version: 66.04
glider: 167
mission: 2
dive: 512
start: 8 17 109 13 37 16
data:
$ID,167
$MISSION,2
$DIVE,512
$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,-19193.35
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$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,41
$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
$GPS1,133037,2456.454,12211.827,36,0.9,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.9
$GPS2,133656,2456.368,12211.904,16,1.3,16,-3.5
$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,68.0,62606,-25.0,-13.200
$D_GRID,956
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.50,-121.7,0.0,0.0,0,48,0.00,0.00,-28.52,0.000,2,0.000,0.000,139,2388,2286
$GC,52,-1.50,-121.7,3.5,-3.1,5,118,7.93,2.10,-49.58,0.000,4,0.233,0.038,2062,956,3990
$GC,351,-0.87,-121.7,93.4,-28.9,57,358,0.77,2.17,0.00,0.000,6,0.184,0.032,2261,2397,3992
$GC,698,-0.87,-121.7,153.9,-15.0,118,705,0.00,2.10,0.00,0.000,4,0.000,0.048,2257,3749,3995
$GC,825,-0.87,-121.7,174.1,-15.5,140,831,0.00,1.95,0.00,0.000,6,0.000,0.025,2257,2378,3995
$GC,1170,-0.91,-121.7,228.1,-16.2,201,1176,0.00,2.15,0.00,0.000,4,0.000,0.048,2249,3750,3996
$GC,1296,-0.91,-121.7,249.1,-16.3,223,1304,0.00,1.90,0.00,0.000,6,0.000,0.025,2249,2420,3996
$GC,1652,-0.97,-121.7,305.6,-15.0,282,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2419,3995
$GC,1972,-1.03,-121.7,354.7,-15.2,312,1976,0.10,2.10,0.00,0.000,4,0.093,0.051,2205,3750,3996
$GC,2046,-0.91,-121.7,369.5,-20.8,318,2053,0.17,1.88,0.00,0.000,6,0.173,0.025,2250,2441,3995
$GC,2372,-1.03,-121.7,419.4,-15.7,349,2376,0.12,2.08,0.00,0.000,4,0.084,0.048,2192,3753,3995
$GC,2435,-0.93,-121.7,431.9,-21.0,354,2441,0.20,1.85,0.00,0.000,6,0.168,0.026,2245,2472,3994
$GC,2760,-1.08,-121.7,481.9,-13.5,385,2765,0.15,2.15,0.00,0.000,4,0.077,0.027,2186,1006,3994
$GC,2790,-1.08,-121.7,486.5,-17.5,387,2794,0.00,2.22,0.00,0.000,6,0.000,0.035,2179,2464,3994
$GC,3119,-0.98,-121.7,547.2,-17.8,406,3123,0.17,2.00,0.00,0.000,4,0.180,0.050,2221,3749,3993
$GC,3303,-1.06,-121.7,578.4,-15.8,414,3306,0.00,1.83,0.00,0.000,6,0.000,0.028,2221,2523,3992
$GC,3631,-1.16,-121.7,626.3,-14.0,430,3635,0.15,1.98,0.00,0.000,4,0.081,0.051,2157,3758,3990
$GC,3705,-0.99,-121.7,640.6,-18.6,433,3709,0.20,1.85,0.00,0.000,6,0.170,0.027,2225,2513,3990
$GC,4035,-1.11,-121.7,684.0,-11.7,449,4040,0.12,2.22,0.00,0.000,4,0.087,0.027,2179,1009,3987
$GC,4098,-1.11,-121.7,692.7,-13.1,452,4102,0.00,2.28,0.00,0.000,6,0.000,0.038,2178,2482,3987
$GC,4427,-1.11,-121.7,741.5,-17.0,468,4430,0.00,2.00,0.00,0.000,4,0.000,0.053,2175,3750,3985
$GC,4588,-1.03,-121.7,770.8,-19.2,475,4592,0.15,1.80,0.00,0.000,6,0.176,0.028,2211,2528,3984
$GC,4925,-1.12,-121.7,819.8,-12.6,491,4929,0.00,1.95,0.00,0.000,4,0.000,0.054,2205,3758,3982
$GC,4987,-1.18,-121.7,827.9,-12.7,493,4994,0.12,1.80,0.00,0.000,6,0.089,0.028,2159,2539,3981
$GC,5305,-1.09,-121.7,871.5,-13.3,509,5307,0.15,0.00,0.00,0.000,6,0.180,0.000,2195,2538,3979
$GC,5614,-1.14,-121.7,912.3,-12.5,524,5617,0.00,1.95,0.00,0.000,4,0.000,0.054,2193,3751,3977
$GC,5655,-1.14,-121.7,917.2,-11.6,525,5661,0.00,1.77,0.00,0.000,6,0.000,0.029,2192,2549,3977
$GC,5971,-1.14,-121.7,953.1,-13.8,541,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2548,3976
$STATE,5988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5988,begin apogee
$GC,5996,-0.27,0.0,956.2,14.9,542,6094,0.93,0.00,94.75,1.378,6,0.164,0.000,2455,2395,3532
$STATE,6094,end apogee,CONTROL_FINISHED_OK
$STATE,6095,begin climb
$GC,6099,1.50,121.7,957.9,0.0,547,6211,1.67,2.30,104.32,1.331,4,0.087,0.031,3029,948,3034
