version: 66.04
glider: 167
mission: 2
dive: 531
start: 8 20 109 18 10 54
data:
$ID,167
$MISSION,2
$DIVE,531
$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,-19664.85
$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,39
$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
$GPS1,180237,2500.379,12253.801,24,2.0,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.0
$GPS2,181036,2500.605,12254.059,38,1.0,43,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,271.5,66362,-25.0,-13.200
$D_GRID,1593
$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,-121.7,0.0,0.0,0,42,0.00,0.00,-23.48,0.000,2,0.000,0.000,136,2358,2180
$GC,47,-1.50,-121.7,3.2,-2.6,4,118,8.15,2.25,-52.67,0.000,4,0.233,0.054,2084,3763,3990
$GC,267,-0.57,-121.7,84.1,-40.7,42,274,1.15,2.03,0.00,0.000,6,0.187,0.023,2395,2364,3992
$GC,615,-1.05,-121.7,119.3,-8.8,103,623,0.38,2.20,0.00,0.000,4,0.054,0.046,2233,3764,3994
$GC,689,-0.79,-121.7,133.0,-22.9,115,697,0.32,1.98,0.00,0.000,6,0.167,0.024,2323,2374,3995
$GC,1037,-1.01,-121.7,179.4,-9.8,176,1043,0.17,2.17,0.00,0.000,4,0.064,0.044,2238,3766,3997
$GC,1063,-1.01,-121.7,182.7,-12.0,180,1069,0.00,1.95,0.00,0.000,6,0.000,0.023,2238,2383,3997
$GC,1410,-0.89,-121.7,232.5,-16.7,241,1416,0.17,2.15,0.00,0.000,4,0.170,0.044,2281,3756,3997
$GC,1533,-0.96,-121.7,250.5,-14.5,262,1539,0.00,1.90,0.00,0.000,6,0.000,0.025,2281,2435,3997
$GC,1882,-1.12,-121.7,309.4,-16.7,319,1886,0.17,2.08,0.00,0.000,4,0.073,0.047,2205,3754,3997
$GC,1929,-0.92,-121.7,318.9,-22.5,323,1933,0.28,1.88,0.00,0.000,6,0.170,0.025,2280,2447,3997
$GC,2260,-1.11,-121.7,362.6,-10.0,354,2262,0.17,0.00,0.00,0.000,6,0.072,0.000,2210,2447,3997
$GC,2578,-1.03,-121.7,407.4,-13.6,384,2583,0.15,2.05,0.00,0.000,4,0.174,0.047,2240,3763,3997
$GC,2613,-1.03,-121.7,411.8,-11.9,387,2617,0.00,1.92,0.00,0.000,6,0.000,0.025,2240,2413,3997
$GC,2944,-1.08,-121.7,448.6,-12.5,418,2948,0.00,2.12,0.00,0.000,4,0.000,0.048,2233,3761,3995
$GC,3001,-1.08,-121.7,456.7,-14.3,423,3005,0.00,1.90,0.00,0.000,6,0.000,0.026,2233,2436,3995
$GC,3342,-1.15,-121.7,507.0,-15.1,453,3346,0.00,2.10,0.00,0.000,4,0.000,0.051,2233,3760,3993
$GC,3370,-1.15,-121.7,511.5,-15.3,454,3374,0.00,1.90,0.00,0.000,6,0.000,0.026,2233,2441,3993
$GC,3698,-1.24,-121.7,558.7,-13.9,470,3702,0.15,2.10,0.00,0.000,4,0.079,0.049,2166,3763,3991
$GC,3755,-1.05,-121.7,569.1,-19.7,472,3761,0.28,1.88,0.00,0.000,6,0.170,0.026,2239,2470,3990
$GC,4072,-1.19,-121.7,614.3,-13.8,488,4076,0.12,2.15,0.00,0.000,4,0.081,0.026,2190,1008,3989
$GC,4097,-1.25,-121.7,617.7,-14.3,489,4101,0.00,2.22,0.00,0.000,6,0.000,0.037,2190,2456,3989
$GC,4419,-1.20,-121.7,666.4,-14.4,505,4423,0.00,2.05,0.00,0.000,4,0.000,0.051,2183,3765,3986
