244.6,471.6,14.9,806,10819,0.12,2.03,0.00,0.000,6,0.200,0.028,2865,2392,2533
$GC,11148,0.94,245.8,432.0,13.1,837,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2389,2533
$GC,11468,1.03,253.6,391.0,12.6,867,11483,0.15,2.22,8.68,0.923,4,0.081,0.051,2922,3748,2498
$GC,11506,0.88,253.6,383.3,19.7,870,11513,0.25,1.98,0.00,0.000,6,0.192,0.028,2864,2418,2497
$GC,11833,0.99,253.6,334.9,15.6,901,11838,0.10,2.17,0.00,0.000,4,0.094,0.031,2912,966,2496
$GC,11934,0.99,253.6,318.9,14.3,909,11941,0.00,2.22,0.00,0.000,6,0.000,0.034,2912,2417,2496
$GC,12272,0.99,253.6,269.5,14.6,958,12278,0.00,2.17,0.00,0.000,4,0.000,0.031,2919,974,2497
$GC,12413,0.99,253.6,248.5,15.5,983,12419,0.00,2.17,0.00,0.000,6,0.000,0.035,2919,2388,2496
$GC,12759,1.00,258.1,200.6,12.9,1044,12772,0.00,2.15,5.32,0.690,4,0.000,0.031,2926,972,2479
$GC,12821,1.05,258.1,192.5,13.7,1054,12827,0.00,2.15,0.00,0.000,6,0.000,0.035,2926,2375,2478
$GC,13166,1.05,258.1,151.4,13.6,1115,13172,0.00,2.10,0.00,0.000,4,0.000,0.030,2934,972,2478
$GC,13277,1.16,284.9,138.2,11.3,1134,13307,0.00,2.05,23.50,0.777,6,0.000,0.033,2934,2319,2369
$GC,13650,1.31,337.3,94.4,9.4,1199,13700,0.17,2.33,41.80,0.729,4,0.067,0.049,3009,3765,2155
$GC,13945,1.24,405.8,54.9,8.2,1250,14009,0.15,2.17,54.05,0.685,6,0.180,0.025,2983,2302,1876
$GC,14347,1.65,502.3,21.3,6.2,1321,14430,0.30,2.03,75.15,0.633,4,0.061,0.030,3116,972,1482
$STATE,14488,end climb,SURFACE_DEPTH_REACHED
$STATE,14488,begin surface coast
$FINISH,1.8,0.998034
$STATE,14504,end surface coast,CONTROL_FINISHED_OK
$STATE,14504,begin surface
$SM_CCo,14587,0.00,0.000,0,0,1474,504.83
$SM_GC,2.77,8.10,0.00,0.00,0.051,0.000,0.000,138,2396,1474,-7.60,0.34,504.83
$IRIDIUM_FIX,2441.81,12244.11,131198,131344
$TT8_MAMPS,0.029146
$HUMID,1720
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.0,92.057
$10V_AH,10.6,48.613
$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,26.275,132.275,516.900,0.000,0.000,31.299,34.882,198.496,8.000,0.000,0.000,15.774,2398.187,8830.486,616.963,2440.861,718.558,0.000,1874.415,0.000,2378.404,0.000,54.427,0.000
$DEVICE_MAMPS,238.537,56.758,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,912.234,952.380,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72543,1348
$CAP_FILE_SIZE,153619,0
$CFSIZE,260165632,183906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.459, 53.4,1
$GPS,190809,220030,2450.843,12247.010,38,1.3,39,-3.5