version: 66.04
glider: 167
mission: 2
dive: 538
start: 8 21 109 22 31 54
data:
$ID,167
$MISSION,2
$DIVE,538
$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,-19831.199
$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,65
$R_STBD_OVSHOOT,38
$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
$GPS1,222437,2513.783,12249.238,33,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.1
$GPS2,223131,2513.867,12249.454,15,2.0,15,-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,274.0,45808,-25.0,-13.200
$D_GRID,1345
$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,-23.98,0.000,2,0.000,0.000,136,2351,2158
$GC,45,-1.50,-121.7,3.0,-1.6,4,125,8.30,2.22,-63.62,0.000,4,0.239,0.052,2086,3764,3989
$GC,186,-0.68,-121.7,27.6,-31.3,27,193,0.98,2.05,0.00,0.000,6,0.184,0.024,2350,2349,3991
$GC,534,-1.01,-121.7,76.9,-12.0,88,541,0.25,1.98,0.00,0.000,4,0.062,0.025,2244,995,3993
$GC,615,-1.01,-121.7,92.4,-18.4,102,622,0.00,2.17,0.00,0.000,6,0.000,0.031,2233,2436,3994
$GC,962,-0.91,-121.7,159.5,-19.5,163,969,0.17,2.05,0.00,0.000,4,0.173,0.046,2276,3754,3995
$GC,1073,-0.98,-121.7,179.4,-17.6,182,1080,0.00,1.88,0.00,0.000,6,0.000,0.025,2276,2438,3995
$GC,1422,-1.07,-121.7,236.5,-15.8,243,1429,0.12,2.10,0.00,0.000,4,0.081,0.025,2222,995,3996
$GC,1494,-1.07,-121.7,250.0,-18.5,255,1501,0.00,2.17,0.00,0.000,6,0.000,0.035,2218,2426,3996
$GC,1840,-0.96,-121.7,305.4,-16.3,313,1844,0.20,2.10,0.00,0.000,4,0.176,0.048,2275,3767,3996
$GC,1925,-1.10,-121.7,317.9,-13.5,320,1929,0.15,1.92,0.00,0.000,6,0.074,0.025,2211,2423,3996
$GC,2258,-1.04,-121.7,379.4,-18.6,351,2262,0.12,2.12,0.00,0.000,4,0.168,0.047,2234,3767,3996
$GC,2354,-1.04,-121.7,396.5,-16.0,359,2358,0.00,1.92,0.00,0.000,6,0.000,0.025,2234,2429,3996
$GC,2686,-1.10,-121.7,445.6,-14.6,390,2689,0.00,2.08,0.00,0.000,4,0.000,0.027,2234,1002,3996
$GC,2722,-1.21,-121.7,450.6,-13.9,393,2727,0.12,2.22,0.00,0.000,6,0.081,0.035,2183,2464,3996
$GC,3047,-1.09,-121.7,504.8,-17.2,422,3051,0.17,2.05,0.00,0.000,4,0.178,0.049,2223,3768,3995
$GC,3097,-1.09,-121.7,513.0,-14.9,424,3100,0.00,1.90,0.00,0.000,6,0.000,0.026,2224,2455,3995
$GC,3426,-1.16,-121.7,553.8,-12.3,440,3430,0.00,2.08,0.00,0.000,4,0.000,0.052,2222,3757,3994
$GC,3483,-1.16,-121.7,561.2,-12.8,442,3486,0.00,1.88,0.00,0.000,6,0.000,0.028,2221,2472,3993
$GC,3805,-1.23,-121.7,597.9,-10.9,458,3809,0.10,2.08,0.00,0.000,4,0.090,0.052,2178,3766,3992
$GC,3925,-1.11,-121.7,615.4,-14.6,463,3929,0.17,1.88,0.00,0.000,6,0.177,0.028,2222,2487,3992
$GC,4256,-1.21,-121.7,655.9,-13.4,479,4260,0.00,2.03,0.00,0.000,4,0.000,0.051,2218,3759,3989
$GC,4423,-1.27,-121.7,684.0,-17.0,486,4428,0.10,1.85,0.00,0.000,6,0.067,0.028,2156,2520,3988
$GC,4755,-1.12,-121.7,752.4,-20.7,502,4757,0.22,0.00,0.00,0.000,6,0.179,0.000,2214,2519,3986
$GC,5060,-1.20,-121.7,801.7,-15.0,517,5064,0.00,1.98,0.00,0.000,4,0.000,0.051,2207,3757,3984
$GC,5161,-1.20,-121.7,817.9,-15.4,521,5165,0.00,1.83,0.00,0.000,6,0.000,0.028,2207,2515,3983
$GC,5485,-1.27,-121.7,865.1,-14.0,537,5489,0.10,2.00,0.00,0.000,4,0.093,0.054,2166,3757,3981
$GC,5563,-1.14,-121.7,879.0,-17.3,540,5567,0.17,1.80,0.00,0.000,6,0.186,0.028,2207,2535,3981
$GC,5887,-1.22,-121.7,927.6,-15.1,556,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2535,3979
$GC,6195,-1.30,-121.7,971.1,-13.4,571,6197,0.15,0.00,0.00,0.000,6,0.081,0.000,2153,2535,3977
$STATE,6315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6315,begin apogee
$GC,6323,-0.27,0.0,990.9,16.6,577,6430,1.23,0.00,98.20,1.388,6,0.181,0.000,2486,2401,3532
$STATE,6430,end apogee,CONTROL_FINISHED_OK
$STATE,6430,begin climb
$GC,6435,1.50,121.7,994.5,0.0,582,6550,1.62,2.35,106.30,1.369,4,0.061,0.049,3065,3761,3034
