version: 66.04
glider: 167
mission: 2
dive: 539
start: 8 22 109 2 28 12
data:
$ID,167
$MISSION,2
$DIVE,539
$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,-19862.336
$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,64
$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
$GPS1,022037,2514.898,12247.397,36,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.4
$GPS2,022752,2514.839,12247.297,10,99.0,29,-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,277.9,41776,-25.0,-13.200
$D_GRID,1223
$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,-121.7,0.0,0.0,0,47,0.00,0.00,-28.90,0.000,2,0.000,0.000,135,2389,2290
$GC,51,-1.50,-121.7,3.1,-1.7,5,126,8.20,2.20,-56.97,0.000,4,0.235,0.056,2080,3763,3989
$GC,309,-0.71,-121.7,81.4,-33.8,49,317,1.00,2.03,0.00,0.000,6,0.192,0.023,2345,2351,3992
$GC,658,-0.99,-121.7,126.9,-11.8,110,665,0.22,1.95,0.00,0.000,4,0.061,0.025,2246,1010,3993
$GC,808,-0.99,-121.7,152.5,-18.2,136,814,0.00,2.08,0.00,0.000,6,0.000,0.033,2244,2383,3994
$GC,1152,-0.95,-121.7,205.9,-14.2,197,1159,0.12,2.15,0.00,0.000,4,0.183,0.047,2274,3764,3995
$GC,1323,-1.04,-121.7,226.5,-13.0,226,1329,0.00,1.95,0.00,0.000,6,0.000,0.024,2275,2398,3995
$GC,1671,-1.16,-121.7,279.1,-15.7,287,1677,0.17,2.15,0.00,0.000,4,0.067,0.047,2192,3761,3995
$GC,1781,-0.94,-121.7,301.9,-21.0,305,1788,0.30,1.95,0.00,0.000,6,0.165,0.025,2275,2404,3995
$GC,2107,-1.11,-121.7,341.3,-12.3,336,2111,0.15,2.05,0.00,0.000,4,0.075,0.025,2215,1007,3995
$GC,2131,-1.18,-121.7,344.7,-14.0,338,2135,0.00,2.15,0.00,0.000,6,0.000,0.033,2207,2420,3995
$GC,2463,-1.11,-121.7,404.2,-16.6,369,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2421,3995
$GC,2784,-1.11,-121.7,452.4,-14.6,399,2788,0.00,2.10,0.00,0.000,4,0.000,0.027,2207,1000,3995
$GC,2812,-1.11,-121.7,457.5,-16.5,401,2820,0.00,2.15,0.00,0.000,6,0.000,0.035,2207,2416,3995
$GC,3148,-1.11,-121.7,514.3,-16.6,429,3152,0.00,2.10,0.00,0.000,4,0.000,0.051,2205,3754,3993
$GC,3356,-1.11,-121.7,545.8,-13.1,438,3360,0.00,1.92,0.00,0.000,6,0.000,0.027,2205,2430,3993
$GC,3686,-1.11,-121.7,582.1,-10.7,454,3690,0.00,2.12,0.00,0.000,4,0.000,0.052,2205,3761,3991
$GC,3748,-1.11,-121.7,589.7,-12.4,456,3754,0.00,1.95,0.00,0.000,6,0.000,0.027,2205,2421,3991
$GC,4065,-1.11,-121.7,620.4,-8.7,472,4068,0.00,2.15,0.00,0.000,4,0.000,0.054,2205,3763,3989
$GC,4237,-1.11,-121.7,638.8,-10.8,479,4241,0.00,1.92,0.00,0.000,6,0.000,0.028,2205,2445,3987
$GC,4560,-1.11,-121.7,674.0,-11.4,495,4563,0.00,2.10,0.00,0.000,4,0.000,0.054,2205,3757,3985
$GC,4611,-1.11,-121.7,680.8,-13.4,497,4615,0.00,1.90,0.00,0.000,6,0.000,0.029,2205,2465,3985
$GC,4940,-1.16,-121.7,725.9,-15.9,513,4944,0.00,2.08,0.00,0.000,4,0.000,0.055,2205,3755,3982
$GC,5012,-1.16,-121.7,739.1,-16.9,516,5016,0.00,1.88,0.00,0.000,6,0.000,0.030,2205,2484,3982
$GC,5341,-1.21,-121.7,795.2,-17.8,532,5345,0.00,2.05,0.00,0.000,4,0.000,0.054,2204,3760,3980
$GC,5443,-1.21,-121.7,814.2,-18.4,536,5446,0.00,1.88,0.00,0.000,6,0.000,0.029,2205,2494,3979
$GC,5766,-1.27,-121.7,870.5,-17.3,552,5770,0.00,2.03,0.00,0.000,4,0.000,0.054,2204,3754,3977
$GC,5800,-1.27,-121.7,876.8,-17.3,553,5803,0.00,1.88,0.00,0.000,6,0.000,0.028,2204,2483,3977
$GC,6123,-1.34,-121.7,927.5,-15.0,569,6127,0.17,2.05,0.00,0.000,4,0.076,0.054,2126,3752,3975
$GC,6203,-1.05,-121.7,943.4,-21.0,572,6207,0.43,1.85,0.00,0.000,6,0.183,0.029,2238,2505,3975
$GC,6519,-1.25,-121.7,986.3,-13.6,587,6523,0.17,2.03,0.00,0.000,4,0.078,0.054,2166,3760,3973
$STATE,6540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6541,begin apogee
$GC,6552,-0.27,0.0,990.1,15.7,588,6662,1.15,0.00,97.32,1.390,6,0.173,0.000,2487,2351,3531
$STATE,6663,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6666,1.50,121.7,997.8,0.0,594,6782,1.60,2.42,106.22,1.374,4,0.055,0.049,3063,3756,3035
