version: 66.04
glider: 167
mission: 2
dive: 513
start: 8 17 109 17 25 53
data:
$ID,167
$MISSION,2
$DIVE,513
$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,-19209.234
$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,76
$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
$GPS1,171835,2455.559,12213.294,37,1.3,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.1
$GPS2,172531,2455.470,12213.265,10,1.1,15,-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,69.0,59900,-25.0,-13.200
$D_GRID,1024
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.80,0.000,2,0.000,0.000,137,2420,2106
$GC,44,-1.50,-121.7,3.0,-1.5,4,125,8.25,2.10,-64.03,0.000,4,0.237,0.055,2082,3758,3990
$GC,264,-0.70,-121.7,69.6,-34.0,41,270,1.00,2.03,0.00,0.000,6,0.189,0.025,2348,2363,3992
$GC,611,-0.98,-121.7,114.3,-10.8,102,617,0.20,2.20,0.00,0.000,4,0.068,0.048,2261,3753,3994
$GC,680,-0.98,-121.7,125.1,-15.7,114,686,0.00,1.95,0.00,0.000,6,0.000,0.025,2261,2388,3995
$GC,1026,-0.98,-121.7,173.8,-13.7,175,1032,0.00,2.15,0.00,0.000,4,0.000,0.048,2261,3753,3996
$GC,1124,-0.98,-121.7,188.0,-15.3,192,1131,0.00,1.88,0.00,0.000,6,0.000,0.025,2261,2445,3996
$GC,1471,-1.04,-121.7,238.6,-13.4,253,1477,0.00,2.08,0.00,0.000,4,0.000,0.050,2257,3760,3996
$GC,1570,-1.10,-121.7,252.8,-13.6,270,1576,0.00,1.85,0.00,0.000,6,0.000,0.027,2257,2475,3996
$GC,1915,-1.18,-121.7,301.9,-15.3,330,1917,0.17,0.00,0.00,0.000,6,0.070,0.000,2184,2474,3996
$GC,2232,-1.06,-121.7,364.9,-17.8,360,2237,0.17,2.15,0.00,0.000,4,0.176,0.027,2234,1011,3997
$GC,2260,-1.06,-121.7,369.6,-16.0,362,2264,0.00,2.25,0.00,0.000,6,0.000,0.035,2232,2481,3996
$GC,2585,-1.06,-121.7,417.9,-14.3,392,2589,0.00,2.00,0.00,0.000,4,0.000,0.050,2223,3766,3996
$GC,2689,-1.06,-121.7,432.1,-13.1,401,2693,0.00,1.83,0.00,0.000,6,0.000,0.026,2223,2529,3996
$GC,3020,-1.06,-121.7,482.2,-16.6,432,3024,0.00,1.95,0.00,0.000,4,0.000,0.051,2220,3755,3994
$GC,3067,-1.06,-121.7,490.6,-17.7,436,3071,0.00,1.75,0.00,0.000,6,0.000,0.028,2220,2551,3994
$GC,3390,-1.12,-121.7,539.9,-14.6,454,3394,0.00,1.92,0.00,0.000,4,0.000,0.053,2216,3763,3993
$GC,3447,-1.12,-121.7,548.6,-15.0,456,3450,0.00,1.77,0.00,0.000,6,0.000,0.030,2216,2552,3993
$GC,3770,-1.18,-121.7,594.2,-14.2,472,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2552,3991
$GC,4078,-1.24,-121.7,640.7,-15.0,487,4082,0.10,1.95,0.00,0.000,4,0.097,0.054,2175,3764,3990
$GC,4180,-1.13,-121.7,658.9,-18.1,491,4184,0.15,1.77,0.00,0.000,6,0.178,0.029,2210,2561,3988
$GC,4501,-1.18,-121.7,707.5,-14.9,507,4505,0.00,1.92,0.00,0.000,4,0.000,0.054,2205,3767,3986
$GC,4602,-1.18,-121.7,723.1,-15.2,511,4606,0.00,1.77,0.00,0.000,6,0.000,0.029,2205,2578,3986
$GC,4925,-1.18,-121.7,772.6,-15.6,527,4929,0.00,1.90,0.00,0.000,4,0.000,0.055,2205,3757,3983
$GC,4950,-1.18,-121.7,776.4,-15.0,528,4953,0.00,1.73,0.00,0.000,6,0.000,0.029,2205,2590,3983
$GC,5285,-1.24,-121.7,826.6,-14.7,544,5289,0.00,1.88,0.00,0.000,4,0.000,0.056,2205,3753,3981
$GC,5319,-1.24,-121.7,832.2,-15.1,545,5322,0.00,1.70,0.00,0.000,6,0.000,0.030,2205,2602,3981
$GC,5641,-1.31,-121.7,879.6,-15.7,561,5643,0.15,0.00,0.00,0.000,6,0.084,0.000,2150,2601,3979
$GC,5951,-1.19,-121.7,936.8,-18.4,576,5955,0.17,1.88,0.00,0.000,4,0.193,0.054,2192,3751,3977
$GC,6020,-1.19,-121.7,949.0,-17.2,579,6023,0.00,1.70,0.00,0.000,6,0.000,0.031,2192,2610,3977
$STATE,6308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6309,begin apogee
$GC,6317,-0.27,0.0,992.6,14.4,593,6417,1.05,0.00,95.62,1.396,6,0.167,0.000,2487,2410,3532
$STATE,6417,end apogee,CONTROL_FINISHED_OK
$STATE,6417,begin climb
$GC,6421,1.50,121.7,997.2,0.0,598,6534,1.62,2.30,105.85,1.356,4,0.065,0.048,3059,3763,3034
