version: 66.04
glider: 167
mission: 2
dive: 527
start: 8 20 109 2 9 37
data:
$ID,167
$MISSION,2
$DIVE,527
$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,-19517.184
$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,31
$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
$GPS1,020207,2452.771,12248.822,26,1.1,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-71.4
$GPS2,020916,2453.048,12249.249,15,2.6,34,-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,243.0,15197,-25.0,-13.200
$D_GRID,1476
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-18.02,0.000,2,0.000,0.000,136,2384,2040
$GC,40,-1.50,-121.7,3.1,-1.7,3,112,8.07,2.22,-58.83,0.000,4,0.232,0.052,2081,3781,3990
$GC,197,-0.51,-121.7,50.8,-49.8,29,204,1.23,2.05,0.00,0.000,6,0.193,0.024,2406,2352,3992
$GC,544,-1.00,-121.7,98.9,-7.8,90,551,0.38,2.22,0.00,0.000,4,0.054,0.046,2243,3767,3994
$GC,715,-0.85,-121.7,129.0,-16.6,119,722,0.22,1.98,0.00,0.000,6,0.160,0.024,2305,2374,3996
$GC,1062,-0.99,-121.7,180.2,-14.4,180,1070,0.15,2.17,0.00,0.000,4,0.069,0.044,2234,3769,3997
$GC,1118,-0.86,-121.7,189.8,-18.7,189,1125,0.22,1.95,0.00,0.000,6,0.163,0.025,2296,2400,3997
$GC,1466,-1.04,-121.7,241.3,-13.8,250,1473,0.15,2.15,0.00,0.000,4,0.072,0.045,2224,3776,3997
$GC,1548,-0.88,-121.7,256.9,-19.8,264,1555,0.25,1.98,0.00,0.000,6,0.162,0.025,2294,2399,3997
$GC,1903,-1.07,-121.7,302.9,-12.3,324,1907,0.17,2.15,0.00,0.000,4,0.069,0.047,2214,3769,3997
$GC,1982,-0.94,-121.7,317.1,-18.1,330,1990,0.22,1.95,0.00,0.000,6,0.163,0.025,2276,2410,3998
$GC,2308,-1.09,-121.7,362.5,-13.7,361,2312,0.15,2.12,0.00,0.000,4,0.074,0.047,2205,3763,3997
$GC,2354,-0.91,-121.7,370.6,-19.4,364,2360,0.28,1.90,0.00,0.000,6,0.167,0.024,2281,2431,3997
$GC,2680,-1.12,-121.7,413.9,-12.3,395,2685,0.17,2.10,0.00,0.000,4,0.070,0.048,2205,3760,3997
$GC,2760,-0.97,-121.7,427.7,-18.5,401,2767,0.22,1.90,0.00,0.000,6,0.169,0.025,2265,2438,3996
$GC,3086,-1.13,-121.7,469.9,-12.8,432,3091,0.15,2.10,0.00,0.000,4,0.076,0.050,2205,3765,3995
$GC,3173,-1.07,-121.7,483.2,-15.9,439,3177,0.12,1.90,0.00,0.000,6,0.170,0.026,2236,2455,3994
$GC,3500,-1.16,-121.7,529.2,-13.5,460,3504,0.00,2.12,0.00,0.000,4,0.000,0.027,2235,996,3993
$GC,3564,-1.32,-121.7,538.2,-13.4,462,3572,0.22,2.22,0.00,0.000,6,0.070,0.035,2152,2457,3993
$GC,3880,-1.11,-121.7,596.2,-18.7,478,3885,0.22,2.17,0.00,0.000,4,0.193,0.025,2213,994,3991
$GC,3937,-1.20,-121.7,604.4,-12.6,480,3943,0.00,2.17,0.00,0.000,6,0.000,0.035,2208,2425,3991
$GC,4253,-1.20,-121.7,648.3,-15.1,496,4257,0.00,2.10,0.00,0.000,4,0.000,0.053,2205,3760,3988
$GC,4400,-1.20,-121.7,672.8,-16.4,502,4404,0.00,1.92,0.00,0.000,6,0.000,0.028,2205,2440,3987
$GC,4722,-1.20,-121.7,724.6,-15.4,518,4727,0.00,2.10,0.00,0.000,4,0.000,0.054,2205,3754,3985
$GC,4800,-1.20,-121.7,737.0,-15.7,521,4804,0.00,1.90,0.00,0.000,6,0.000,0.029,2205,2455,3984
$GC,5123,-1.20,-121.7,781.0,-13.2,537,5127,0.00,2.10,0.00,0.000,4,0.000,0.055,2204,3763,3981
$GC,5237,-1.20,-121.7,796.7,-14.0,542,5241,0.00,1.92,0.00,0.000,6,0.000,0.029,2205,2456,3981
$GC,5571,-1.20,-121.7,842.4,-13.4,558,5575,0.00,2.10,0.00,0.000,4,0.000,0.055,2204,3762,3979
$GC,5644,-1.20,-121.7,853.0,-14.3,561,5647,0.00,1.88,0.00,0.000,6,0.000,0.028,2205,2490,3978
$GC,5972,-1.26,-121.7,893.8,-11.9,577,5975,0.00,2.05,0.00,0.000,4,0.000,0.055,2205,3764,3976
$GC,6007,-1.26,-121.7,898.2,-12.7,578,6011,0.00,1.88,0.00,0.000,6,0.000,0.029,2204,2490,3975
$GC,6330,-1.32,-121.7,937.3,-12.7,594,6334,0.15,2.05,0.00,0.000,4,0.075,0.053,2139,3764,3974
$GC,6427,-1.09,-121.7,954.3,-17.8,598,6431,0.32,1.85,0.00,0.000,6,0.186,0.028,2222,2505,3973
$STATE,6730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6730,begin apogee
