version: 66.04
glider: 167
mission: 2
dive: 526
start: 8 19 109 22 7 46
data:
$ID,167
$MISSION,2
$DIVE,526
$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,-19481.426
$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,67
$R_STBD_OVSHOOT,34
$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
$GPS1,220030,2450.843,12247.010,38,1.3,39,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.0
$GPS2,220726,2451.216,12247.381,11,1.3,11,-3.6
$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,231.8,11345,-25.0,-13.200
$D_GRID,1301
$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,-23.15,0.000,2,0.000,0.000,138,2396,2052
$GC,46,-1.50,-121.7,3.2,-2.7,4,120,8.10,2.12,-58.50,0.000,4,0.232,0.053,2082,3770,3989
$GC,230,-0.63,-121.7,66.1,-35.7,35,237,1.10,2.03,0.00,0.000,6,0.199,0.022,2369,2350,3991
$GC,577,-0.93,-121.7,117.2,-12.2,96,583,0.22,2.20,0.00,0.000,4,0.060,0.041,2262,3771,3993
$GC,714,-0.86,-121.7,138.4,-14.4,120,721,0.15,1.92,0.00,0.000,6,0.162,0.024,2300,2420,3994
$GC,1062,-1.01,-121.7,193.8,-13.1,181,1069,0.15,2.10,0.00,0.000,4,0.072,0.044,2230,3766,3996
$GC,1110,-0.84,-121.7,202.5,-18.9,189,1118,0.28,1.90,0.00,0.000,6,0.164,0.023,2307,2432,3996
$GC,1460,-1.09,-121.7,241.2,-10.0,250,1466,0.20,2.08,0.00,0.000,4,0.062,0.025,2218,997,3996
$GC,1512,-1.09,-121.7,249.4,-16.2,259,1520,0.00,2.17,0.00,0.000,6,0.000,0.033,2218,2443,3996
$GC,1857,-0.99,-121.7,312.9,-19.8,314,1861,0.15,2.05,0.00,0.000,4,0.176,0.047,2248,3766,3996
$GC,1929,-0.99,-121.7,326.8,-18.0,320,1935,0.00,1.90,0.00,0.000,6,0.000,0.025,2248,2432,3996
$GC,2255,-1.09,-121.7,373.6,-12.8,351,2259,0.00,2.10,0.00,0.000,4,0.000,0.048,2246,3767,3996
$GC,2351,-1.15,-121.7,386.5,-13.9,359,2358,0.10,1.90,0.00,0.000,6,0.086,0.026,2203,2444,3995
$GC,2677,-1.09,-121.7,444.9,-17.1,390,2681,0.00,2.08,0.00,0.000,4,0.000,0.049,2197,3766,3994
$GC,2701,-0.99,-121.7,449.3,-18.0,392,2707,0.22,1.88,0.00,0.000,6,0.164,0.025,2258,2464,3994
$GC,3033,-1.15,-121.7,495.2,-12.8,423,3038,0.15,2.12,0.00,0.000,4,0.073,0.026,2197,1011,3993
$GC,3118,-1.15,-121.7,507.8,-14.7,428,3121,0.00,2.20,0.00,0.000,6,0.000,0.035,2193,2452,3992
$GC,3452,-1.09,-121.7,559.6,-16.1,444,3457,0.12,2.15,0.00,0.000,4,0.186,0.026,2223,1004,3990
$GC,3504,-1.22,-121.7,567.2,-14.3,446,3508,0.00,2.17,0.00,0.000,6,0.000,0.036,2221,2431,3990
$GC,3834,-1.29,-121.7,614.6,-15.0,462,3838,0.17,2.10,0.00,0.000,4,0.074,0.051,2149,3766,3987
$GC,3878,-1.05,-121.7,623.5,-20.1,464,3883,0.32,1.92,0.00,0.000,6,0.171,0.027,2237,2443,3986
$GC,4204,-1.21,-121.7,667.8,-13.0,480,4208,0.15,2.10,0.00,0.000,4,0.075,0.051,2179,3759,3984