$GC,6891,0.66,121.7,992.4,15.4,604,6897,1.12,2.08,0.00,0.000,6,0.227,0.027,2800,2377,3031
$GC,7213,0.75,198.4,967.2,7.6,620,7283,0.00,2.22,64.80,1.354,4,0.000,0.035,2803,978,2723
$GC,7335,0.98,222.7,955.6,11.4,625,7365,0.28,2.20,22.42,1.285,6,0.069,0.036,2903,2366,2624
$GC,7678,0.86,222.7,899.5,17.2,642,7683,0.17,2.22,0.00,0.000,4,0.189,0.051,2854,3758,2618
$GC,7763,0.77,222.7,884.3,17.7,646,7767,0.00,2.10,0.00,0.000,6,0.000,0.027,2858,2357,2617
$GC,8098,0.77,222.7,832.9,16.2,662,8102,0.00,2.10,0.00,0.000,4,0.000,0.035,2860,966,2616
$GC,8160,0.86,222.7,822.2,16.0,664,8166,0.00,2.17,0.00,0.000,6,0.000,0.035,2860,2378,2615
$GC,8477,0.86,222.7,770.2,16.3,680,8481,0.00,2.20,0.00,0.000,4,0.000,0.055,2860,3755,2615
$GC,8607,0.75,222.7,747.1,18.4,685,8615,0.17,2.05,0.00,0.000,6,0.190,0.028,2826,2382,2614
$GC,8924,0.87,222.7,702.0,14.0,701,8928,0.10,2.15,0.00,0.000,4,0.100,0.036,2869,963,2613
$GC,9020,0.93,222.7,687.5,15.3,705,9024,0.00,2.20,0.00,0.000,6,0.000,0.035,2868,2397,2613
$GC,9336,0.93,222.7,641.8,13.5,720,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2397,2612
$GC,9647,0.95,239.9,602.8,11.9,735,9668,0.00,2.25,13.77,1.119,4,0.000,0.035,2869,968,2552
$GC,9709,1.03,251.8,595.0,12.3,737,9726,0.12,2.17,11.27,1.071,6,0.094,0.033,2916,2378,2504
$GC,10051,0.93,251.8,535.6,19.4,754,10056,0.15,2.20,0.00,0.000,4,0.188,0.052,2879,3754,2501
$GC,10103,0.83,251.8,524.7,20.6,756,10108,0.15,2.08,0.00,0.000,6,0.192,0.027,2850,2372,2501
$GC,10427,0.92,251.8,471.5,15.6,779,10430,0.00,2.22,0.00,0.000,4,0.000,0.052,2850,3755,2500
$GC,10496,0.92,251.8,459.2,18.0,785,10500,0.00,2.10,0.00,0.000,6,0.000,0.029,2859,2358,2500
$GC,10827,1.01,251.8,405.3,15.8,816,10832,0.12,2.25,0.00,0.000,4,0.091,0.053,2908,3751,2499
$GC,11015,0.84,251.8,370.0,17.1,832,11020,0.25,2.05,0.00,0.000,6,0.185,0.028,2851,2371,2499
$GC,11343,0.99,270.1,331.2,11.9,862,11365,0.15,2.12,15.93,0.957,4,0.082,0.032,2917,968,2429
$GC,11512,0.99,270.1,305.2,14.6,877,11516,0.00,2.17,0.00,0.000,6,0.000,0.035,2917,2381,2427
$GC,11855,0.99,270.1,251.7,14.6,934,11861,0.00,2.15,0.00,0.000,4,0.000,0.031,2925,961,2426
$GC,11970,0.99,270.1,234.9,14.1,954,11976,0.00,2.15,0.00,0.000,6,0.000,0.035,2925,2364,2425
$GC,12315,0.99,270.1,175.6,18.4,1015,12321,0.00,2.10,0.00,0.000,4,0.000,0.031,2930,969,2426
$GC,12403,0.99,270.1,162.1,14.5,1030,12410,0.12,2.10,0.00,0.000,6,0.183,0.034,2901,2345,2426
$GC,12749,1.11,304.7,119.9,10.7,1091,12785,0.10,2.12,28.85,0.795,4,0.097,0.030,2943,956,2288
$GC,13024,1.17,304.7,82.3,14.9,1139,13030,0.00,2.08,0.00,0.000,6,0.000,0.031,2943,2311,2285
$GC,13369,1.26,380.4,42.8,7.7,1200,13436,0.12,2.08,59.47,0.708,4,0.080,0.028,3001,960,1979
$STATE,13648,end climb,SURFACE_DEPTH_REACHED
$STATE,13648,begin surface coast
$FINISH,1.9,0.999454
$STATE,13666,end surface coast,CONTROL_FINISHED_OK
$STATE,13666,begin surface
$SM_CCo,13689,71.15,0.658,0,0,1595,475.15
$SM_GC,2.91,0.00,0.00,71.15,0.000,0.000,0.658,139,2382,1595,-7.63,-0.03,475.15
$IRIDIUM_FIX,2505.59,12248.55,151198,222258
$TT8_MAMPS,0.029913
$HUMID,1792
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,22.8,94.438
$10V_AH,10.6,49.771
$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,24.725,125.650,420.075,71.150,0.000,30.437,32.526,183.018,8.250,0.000,0.000,30.505,2231.534,8348.528,618.711,2304.958,682.926,0.000,1777.982,0.000,2228.501,0.000,54.399,0.000
$DEVICE_MAMPS,234.702,55.991,1389.804,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,851.302,869.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66392,1252
$CAP_FILE_SIZE,141048,0
$CFSIZE,260165632,182849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044, 90.4,1
$GPS,220809,061855,2515.245,12245.823,41,1.3,42,-3.6