$GC,4447,-1.11,-121.7,670.8,-14.8,506,4451,0.15,1.88,0.00,0.000,6,0.177,0.027,2220,2480,3986
$GC,4779,-1.21,-121.7,708.9,-11.6,522,4783,0.00,2.05,0.00,0.000,4,0.000,0.054,2220,3763,3982
$GC,4842,-1.27,-121.7,716.8,-11.7,524,4848,0.15,1.85,0.00,0.000,6,0.079,0.028,2164,2498,3982
$GC,5160,-1.15,-121.7,765.8,-15.9,540,5164,0.17,2.03,0.00,0.000,4,0.178,0.051,2205,3758,3980
$GC,5205,-1.15,-121.7,772.9,-14.1,542,5209,0.00,1.85,0.00,0.000,6,0.000,0.029,2205,2501,3979
$GC,5539,-1.20,-121.7,814.4,-11.7,558,5543,0.00,2.03,0.00,0.000,4,0.000,0.054,2205,3762,3977
$GC,5591,-1.20,-121.7,821.0,-13.1,560,5595,0.00,1.88,0.00,0.000,6,0.000,0.029,2205,2512,3976
$GC,5919,-1.26,-121.7,864.6,-13.9,576,5923,0.00,2.00,0.00,0.000,4,0.000,0.054,2205,3757,3974
$GC,6056,-1.26,-121.7,885.4,-15.3,582,6060,0.00,1.85,0.00,0.000,6,0.000,0.029,2205,2529,3973
$GC,6390,-1.31,-121.7,936.2,-14.8,598,6394,0.15,1.98,0.00,0.000,4,0.077,0.054,2146,3750,3971
$GC,6481,-1.08,-121.7,953.2,-20.5,602,6485,0.32,1.80,0.00,0.000,6,0.182,0.030,2230,2543,3971
$STATE,6789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6789,begin apogee
$GC,6797,-0.27,0.0,990.9,10.7,617,6902,0.88,0.00,96.18,1.384,6,0.154,0.000,2489,2405,3532
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6906,1.50,121.7,993.7,0.0,622,7021,1.60,2.35,105.60,1.364,4,0.058,0.049,3062,3762,3035
$GC,7241,0.66,121.7,960.8,18.4,637,7246,1.12,2.12,0.00,0.000,6,0.224,0.027,2794,2355,3031
$GC,7559,0.76,165.6,928.7,10.0,652,7601,0.00,2.33,37.30,1.320,4,0.000,0.054,2794,3749,2856
$GC,7630,0.76,165.6,920.1,14.5,655,7637,0.00,2.15,0.00,0.000,6,0.000,0.028,2802,2342,2854
$GC,7946,0.87,165.6,877.1,13.3,671,7951,0.17,2.28,0.00,0.000,4,0.081,0.051,2875,3751,2851
$GC,8020,0.61,165.6,864.4,18.1,674,8025,0.40,2.08,0.00,0.000,6,0.193,0.028,2781,2363,2851
$GC,8337,0.83,210.2,828.2,10.0,689,8380,0.20,2.38,37.38,1.284,4,0.084,0.053,2860,3759,2674
$GC,8469,0.70,210.2,809.4,15.8,694,8476,0.22,2.10,0.00,0.000,6,0.192,0.028,2813,2384,2671
$GC,8786,0.88,238.2,772.5,11.2,710,8816,0.15,2.30,23.98,1.231,4,0.087,0.054,2870,3754,2561
$GC,8875,0.75,238.2,758.5,19.3,714,8880,0.22,2.08,0.00,0.000,6,0.188,0.028,2822,2379,2558
$GC,9208,0.91,241.3,716.0,13.0,730,9218,0.15,2.28,3.75,0.763,4,0.084,0.054,2880,3755,2548
$GC,9342,0.79,241.3,695.1,16.9,735,9350,0.20,2.03,0.00,0.000,6,0.189,0.028,2837,2396,2547
$GC,9658,0.92,259.2,655.4,11.9,751,9682,0.12,2.17,16.15,1.154,4,0.089,0.033,2890,966,2474
$GC,9774,0.93,263.0,640.2,12.9,756,9784,0.00,2.25,4.75,0.861,6,0.000,0.035,2889,2414,2459
$GC,10107,0.93,263.0,594.3,13.7,772,10111,0.00,2.20,0.00,0.000,4,0.000,0.032,2899,972,2457