$GC,4336,-1.10,-121.7,689.9,-16.9,485,4343,0.17,1.88,0.00,0.000,6,0.174,0.028,2223,2482,3982
$GC,4656,-1.21,-121.7,732.8,-13.2,501,4660,0.00,2.05,0.00,0.000,4,0.000,0.054,2220,3764,3980
$GC,4786,-1.29,-121.7,751.1,-13.7,506,4792,0.17,1.85,0.00,0.000,6,0.074,0.029,2154,2505,3979
$GC,5104,-1.14,-121.7,805.7,-18.1,522,5109,0.20,2.22,0.00,0.000,4,0.173,0.027,2210,1005,3976
$GC,5143,-1.24,-121.7,812.3,-13.9,523,5149,0.00,2.25,0.00,0.000,6,0.000,0.038,2207,2463,3976
$GC,5460,-1.31,-121.7,856.9,-14.0,539,5464,0.15,2.05,0.00,0.000,4,0.080,0.054,2149,3755,3974
$GC,5570,-1.11,-121.7,875.2,-16.8,543,5576,0.28,1.85,0.00,0.000,6,0.176,0.029,2221,2503,3973
$GC,5886,-1.25,-121.7,916.1,-13.8,559,5891,0.12,2.03,0.00,0.000,4,0.085,0.054,2166,3761,3971
$GC,5967,-1.13,-121.7,929.2,-16.9,562,5971,0.17,1.85,0.00,0.000,6,0.179,0.030,2209,2507,3970
$GC,6290,-1.22,-121.7,969.4,-12.5,578,6293,0.00,2.03,0.00,0.000,4,0.000,0.055,2205,3764,3969
$GC,6432,-1.28,-121.7,988.9,-13.6,584,6436,0.12,1.83,0.00,0.000,6,0.084,0.031,2158,2544,3968
$STATE,6439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6440,begin apogee
$GC,6447,-0.27,0.0,990.6,13.5,584,6545,1.15,0.00,93.75,1.400,6,0.173,0.000,2485,2399,3532
$STATE,6546,end apogee,CONTROL_FINISHED_OK
$STATE,6546,begin climb
$GC,6549,1.50,121.7,993.9,0.0,589,6663,1.62,2.35,105.55,1.356,4,0.062,0.050,3061,3762,3035
$GC,6708,0.65,127.2,993.3,12.8,596,6723,1.12,2.15,6.07,1.023,6,0.225,0.028,2798,2355,3013
$GC,7044,0.75,161.5,958.1,10.7,612,7078,0.00,2.35,29.80,1.309,4,0.000,0.054,2798,3764,2873
$GC,7163,0.75,161.5,941.2,15.8,617,7167,0.00,2.12,0.00,0.000,6,0.000,0.028,2803,2372,2870
$GC,7486,0.87,177.0,899.2,12.1,633,7509,0.17,2.30,13.85,1.230,4,0.076,0.053,2879,3760,2809
$GC,7661,0.60,177.0,868.7,19.7,640,7667,0.43,2.10,0.00,0.000,6,0.193,0.028,2777,2360,2807
$GC,7979,0.83,187.3,828.4,12.4,656,7994,0.17,2.30,9.27,1.148,4,0.081,0.054,2849,3753,2768
$GC,8062,0.70,187.3,814.6,18.0,659,8068,0.20,2.05,0.00,0.000,6,0.193,0.028,2805,2392,2767
$GC,8378,0.88,221.7,776.7,10.7,675,8415,0.17,2.22,30.65,1.243,4,0.079,0.033,2887,956,2626
$GC,8463,0.88,221.7,765.3,14.2,678,8467,0.00,2.25,0.00,0.000,6,0.000,0.036,2887,2388,2624
$GC,8798,0.83,221.7,713.3,15.8,694,8803,0.15,2.20,0.00,0.000,4,0.188,0.053,2851,3764,2621
$GC,8885,0.77,221.7,700.1,14.2,698,8890,0.12,2.08,0.00,0.000,6,0.199,0.028,2830,2378,2621
$GC,9220,0.92,242.8,658.9,11.7,714,9250,0.15,2.25,19.48,1.063,4,0.081,0.054,2886,3755,2541
$GC,9319,0.78,242.8,643.9,16.1,718,9324,0.25,2.05,0.00,0.000,6,0.189,0.028,2832,2397,2540
