version: 66.04
glider: 167
mission: 2
dive: 541
start: 8 22 109 10 21 30
data:
$ID,167
$MISSION,2
$DIVE,541
$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,-19890.943
$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,68
$R_STBD_OVSHOOT,49
$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
$GPS1,101407,2515.639,12245.111,40,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.5
$GPS2,102108,2515.491,12245.218,13,2.0,13,-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,305.3,38130,-25.0,-13.200
$D_GRID,1121
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,49,0.00,0.00,-30.98,0.000,2,0.000,0.000,137,2401,2319
$GC,53,-1.50,-121.7,3.1,-1.2,5,128,8.23,2.20,-61.00,0.000,4,0.237,0.056,2084,3758,3989
$GC,283,-0.82,-121.7,54.6,-24.6,44,290,0.82,2.03,0.00,0.000,6,0.179,0.025,2308,2360,3991
$GC,630,-1.00,-121.7,105.6,-12.0,105,637,0.15,2.20,0.00,0.000,4,0.071,0.047,2238,3753,3993
$GC,678,-0.89,-121.7,113.0,-16.4,113,685,0.20,1.92,0.00,0.000,6,0.169,0.025,2291,2418,3994
$GC,1025,-1.02,-121.7,166.9,-15.2,174,1033,0.12,2.10,0.00,0.000,4,0.076,0.047,2232,3750,3995
$GC,1086,-0.92,-121.7,176.7,-17.0,184,1093,0.17,1.92,0.00,0.000,6,0.174,0.025,2277,2412,3995
$GC,1436,-1.03,-121.7,222.6,-12.6,245,1442,0.00,2.10,0.00,0.000,4,0.000,0.048,2276,3747,3995
$GC,1489,-1.11,-121.7,228.3,-12.4,254,1497,0.15,1.90,0.00,0.000,6,0.075,0.025,2211,2421,3995
$GC,1837,-1.01,-121.7,294.2,-18.7,315,1844,0.15,2.08,0.00,0.000,4,0.166,0.025,2250,995,3995
$GC,1863,-1.01,-121.7,299.1,-19.0,319,1870,0.00,2.17,0.00,0.000,6,0.000,0.034,2246,2429,3995
$GC,2189,-1.09,-121.7,354.1,-14.1,350,2192,0.00,2.08,0.00,0.000,4,0.000,0.050,2236,3760,3995
$GC,2268,-1.09,-121.7,365.8,-14.7,357,2272,0.00,1.88,0.00,0.000,6,0.000,0.026,2236,2455,3995
$GC,2600,-1.16,-121.7,406.6,-12.6,388,2604,0.00,2.08,0.00,0.000,4,0.000,0.051,2233,3762,3995
$GC,2635,-1.16,-121.7,411.4,-13.9,391,2638,0.00,1.88,0.00,0.000,6,0.000,0.027,2233,2465,3995
$GC,2966,-1.24,-121.7,466.7,-16.4,422,2971,0.15,2.08,0.00,0.000,4,0.078,0.050,2166,3767,3995
$GC,3130,-1.02,-121.7,501.8,-20.0,436,3134,0.30,1.85,0.00,0.000,6,0.175,0.027,2245,2499,3994
$GC,3462,-1.17,-121.7,544.2,-12.2,452,3467,0.12,2.20,0.00,0.000,4,0.082,0.028,2196,1010,3993
$GC,3490,-1.17,-121.7,548.4,-14.0,453,3494,0.00,2.25,0.00,0.000,6,0.000,0.035,2193,2480,3993
$GC,3814,-1.10,-121.7,589.5,-13.3,469,3818,0.12,2.03,0.00,0.000,4,0.185,0.050,2218,3766,3992
$GC,3994,-1.10,-121.7,613.6,-15.3,477,3998,0.00,1.85,0.00,0.000,6,0.000,0.028,2218,2507,3991
$GC,4329,-1.19,-121.7,662.4,-13.4,493,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2507,3989
$GC,4638,-1.27,-121.7,702.5,-12.8,508,4640,0.15,0.00,0.00,0.000,6,0.077,0.000,2160,2507,3987
$GC,4948,-1.14,-121.7,750.8,-15.9,523,4950,0.20,0.00,0.00,0.000,6,0.184,0.000,2209,2506,3986
$GC,5255,-1.20,-121.7,791.6,-13.9,538,5259,0.00,2.03,0.00,0.000,4,0.000,0.054,2205,3767,3984
$GC,5346,-1.20,-121.7,805.5,-15.5,542,5350,0.00,1.85,0.00,0.000,6,0.000,0.028,2205,2512,3983
$GC,5681,-1.25,-121.7,853.4,-13.5,558,5684,0.00,2.00,0.00,0.000,4,0.000,0.054,2205,3757,3982
$GC,5750,-1.25,-121.7,861.9,-12.0,561,5753,0.00,1.83,0.00,0.000,6,0.000,0.029,2205,2522,3981
$GC,6085,-1.30,-121.7,903.9,-12.5,577,6089,0.12,2.00,0.00,0.000,4,0.084,0.053,2152,3763,3979
$GC,6233,-1.12,-121.7,929.0,-17.1,583,6238,0.25,1.80,0.00,0.000,6,0.185,0.028,2215,2540,3978
$GC,6558,-1.22,-121.7,966.1,-10.9,599,6561,0.00,1.95,0.00,0.000,4,0.000,0.051,2207,3758,3977
$GC,6654,-1.28,-121.7,976.8,-9.8,603,6658,0.12,1.80,0.00,0.000,6,0.087,0.030,2160,2553,3976
$STATE,6773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6773,begin apogee
