version: 66.04
glider: 167
mission: 2
dive: 530
start: 8 20 109 14 3 7
data:
$ID,167
$MISSION,2
$DIVE,530
$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,-19620.299
$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,72
$R_STBD_OVSHOOT,36
$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
$GPS1,135524,2458.748,12252.598,26,0.9,44,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.4
$GPS2,140246,2459.102,12252.864,11,2.3,30,-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,234.4,27744,-25.0,-13.200
$D_GRID,1485
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-23.00,0.000,2,0.000,0.000,134,2433,2169
$GC,45,-1.50,-121.7,3.3,-2.5,4,112,8.10,2.15,-52.92,0.000,4,0.232,0.055,2082,3769,3989
$GC,267,-0.53,-121.7,82.6,-36.4,42,275,1.23,2.03,0.00,0.000,6,0.195,0.022,2405,2366,3992
$GC,616,-1.02,-121.7,115.0,-7.9,103,622,0.38,2.20,0.00,0.000,4,0.054,0.047,2245,3764,3995
$GC,669,-0.84,-121.7,122.7,-17.8,112,676,0.22,2.00,0.00,0.000,6,0.166,0.023,2306,2358,3995
$GC,1016,-0.97,-121.7,165.1,-9.8,173,1022,0.12,0.00,0.00,0.000,6,0.074,0.000,2254,2357,3996
$GC,1361,-0.97,-121.7,209.8,-16.0,234,1368,0.00,2.20,0.00,0.000,4,0.000,0.047,2246,3767,3997
$GC,1501,-0.86,-121.7,234.9,-17.9,258,1509,0.20,2.00,0.00,0.000,6,0.161,0.024,2300,2363,3997
$GC,1849,-1.10,-121.7,282.0,-13.8,319,1856,0.17,2.20,0.00,0.000,4,0.068,0.047,2217,3765,3997
$GC,1945,-0.95,-121.7,300.2,-20.3,335,1949,0.20,1.98,0.00,0.000,6,0.168,0.024,2271,2381,3997
$GC,2276,-1.07,-121.7,348.8,-14.2,366,2280,0.12,2.17,0.00,0.000,4,0.078,0.046,2211,3769,3997
$GC,2377,-0.93,-121.7,367.2,-19.8,374,2384,0.25,1.95,0.00,0.000,6,0.164,0.025,2280,2407,3997
$GC,2703,-1.10,-121.7,404.8,-11.3,405,2707,0.17,2.12,0.00,0.000,4,0.073,0.047,2207,3757,3996
$GC,2754,-0.97,-121.7,412.6,-17.2,409,2759,0.22,1.95,0.00,0.000,6,0.166,0.033,2268,2403,3996
$GC,3085,-1.14,-121.7,454.6,-13.2,440,3090,0.17,2.15,0.00,0.000,4,0.070,0.048,2192,3763,3995
$GC,3220,-0.96,-121.7,480.1,-20.5,451,3224,0.28,1.92,0.00,0.000,6,0.173,0.026,2266,2432,3994
$GC,3543,-1.16,-121.7,524.7,-12.6,472,3548,0.17,2.12,0.00,0.000,4,0.074,0.051,2188,3766,3993
$GC,3640,-1.02,-121.7,541.4,-17.9,476,3644,0.22,1.92,0.00,0.000,6,0.168,0.027,2248,2440,3992
$GC,3970,-1.17,-121.7,584.0,-11.7,492,3974,0.15,2.10,0.00,0.000,4,0.076,0.051,2189,3757,3990
$GC,4049,-1.06,-121.7,596.1,-15.7,495,4056,0.17,1.88,0.00,0.000,6,0.170,0.027,2234,2468,3990
$GC,4366,-1.18,-121.7,638.1,-13.5,511,4370,0.12,2.05,0.00,0.000,4,0.084,0.050,2179,3758,3988