$GC,10192,0.93,263.0,583.0,14.0,775,10200,0.00,2.22,0.00,0.000,6,0.000,0.035,2899,2410,2456
$GC,10508,0.93,263.0,533.4,15.3,791,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2410,2456
$GC,10820,0.93,263.0,485.3,16.4,810,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2410,2456
$GC,11140,0.93,263.0,435.5,14.8,840,11144,0.00,2.17,0.00,0.000,4,0.000,0.033,2906,973,2455
$GC,11242,0.93,263.0,420.5,14.7,849,11245,0.00,2.20,0.00,0.000,6,0.000,0.036,2905,2402,2455
$GC,11577,0.93,263.0,369.7,16.3,880,11580,0.00,2.17,0.00,0.000,4,0.000,0.032,2912,965,2455
$GC,11668,0.93,263.0,355.2,15.5,888,11673,0.12,2.17,0.00,0.000,6,0.179,0.035,2882,2380,2454
$GC,11994,1.00,263.7,308.9,13.1,918,11998,0.00,2.12,0.00,0.000,4,0.000,0.034,2887,974,2454
$GC,12052,1.15,278.0,301.7,12.2,923,12075,0.17,2.20,13.30,0.910,6,0.076,0.037,2953,2402,2398
$GC,12418,1.03,278.0,243.9,16.0,985,12424,0.17,2.17,0.00,0.000,4,0.183,0.031,2912,971,2396
$GC,12506,1.11,278.0,229.3,16.3,1000,12512,0.00,2.17,0.00,0.000,6,0.000,0.035,2912,2389,2395
$GC,12853,1.11,278.0,165.9,14.5,1061,12859,0.00,2.15,0.00,0.000,4,0.000,0.050,2912,3757,2395
$GC,12912,1.11,278.0,156.9,15.0,1071,12919,0.00,2.03,0.00,0.000,6,0.000,0.026,2912,2388,2395
$GC,13260,1.24,311.0,116.5,10.8,1132,13295,0.17,2.22,27.60,0.770,4,0.078,0.050,2984,3767,2263
$GC,13337,1.03,311.0,104.4,17.1,1145,13345,0.30,2.10,0.00,0.000,6,0.187,0.026,2917,2364,2261
$GC,13685,1.32,384.2,62.2,7.9,1206,13752,0.22,2.17,57.65,0.713,4,0.071,0.031,3019,968,1963
$GC,13947,1.53,427.4,34.7,10.1,1251,13989,0.15,2.12,34.47,0.667,6,0.077,0.034,3079,2347,1789
$STATE,14190,end climb,SURFACE_DEPTH_REACHED
$STATE,14191,begin surface coast
$FINISH,1.8,1.002268
$STATE,14214,end surface coast,CONTROL_FINISHED_OK
$STATE,14215,begin surface
$SM_CCo,14235,35.03,0.634,0,0,1595,475.15
$SM_GC,2.69,0.00,0.00,35.03,0.000,0.000,0.634,139,2350,1595,-7.63,-0.93,475.15
$IRIDIUM_FIX,2451.31,12251.97,141198,141454
$TT8_MAMPS,0.029146
$HUMID,1800
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.0,93.071
$10V_AH,10.6,49.110
$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,27.275,129.800,458.100,35.025,0.000,31.109,31.735,222.351,8.500,0.000,0.000,43.921,2329.917,8722.516,615.392,2358.279,711.874,0.000,1808.571,0.000,2267.141,0.000,54.411,0.000
$DEVICE_MAMPS,233.168,54.457,1384.435,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,879.921,904.977,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69453,1298
$CAP_FILE_SIZE,151094,0
$CFSIZE,260165632,183455744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.356, 41.0,1
$GPS,200809,221007,2502.844,12253.941,42,1.0,43,-3.6