$GC,6782,-0.27,0.0,992.9,14.1,609,6894,1.17,0.00,98.32,1.386,6,0.177,0.000,2484,2399,3531
$STATE,6895,end apogee,CONTROL_FINISHED_OK
$STATE,6895,begin climb
$GC,6898,1.50,121.7,995.8,0.0,615,7014,1.62,2.38,106.10,1.366,4,0.064,0.049,3059,3763,3034
$GC,7129,0.67,121.7,978.8,18.2,625,7134,1.10,2.15,0.00,0.000,6,0.224,0.026,2800,2345,3032
$GC,7445,0.73,174.3,946.3,9.4,640,7495,0.00,2.38,44.70,1.327,4,0.000,0.051,2800,3764,2821
$GC,7643,0.77,202.5,923.6,11.2,649,7673,0.00,2.12,24.17,1.282,6,0.000,0.028,2808,2361,2708
$GC,7999,1.00,286.1,893.5,7.1,666,8078,0.22,2.35,72.60,1.309,4,0.075,0.049,2895,3761,2365
$GC,8219,0.88,286.1,856.5,21.3,675,8224,0.17,2.08,0.00,0.000,6,0.188,0.029,2863,2394,2359
$GC,8541,0.96,286.1,796.4,19.7,691,8545,0.00,2.20,0.00,0.000,4,0.000,0.052,2862,3754,2356
$GC,8643,0.96,286.1,774.4,20.8,695,8647,0.00,2.05,0.00,0.000,6,0.000,0.029,2868,2395,2355
$GC,8965,1.03,286.1,715.8,17.3,711,8970,0.12,2.17,0.00,0.000,4,0.088,0.034,2925,956,2354
$GC,9084,1.03,286.1,692.6,20.4,716,9088,0.00,2.22,0.00,0.000,6,0.000,0.036,2925,2398,2354
$GC,9407,0.94,286.1,629.3,19.5,732,9411,0.15,2.20,0.00,0.000,4,0.180,0.032,2895,956,2353
$GC,9519,1.04,286.1,609.6,17.6,737,9523,0.00,2.17,0.00,0.000,6,0.000,0.036,2894,2375,2352
$GC,9849,1.04,286.1,547.8,19.4,753,9853,0.00,2.20,0.00,0.000,4,0.000,0.054,2894,3757,2352
$GC,10087,0.95,286.1,492.0,23.9,765,10091,0.00,2.05,0.00,0.000,6,0.000,0.028,2895,2384,2351
$GC,10418,0.95,286.1,431.8,17.2,796,10421,0.00,2.22,0.00,0.000,4,0.000,0.053,2895,3764,2351
$GC,10454,0.87,286.1,425.6,18.6,799,10458,0.15,2.05,0.00,0.000,6,0.188,0.029,2858,2400,2351
$GC,10785,1.02,286.1,374.0,14.8,830,10789,0.15,2.15,0.00,0.000,4,0.080,0.032,2925,967,2352
$GC,10945,1.02,286.1,348.6,14.9,843,10951,0.00,2.20,0.00,0.000,6,0.000,0.035,2925,2402,2350
$GC,11275,1.02,286.1,301.9,14.5,874,11278,0.00,2.15,0.00,0.000,4,0.000,0.054,2925,3753,2350
$GC,11460,0.89,286.1,272.0,17.2,905,11466,0.22,2.00,0.00,0.000,6,0.185,0.028,2870,2408,2350
$GC,11806,1.06,303.9,227.7,11.9,966,11826,0.15,2.22,13.50,0.851,4,0.083,0.031,2935,967,2292
$GC,11862,1.11,303.9,220.0,13.2,975,11868,0.00,2.22,0.00,0.000,6,0.000,0.033,2935,2420,2291
$GC,12208,1.11,303.9,159.9,19.6,1036,12214,0.00,2.10,0.00,0.000,4,0.000,0.051,2935,3754,2291
$GC,12311,1.00,303.9,138.3,20.8,1054,12319,0.17,2.00,0.00,0.000,6,0.184,0.026,2900,2393,2290
$GC,12660,1.11,303.9,81.5,14.3,1115,12666,0.12,2.17,0.00,0.000,4,0.086,0.050,2948,3754,2291
$GC,12807,1.04,359.3,61.1,9.2,1140,12861,0.15,1.92,44.92,0.732,6,0.184,0.026,2921,2441,2066
$GC,13202,1.34,401.4,10.1,10.1,1209,13239,0.22,0.00,33.78,0.672,6,0.066,0.000,3014,2441,1894
$STATE,13260,end climb,SURFACE_DEPTH_REACHED
$STATE,13260,begin surface coast
$FINISH,1.9,1.009752
$STATE,13289,end surface coast,CONTROL_FINISHED_OK
$STATE,13289,begin surface
$SM_CCo,13310,56.22,0.662,0,0,1595,475.15
$SM_GC,2.74,0.00,0.00,56.22,0.000,0.000,0.662,139,2440,1595,-7.63,1.61,475.15
$IRIDIUM_FIX,2505.59,12245.26,161198,060622
$TT8_MAMPS,0.029146
$HUMID,1801
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,22.9,94.787
$10V_AH,10.6,49.935
$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,25.500,112.350,438.100,56.225,0.000,33.149,40.390,178.834,8.000,0.000,0.000,13.625,2212.673,7988.799,586.704,2305.875,687.239,0.000,1763.125,0.000,2242.753,0.000,54.403,0.000
$DEVICE_MAMPS,237.003,55.991,1385.969,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,832.990,849.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66323,1224
$CAP_FILE_SIZE,141290,0
$CFSIZE,260165632,182702080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,289.9,1
$GPS,220809,140537,2516.687,12242.777,38,1.0,39,-3.6