$GC,9636,0.94,242.8,601.4,13.9,733,9640,0.15,2.20,0.00,0.000,4,0.081,0.054,2889,3754,2539
$GC,9681,0.80,242.8,593.5,19.0,735,9686,0.22,2.03,0.00,0.000,6,0.192,0.028,2841,2406,2538
$GC,10004,0.93,242.8,545.1,14.5,751,10009,0.12,2.17,0.00,0.000,4,0.086,0.035,2892,965,2538
$GC,10202,0.99,242.8,511.7,17.0,760,10206,0.00,2.20,0.00,0.000,6,0.000,0.035,2892,2394,2537
$GC,10534,0.99,242.8,460.1,14.1,787,10538,0.00,2.17,0.00,0.000,4,0.000,0.033,2899,960,2536
$GC,10712,1.05,248.2,436.0,12.8,802,10722,0.00,2.15,5.05,0.815,6,0.000,0.035,2899,2363,2519
$GC,11049,1.09,275.7,393.6,11.2,834,11081,0.00,2.28,24.35,0.996,4,0.000,0.052,2899,3756,2407
$GC,11335,1.03,275.7,352.6,15.9,859,11341,0.00,2.05,0.00,0.000,6,0.000,0.028,2909,2383,2403
$GC,11666,1.03,275.7,304.2,16.6,890,11670,0.00,2.12,0.00,0.000,4,0.000,0.035,2916,969,2403
$GC,11775,1.10,275.7,285.2,15.4,907,11781,0.00,2.17,0.00,0.000,6,0.000,0.035,2915,2387,2402
$GC,12119,1.10,275.7,230.2,14.6,968,12125,0.00,2.15,0.00,0.000,4,0.000,0.051,2917,3764,2402
$GC,12201,1.02,275.7,216.5,16.6,982,12208,0.00,2.03,0.00,0.000,6,0.000,0.026,2925,2383,2402
$GC,12546,1.02,275.7,160.3,16.8,1043,12552,0.00,2.10,0.00,0.000,4,0.000,0.034,2925,979,2402
$GC,12656,1.11,275.7,143.3,14.7,1062,12663,0.00,2.17,0.00,0.000,6,0.000,0.035,2925,2406,2402
$GC,13003,1.23,318.1,95.2,10.1,1123,13051,0.15,2.12,35.95,0.719,4,0.070,0.051,2985,3754,2235
$GC,13306,1.16,373.5,60.6,9.2,1176,13359,0.17,2.00,44.28,0.703,6,0.186,0.027,2953,2389,2009
$GC,13701,1.53,433.5,31.8,8.8,1245,13756,0.30,2.20,47.35,0.656,4,0.059,0.029,3088,973,1763
$STATE,13917,end climb,SURFACE_DEPTH_REACHED
$STATE,13917,begin surface coast
$FINISH,2.0,1.020368
$STATE,13940,end surface coast,CONTROL_FINISHED_OK
$STATE,13941,begin surface
$SM_CCo,13964,30.02,0.621,0,0,1594,475.15
$SM_GC,2.65,0.00,0.00,30.02,0.000,0.000,0.621,136,2384,1594,-7.64,0.03,475.15
$IRIDIUM_FIX,2439.44,12244.11,131198,181806
$TT8_MAMPS,0.029146
$HUMID,1762
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.1,92.225
$10V_AH,10.6,48.697
$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,27.775,134.550,465.400,30.025,0.000,26.139,31.728,194.130,8.250,0.000,0.000,13.745,2331.313,8349.194,612.027,2412.176,694.836,0.000,1852.094,0.000,2353.069,0.000,54.432,0.000
$DEVICE_MAMPS,231.634,55.224,1399.775,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,871.122,901.157,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69557,1287
$CAP_FILE_SIZE,154176,0
$CFSIZE,260165632,183832576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.492, 46.9,1
$GPS,200809,020207,2452.771,12248.822,26,1.1,26,-3.6