$GC,6738,-0.27,0.0,991.1,11.3,613,6836,0.90,0.00,94.38,1.397,6,0.153,0.000,2489,2394,3532
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6840,1.50,121.7,993.8,0.0,618,6952,1.58,2.38,105.25,1.356,4,0.052,0.050,3061,3763,3035
$GC,7150,0.66,121.7,968.7,15.7,631,7157,1.10,2.12,0.00,0.000,6,0.224,0.025,2800,2337,3031
$GC,7468,0.78,223.7,946.3,5.8,647,7560,0.00,2.20,85.95,1.334,4,0.000,0.035,2803,989,2620
$GC,7596,1.09,274.4,935.8,9.5,653,7648,0.35,2.17,43.85,1.290,6,0.062,0.035,2930,2362,2413
$GC,7970,0.97,274.4,869.5,19.5,671,7974,0.15,2.22,0.00,0.000,4,0.181,0.052,2893,3757,2405
$GC,8048,0.86,274.4,852.5,21.4,674,8056,0.17,2.05,0.00,0.000,6,0.190,0.028,2857,2393,2404
$GC,8366,0.96,274.4,802.4,15.8,690,8369,0.00,2.15,0.00,0.000,4,0.000,0.033,2865,963,2403
$GC,8394,1.08,274.4,797.5,15.6,691,8399,0.17,2.17,0.00,0.000,6,0.084,0.035,2932,2378,2403
$GC,8716,0.97,274.4,732.6,20.0,707,8721,0.15,2.20,0.00,0.000,4,0.184,0.053,2894,3762,2402
$GC,8818,0.86,274.4,711.8,20.6,711,8825,0.17,2.08,0.00,0.000,6,0.192,0.028,2858,2378,2401
$GC,9135,0.97,274.4,660.2,16.0,727,9140,0.10,2.12,0.00,0.000,4,0.095,0.034,2901,963,2400
$GC,9154,1.06,274.4,657.0,16.6,728,9158,0.00,2.17,0.00,0.000,6,0.000,0.036,2900,2377,2400
$GC,9487,1.06,274.4,594.0,19.5,744,9491,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,3758,2399
$GC,9633,0.98,274.4,561.6,21.8,750,9637,0.00,2.05,0.00,0.000,6,0.000,0.028,2910,2388,2399
$GC,9956,0.98,274.4,502.9,17.8,766,9959,0.00,2.15,0.00,0.000,4,0.000,0.035,2920,956,2398
$GC,10035,0.98,274.4,489.6,16.3,772,10039,0.00,2.22,0.00,0.000,6,0.000,0.036,2919,2403,2398
$GC,10365,0.92,274.4,432.7,18.1,802,10369,0.17,2.20,0.00,0.000,4,0.180,0.031,2878,958,2397
$GC,10522,1.06,274.4,407.9,13.9,815,10529,0.12,2.20,0.00,0.000,6,0.092,0.035,2926,2389,2397
$GC,10848,1.02,274.4,354.8,16.3,846,10851,0.00,2.17,0.00,0.000,4,0.000,0.051,2925,3766,2397
$GC,10961,0.87,274.4,334.1,17.9,856,10966,0.28,2.08,0.00,0.000,6,0.184,0.028,2864,2368,2397
$GC,11294,1.03,274.4,284.4,15.6,895,11301,0.15,2.10,0.00,0.000,4,0.083,0.033,2922,965,2397
$GC,11365,1.09,274.4,272.4,17.2,907,11371,0.00,2.15,0.00,0.000,6,0.000,0.033,2922,2377,2396
$GC,11710,1.09,274.4,215.0,17.7,968,11716,0.00,2.17,0.00,0.000,4,0.000,0.052,2922,3751,2396
$GC,11921,0.99,274.4,177.5,16.3,1005,11928,0.12,2.03,0.00,0.000,6,0.196,0.026,2903,2370,2396
$GC,12272,1.12,301.2,131.4,11.3,1066,12296,0.12,0.00,20.55,0.769,6,0.087,0.000,2950,2368,2304
$GC,12638,1.21,322.9,87.1,11.6,1130,12662,0.00,2.08,18.17,0.718,4,0.000,0.031,2958,978,2215
$GC,12918,1.46,389.6,56.6,8.4,1179,12977,0.25,2.17,53.33,0.693,6,0.069,0.031,3051,2404,1942
$GC,13318,1.48,404.5,16.6,12.1,1249,13336,0.00,2.12,12.90,0.607,4,0.000,0.049,3051,3749,1881
$STATE,13436,end climb,SURFACE_DEPTH_REACHED
$STATE,13436,begin surface coast
$FINISH,1.8,1.020381
$STATE,13466,end surface coast,CONTROL_FINISHED_OK
$STATE,13467,begin surface
$SM_CCo,13489,52.83,0.628,0,0,1595,475.15
$SM_GC,3.44,0.00,0.00,52.83,0.000,0.000,0.628,137,2385,1595,-7.64,0.06,475.15
$IRIDIUM_FIX,2441.81,12245.40,131198,222252
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.1,92.396
$10V_AH,10.6,48.779
$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,27.175,125.725,434.375,52.825,0.000,31.351,33.060,180.100,8.500,0.000,0.000,35.128,2284.267,8068.408,595.659,2338.890,674.164,0.000,1772.019,0.000,2259.040,0.000,54.422,0.000
$DEVICE_MAMPS,231.634,58.292,1397.474,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,863.530,904.110,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69484,1275
$CAP_FILE_SIZE,145623,0
$CFSIZE,260165632,183762944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.464, 57.8,1
$GPS,200809,055636,2454.213,12250.719,37,1.0,37,-3.6