$GC,6722,0.67,121.7,975.4,17.1,612,6728,1.08,2.15,0.00,0.000,6,0.219,0.027,2802,2339,3030
$GC,7050,0.76,198.5,948.0,7.6,628,7122,0.00,2.45,64.18,1.335,4,0.000,0.053,2802,3752,2721
$GC,7281,0.83,208.4,921.6,12.5,638,7296,0.12,2.08,9.60,1.158,6,0.093,0.028,2849,2379,2682
$GC,7626,0.83,214.6,877.9,12.8,655,7637,0.00,2.22,6.32,1.050,4,0.000,0.053,2848,3755,2658
$GC,7673,0.77,214.6,871.1,14.8,657,7677,0.12,2.10,0.00,0.000,6,0.193,0.028,2830,2359,2657
$GC,7995,0.90,223.1,830.2,12.6,673,8010,0.12,2.28,9.15,1.150,4,0.090,0.055,2875,3750,2622
$GC,8096,0.76,223.1,814.1,17.1,677,8100,0.22,2.05,0.00,0.000,6,0.184,0.028,2827,2383,2620
$GC,8412,0.92,244.6,775.6,11.6,692,8437,0.15,2.22,18.98,1.224,4,0.087,0.035,2889,968,2534
$GC,8484,0.92,244.6,765.7,13.8,695,8489,0.00,2.22,0.00,0.000,6,0.000,0.036,2889,2388,2532
$GC,8812,0.92,244.6,712.0,18.1,711,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2388,2529
$GC,9121,0.92,244.6,658.1,17.5,726,9124,0.00,2.17,0.00,0.000,4,0.000,0.054,2890,3753,2529
$GC,9178,0.79,244.6,647.3,19.5,728,9183,0.25,2.08,0.00,0.000,6,0.188,0.029,2834,2375,2529
$GC,9495,0.95,244.6,600.3,14.2,743,9500,0.15,2.25,0.00,0.000,4,0.085,0.054,2891,3762,2528
$GC,9639,0.85,244.6,575.1,17.7,749,9643,0.17,2.05,0.00,0.000,6,0.189,0.030,2857,2393,2527
$GC,9955,0.94,244.6,529.9,13.8,764,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2390,2527
$GC,10267,1.06,265.5,489.6,11.7,783,10288,0.17,0.00,17.77,1.060,6,0.081,0.000,2923,2389,2449
$GC,10605,1.00,265.5,437.0,15.9,815,10609,0.00,2.22,0.00,0.000,4,0.000,0.054,2923,3766,2446
$GC,10774,0.83,265.5,407.6,18.0,829,10778,0.30,2.03,0.00,0.000,6,0.187,0.030,2853,2395,2445
$GC,11106,0.99,267.5,362.8,13.1,860,11110,0.12,2.15,0.00,0.000,4,0.089,0.034,2903,969,2444
$GC,11280,1.08,267.5,337.3,15.8,875,11284,0.00,2.20,0.00,0.000,6,0.000,0.036,2903,2399,2444
$GC,11610,1.08,267.5,289.3,14.0,911,11616,0.00,2.15,0.00,0.000,4,0.000,0.052,2903,3755,2444
$GC,11662,1.02,267.5,281.0,16.4,920,11669,0.00,2.00,0.00,0.000,6,0.000,0.028,2913,2401,2444
$GC,12009,1.02,267.5,229.4,15.5,981,12015,0.00,2.17,0.00,0.000,4,0.000,0.053,2913,3754,2444
$GC,12197,0.91,267.5,194.1,20.8,1014,12203,0.17,2.00,0.00,0.000,6,0.189,0.028,2878,2406,2444
$GC,12547,1.10,293.8,147.4,11.3,1075,12577,0.15,2.25,23.95,0.810,4,0.082,0.052,2935,3762,2333
$GC,12597,1.04,293.8,140.5,15.1,1083,12603,0.00,2.00,0.00,0.000,6,0.000,0.028,2944,2417,2331
$GC,12942,1.09,293.8,87.0,17.6,1144,12949,0.00,2.15,0.00,0.000,4,0.000,0.031,2954,976,2329
$GC,13052,1.20,323.9,70.3,11.0,1163,13082,0.00,2.17,24.25,0.734,6,0.000,0.035,2953,2397,2211
$GC,13425,1.46,407.5,31.3,7.1,1228,13501,0.22,2.22,65.95,0.685,4,0.070,0.050,3048,3749,1869
$STATE,13607,end climb,SURFACE_DEPTH_REACHED
$STATE,13607,begin surface coast
$FINISH,2.0,1.021068
$STATE,13615,end surface coast,CONTROL_FINISHED_OK
$STATE,13615,begin surface
$SM_CCo,13637,49.92,0.650,0,0,1595,475.15
$SM_GC,3.73,0.00,0.00,49.92,0.000,0.000,0.650,136,2371,1595,-7.64,-0.34,475.15
$IRIDIUM_FIX,2448.93,12212.42,111198,131344
$TT8_MAMPS,0.029146
$HUMID,1922
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,23.0,90.008
$10V_AH,10.6,47.619
$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,24.775,110.750,441.625,49.925,0.000,31.570,45.137,179.542,8.500,0.000,0.000,15.257,2223.810,8377.544,579.301,2259.969,657.974,0.000,1729.898,0.000,2196.736,0.000,54.398,0.000
$DEVICE_MAMPS,237.003,55.991,1395.940,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.164,878.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66355,1261
$CAP_FILE_SIZE,138581,0
$CFSIZE,260165632,184840192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,201.0,1
$GPS,170809,211507,2455.967,12215.169,26,1.4,27,-3.5