$GC,4417,-1.06,-121.7,646.9,-17.5,513,4421,0.22,1.88,0.00,0.000,6,0.173,0.027,2238,2474,3987
$GC,4749,-1.20,-121.7,691.3,-13.0,529,4754,0.15,2.05,0.00,0.000,4,0.075,0.051,2179,3763,3985
$GC,4802,-1.07,-121.7,700.3,-17.1,531,4806,0.20,1.85,0.00,0.000,6,0.176,0.028,2230,2500,3984
$GC,5131,-1.18,-121.7,747.4,-15.7,547,5134,0.00,2.03,0.00,0.000,4,0.000,0.054,2223,3764,3983
$GC,5187,-1.18,-121.7,757.3,-18.0,549,5190,0.00,1.85,0.00,0.000,6,0.000,0.028,2222,2497,3982
$GC,5510,-1.27,-121.7,809.1,-15.7,565,5512,0.15,0.00,0.00,0.000,6,0.077,0.000,2163,2496,3980
$GC,5818,-1.16,-121.7,865.0,-17.5,580,5822,0.17,2.05,0.00,0.000,4,0.186,0.053,2204,3764,3977
$GC,5908,-1.16,-121.7,879.3,-15.6,584,5912,0.00,1.88,0.00,0.000,6,0.000,0.030,2205,2503,3977
$GC,6243,-1.22,-121.7,923.8,-11.8,600,6247,0.00,2.00,0.00,0.000,4,0.000,0.055,2205,3757,3975
$GC,6344,-1.22,-121.7,936.3,-12.0,604,6348,0.00,1.85,0.00,0.000,6,0.000,0.030,2205,2507,3975
$GC,6668,-1.29,-121.7,972.0,-10.8,620,6672,0.12,2.03,0.00,0.000,4,0.082,0.054,2152,3761,3973
$GC,6737,-1.11,-121.7,982.3,-16.0,623,6741,0.20,1.88,0.00,0.000,6,0.179,0.030,2220,2521,3972
$STATE,6797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6798,begin apogee
$GC,6807,-0.27,0.0,990.4,11.7,626,6905,0.90,0.00,94.57,1.400,6,0.155,0.000,2486,2381,3532
$STATE,6905,end apogee,CONTROL_FINISHED_OK
$STATE,6906,begin climb
$GC,6909,1.50,121.7,993.2,0.0,631,7021,1.60,2.33,104.82,1.358,4,0.054,0.048,3065,3758,3037
$GC,7209,0.66,121.7,966.7,18.0,644,7216,1.12,2.12,0.00,0.000,6,0.226,0.028,2798,2354,3033
$GC,7525,0.72,169.0,935.4,9.8,660,7568,0.00,0.00,40.53,1.318,6,0.000,0.000,2798,2354,2843
$GC,7876,0.86,184.9,895.5,12.0,677,7898,0.17,2.33,13.95,1.230,4,0.083,0.054,2869,3768,2778
$GC,8118,0.65,184.9,853.8,16.8,687,8124,0.32,2.12,0.00,0.000,6,0.190,0.027,2795,2344,2774
$GC,8435,0.83,197.0,813.7,12.3,703,8452,0.15,2.28,11.20,1.180,4,0.088,0.051,2849,3763,2728
$GC,8588,0.73,197.0,788.7,17.5,709,8592,0.15,2.10,0.00,0.000,6,0.195,0.029,2820,2372,2726
$GC,8916,0.83,197.0,739.8,14.8,725,8920,0.00,2.10,0.00,0.000,4,0.000,0.034,2829,971,2725
$GC,9100,0.98,198.5,713.5,13.1,733,9104,0.20,2.15,0.00,0.000,6,0.076,0.037,2903,2365,2724
$GC,9434,0.86,198.5,659.2,16.1,749,9438,0.17,2.12,0.00,0.000,4,0.188,0.032,2867,959,2723
$GC,9486,0.91,198.5,651.1,14.5,751,9490,0.00,2.15,0.00,0.000,6,0.000,0.035,2866,2357,2723
$GC,9815,0.91,198.5,603.7,14.0,767,9819,0.00,2.22,0.00,0.000,4,0.000,0.054,2866,3760,2723