$GC,6709,0.65,121.7,973.4,17.8,594,6715,1.15,2.15,0.00,0.000,6,0.228,0.026,2795,2340,3031
$GC,7032,0.73,183.5,941.6,8.7,610,7090,0.00,0.00,52.10,1.334,6,0.000,0.000,2796,2338,2784
$GC,7401,0.92,218.0,901.1,10.7,628,7434,0.22,0.00,30.30,1.295,6,0.077,0.000,2878,2338,2643
$GC,7731,0.86,218.0,853.3,14.5,644,7735,0.00,2.30,0.00,0.000,4,0.000,0.053,2879,3763,2638
$GC,7753,0.74,218.0,849.6,14.8,645,7758,0.25,2.10,0.00,0.000,6,0.188,0.029,2822,2375,2638
$GC,8076,0.93,281.2,817.9,8.6,661,8140,0.17,2.38,53.60,1.281,4,0.079,0.053,2886,3757,2384
$GC,8169,0.82,281.2,805.6,16.3,665,8174,0.20,2.15,0.00,0.000,6,0.186,0.028,2846,2370,2381
$GC,8492,0.95,286.7,765.1,12.8,681,8500,0.12,0.00,5.18,0.942,6,0.086,0.000,2892,2367,2363
$GC,8799,0.95,286.7,717.7,15.7,696,8803,0.00,2.25,0.00,0.000,4,0.000,0.051,2892,3767,2362
$GC,8863,0.83,286.7,706.1,19.4,699,8868,0.20,2.10,0.00,0.000,6,0.188,0.028,2847,2368,2361
$GC,9198,0.97,286.7,657.6,15.6,715,9202,0.12,2.22,0.00,0.000,4,0.087,0.050,2893,3755,2360
$GC,9288,0.87,286.7,638.8,21.9,719,9292,0.15,2.05,0.00,0.000,6,0.196,0.028,2861,2381,2360
$GC,9611,0.98,286.7,579.5,18.4,735,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2379,2358
$GC,9919,1.08,286.7,527.1,15.5,750,9923,0.17,2.22,0.00,0.000,4,0.081,0.052,2934,3763,2358
$GC,10068,0.88,286.7,497.1,21.0,756,10074,0.30,2.05,0.00,0.000,6,0.190,0.028,2863,2397,2358
$GC,10394,1.00,286.7,446.8,15.7,787,10398,0.12,2.15,0.00,0.000,4,0.093,0.032,2917,960,2357
$GC,10484,1.00,286.7,431.5,16.0,794,10492,0.00,2.20,0.00,0.000,6,0.000,0.035,2917,2395,2357
$GC,10812,1.00,286.7,377.9,15.3,825,10816,0.00,2.17,0.00,0.000,4,0.000,0.033,2926,959,2357
$GC,11016,1.01,294.7,349.4,12.6,843,11028,0.00,2.17,7.50,0.882,6,0.000,0.035,2926,2370,2330
$GC,11346,1.01,294.7,298.9,17.2,874,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2370,2328
$GC,11692,1.01,294.7,232.7,18.8,935,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2371,2328
$GC,12037,1.01,294.7,174.6,14.7,996,12043,0.00,2.20,0.00,0.000,4,0.000,0.052,2926,3764,2328
$GC,12152,0.90,294.7,155.2,16.4,1016,12159,0.25,2.10,0.00,0.000,6,0.180,0.027,2869,2339,2328
$GC,12500,1.14,320.3,115.9,11.3,1077,12530,0.20,2.33,21.75,0.775,4,0.072,0.051,2953,3758,2224
$GC,12583,1.03,320.3,102.2,17.8,1091,12590,0.20,2.08,0.00,0.000,6,0.185,0.026,2912,2366,2223
$GC,12929,1.20,320.3,69.5,13.8,1152,12936,0.15,2.08,0.00,0.000,4,0.081,0.030,2981,970,2222
$GC,13118,1.20,320.3,45.2,13.3,1185,13124,0.00,2.08,0.00,0.000,6,0.000,0.033,2981,2333,2222
$GC,13464,1.34,381.8,5.0,8.7,1246,13488,0.00,0.00,22.48,0.656,2,0.000,0.000,2981,2333,2116
$STATE,13489,end climb,SURFACE_DEPTH_REACHED
$STATE,13489,begin surface coast
$FINISH,1.8,1.003653
$STATE,13528,end surface coast,CONTROL_FINISHED_OK
$STATE,13528,begin surface
$SM_CCo,13548,96.80,0.653,0,0,1594,475.15
$SM_GC,2.79,0.00,0.00,96.80,0.000,0.000,0.653,135,2389,1594,-7.64,0.17,475.15
$IRIDIUM_FIX,2503.20,12248.55,151198,181831
$TT8_MAMPS,0.028379
$HUMID,1744
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,22.9,94.267
$10V_AH,10.6,49.689
$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,26.250,100.400,397.400,96.800,0.000,26.699,33.078,190.127,8.500,0.000,0.000,15.177,2248.760,8292.503,631.459,2212.487,668.448,0.000,1737.884,0.000,2160.555,0.000,54.409,0.000
$DEVICE_MAMPS,239.304,105.079,1387.503,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,855.162,894.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66513,1257
$CAP_FILE_SIZE,138932,0
$CFSIZE,260165632,182931456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,352.2,1
$GPS,220809,022037,2514.898,12247.397,36,0.9,37,-3.6