$GC,6466,0.96,121.7,919.9,14.9,563,6474,0.68,2.20,0.00,0.000,6,0.203,0.037,2855,2364,3030
$GC,6783,0.89,165.7,886.6,10.0,579,6828,0.00,2.22,36.65,1.293,4,0.000,0.033,2863,950,2855
$GC,6938,0.91,182.4,868.9,12.0,585,6958,0.00,2.20,14.85,1.210,6,0.000,0.037,2862,2354,2788
$GC,7275,0.91,182.4,821.7,13.3,602,7279,0.00,2.25,0.00,0.000,4,0.000,0.055,2863,3761,2783
$GC,7382,0.73,182.4,805.2,16.5,607,7387,0.32,2.15,0.00,0.000,6,0.184,0.028,2783,2337,2783
$GC,7711,1.01,235.4,771.1,9.4,623,7763,0.20,2.42,44.75,1.253,4,0.080,0.054,2866,3761,2571
$GC,7846,0.93,235.4,751.0,17.8,629,7850,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,2354,2567
$GC,8180,0.93,235.4,699.9,16.0,645,8185,0.12,2.28,0.00,0.000,4,0.193,0.052,2847,3757,2565
$GC,8297,0.93,235.4,679.8,16.7,650,8301,0.00,2.08,0.00,0.000,6,0.000,0.030,2855,2368,2563
$GC,8621,1.02,235.4,635.0,14.4,666,8625,0.00,2.10,0.00,0.000,4,0.000,0.034,2863,966,2563
$GC,8677,1.15,235.4,626.4,14.5,668,8682,0.15,2.17,0.00,0.000,6,0.089,0.035,2920,2382,2563
$GC,8995,1.05,235.4,569.6,17.4,683,8999,0.15,2.17,0.00,0.000,4,0.190,0.053,2883,3754,2562
$GC,9096,0.95,235.4,551.7,17.2,687,9100,0.15,2.05,0.00,0.000,6,0.190,0.029,2853,2366,2562
$GC,9417,1.06,235.4,507.8,13.6,703,9422,0.10,2.10,0.00,0.000,4,0.096,0.032,2898,964,2561
$GC,9491,1.06,235.4,497.3,13.9,706,9497,0.00,2.17,0.00,0.000,6,0.000,0.035,2898,2382,2561
$GC,9819,1.06,235.4,446.2,18.6,737,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2382,2561
$GC,10146,1.06,235.4,391.1,15.4,768,10150,0.00,2.15,0.00,0.000,4,0.000,0.032,2907,962,2561
$GC,10207,1.06,235.4,381.3,15.3,773,10214,0.00,2.15,0.00,0.000,6,0.000,0.035,2908,2366,2560
$GC,10538,1.06,235.4,335.4,13.5,804,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2366,2560
$GC,10867,1.06,235.4,289.2,13.4,841,10873,0.00,2.12,0.00,0.000,4,0.000,0.032,2914,961,2559
$GC,11129,1.06,235.4,253.7,13.6,887,11136,0.00,2.17,0.00,0.000,6,0.000,0.034,2914,2386,2559
$GC,11476,1.06,235.4,205.7,13.7,948,11482,0.00,2.17,0.00,0.000,4,0.000,0.051,2914,3760,2559
$GC,11546,0.93,235.4,194.8,15.6,960,11553,0.30,2.05,0.00,0.000,6,0.180,0.028,2843,2375,2559
$GC,11893,1.22,299.1,157.0,8.6,1021,11952,0.22,2.30,49.88,0.815,4,0.072,0.051,2935,3755,2311
$GC,12006,1.22,299.1,140.4,17.9,1040,12012,0.00,2.05,0.00,0.000,6,0.000,0.027,2945,2387,2307
$GC,12352,1.29,303.5,87.5,12.9,1101,12358,0.00,0.00,4.22,0.544,6,0.000,0.000,2945,2384,2294
$GC,12696,1.45,351.4,48.4,9.7,1162,12744,0.17,2.17,38.65,0.709,4,0.075,0.031,3025,974,2098
$GC,13001,1.58,398.4,13.7,9.8,1215,13043,0.00,2.20,37.20,0.660,6,0.000,0.032,3025,2418,1907
$STATE,13092,end climb,SURFACE_DEPTH_REACHED
$STATE,13092,begin surface coast
$FINISH,1.8,1.008361
$STATE,13119,end surface coast,CONTROL_FINISHED_OK
$STATE,13120,begin surface
$SM_CCo,13139,57.15,0.647,0,0,1595,475.15
$SM_GC,3.10,0.00,0.00,57.15,0.000,0.000,0.647,137,2420,1595,-7.53,1.05,475.15
$IRIDIUM_FIX,2451.31,12210.40,111198,101009
$TT8_MAMPS,0.029146
$HUMID,1957
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,23.2,89.838
$10V_AH,10.6,47.539
$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,23.775,104.825,425.275,57.150,0.000,26.449,38.474,164.221,9.000,0.000,0.000,16.930,2172.684,7959.143,571.643,2256.242,613.223,0.000,1717.573,0.000,2188.053,0.000,61.123,0.000
$DEVICE_MAMPS,233.168,55.224,1377.532,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,837.966,859.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66274,1235
$CAP_FILE_SIZE,134535,0
$CFSIZE,260165632,184918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,198.0,1
$GPS,170809,171835,2455.559,12213.294,37,1.3,42,-3.5