$GC,9866,0.77,198.5,595.7,15.4,769,9871,0.17,2.10,0.00,0.000,6,0.191,0.028,2833,2355,2723
$GC,10188,0.88,213.4,557.0,12.1,785,10206,0.00,0.00,14.45,1.091,6,0.000,0.000,2833,2353,2661
$GC,10518,1.02,236.7,517.8,11.5,801,10541,0.22,0.00,20.23,1.080,6,0.073,0.000,2917,2351,2567
$GC,10855,0.93,236.7,465.3,13.6,827,10860,0.15,2.10,0.00,0.000,4,0.183,0.033,2885,969,2563
$GC,10904,1.03,250.2,459.2,12.2,831,10921,0.00,2.17,11.90,0.995,6,0.000,0.035,2885,2375,2512
$GC,11240,1.03,250.2,413.3,15.1,862,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2375,2510
$GC,11560,1.03,250.2,357.1,17.8,892,11564,0.00,2.15,0.00,0.000,4,0.000,0.034,2890,957,2509
$GC,11633,1.12,250.2,345.1,14.1,898,11641,0.15,2.15,0.00,0.000,6,0.081,0.035,2948,2361,2509
$GC,11961,0.98,253.7,296.1,12.9,931,11973,0.17,2.25,4.07,0.654,4,0.181,0.052,2898,3750,2497
$GC,12229,0.91,253.7,258.6,14.1,978,12237,0.15,2.05,0.00,0.000,6,0.188,0.028,2871,2358,2497
$GC,12580,1.05,261.2,220.5,12.7,1039,12594,0.12,2.30,8.00,0.778,4,0.085,0.051,2919,3755,2467
$GC,12849,0.95,261.2,165.1,19.9,1086,12857,0.17,2.03,0.00,0.000,6,0.182,0.027,2884,2380,2466
$GC,13197,1.10,261.2,116.6,14.6,1147,13204,0.15,2.20,0.00,0.000,4,0.078,0.050,2943,3759,2465
$GC,13369,0.96,261.2,86.2,15.8,1177,13375,0.25,2.03,0.00,0.000,6,0.177,0.026,2887,2383,2466
$GC,13716,1.42,429.6,68.5,1.0,1238,13855,0.35,2.28,131.20,0.703,4,0.060,0.049,3029,3763,1778
$GC,14114,1.42,429.6,15.6,13.5,1307,14120,0.00,2.08,0.00,0.000,6,0.000,0.025,3039,2362,1769
$STATE,14225,end climb,SURFACE_DEPTH_REACHED
$STATE,14225,begin surface coast
$FINISH,1.8,1.000129
$STATE,14251,end surface coast,CONTROL_FINISHED_OK
$STATE,14252,begin surface
$SM_CCo,14272,32.58,0.624,0,0,1594,475.15
$SM_GC,2.65,0.00,0.00,32.58,0.000,0.000,0.624,135,2358,1594,-7.64,-0.71,475.15
$IRIDIUM_FIX,2448.93,12251.97,141198,101027
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,23.0,92.899
$10V_AH,10.6,49.026
$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,28.675,112.475,454.925,32.575,0.000,30.735,32.633,193.458,8.500,0.000,0.000,33.576,2378.935,8661.730,596.601,2400.813,700.345,0.000,1791.595,0.000,2326.943,0.000,54.419,0.000
$DEVICE_MAMPS,231.634,55.224,1399.775,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,901.657,934.605,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72682,1331
$CAP_FILE_SIZE,150291,0
$CFSIZE,260165632,183529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.415, 46.1,1
$GPS,200809,180237,2500.379,12253.801,24,2.0,25,-3.6