version: 66.04
glider: 167
mission: 2
dive: 516
start: 8 18 109 5 22 57
data:
$ID,167
$MISSION,2
$DIVE,516
$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,-19291.711
$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,35
$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
$GPS1,051537,2453.305,12218.382,25,2.0,25,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-71.0
$GPS2,052236,2453.122,12218.337,13,1.2,29,-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,70.9,50444,-25.0,-13.200
$D_GRID,1086
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.75,0.000,2,0.000,0.000,137,2350,2143
$GC,44,-1.50,-121.7,3.2,-2.4,3,122,8.18,2.22,-62.08,0.000,4,0.235,0.055,2083,3761,3990
$GC,212,-0.59,-121.7,44.9,-34.2,31,219,1.15,2.03,0.00,0.000,6,0.195,0.024,2385,2366,3992
$GC,560,-1.09,-121.7,79.1,-8.0,92,566,0.40,2.00,0.00,0.000,4,0.056,0.025,2218,996,3994
$GC,596,-0.99,-121.7,84.7,-17.8,98,604,0.17,2.10,0.00,0.000,6,0.170,0.031,2253,2394,3994
$GC,944,-0.99,-121.7,149.5,-16.8,159,950,0.00,2.05,0.00,0.000,4,0.000,0.025,2253,991,3996
$GC,1183,-1.06,-121.7,178.8,-11.4,201,1189,0.00,2.15,0.00,0.000,6,0.000,0.032,2247,2419,3997
$GC,1529,-1.06,-121.7,225.3,-15.2,262,1536,0.00,2.08,0.00,0.000,4,0.000,0.049,2245,3752,3997
$GC,1667,-1.06,-121.7,249.2,-17.5,286,1675,0.00,1.90,0.00,0.000,6,0.000,0.025,2244,2422,3997
$GC,2016,-1.06,-121.7,315.8,-20.2,341,2020,0.00,2.10,0.00,0.000,4,0.000,0.048,2236,3753,3997
$GC,2051,-1.06,-121.7,322.7,-19.8,344,2054,0.00,1.88,0.00,0.000,6,0.000,0.027,2236,2461,3997
$GC,2382,-1.06,-121.7,380.3,-15.6,375,2386,0.00,2.05,0.00,0.000,4,0.000,0.050,2232,3754,3996
$GC,2454,-1.06,-121.7,391.6,-15.0,381,2460,0.00,1.85,0.00,0.000,6,0.000,0.027,2232,2473,3996
$GC,2780,-1.11,-121.7,434.1,-12.5,412,2784,0.00,2.05,0.00,0.000,4,0.000,0.051,2231,3764,3995
$GC,2841,-1.11,-121.7,441.7,-13.6,417,2844,0.00,1.85,0.00,0.000,6,0.000,0.027,2232,2481,3995
$GC,3171,-1.11,-121.7,485.0,-13.3,448,3175,0.00,2.03,0.00,0.000,4,0.000,0.051,2224,3759,3994
$GC,3262,-1.11,-121.7,497.3,-13.4,456,3266,0.00,1.85,0.00,0.000,6,0.000,0.028,2224,2485,3993
$GC,3595,-1.17,-121.7,536.7,-11.6,473,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2484,3992
$GC,3906,-1.24,-121.7,572.3,-12.0,488,3910,0.12,2.03,0.00,0.000,4,0.087,0.051,2166,3751,3989
$GC,4048,-1.04,-121.7,597.0,-18.3,494,4052,0.28,1.80,0.00,0.000,6,0.176,0.028,2238,2514,3988
$GC,4377,-1.17,-121.7,639.9,-13.3,510,4378,0.12,0.00,0.00,0.000,6,0.084,0.000,2192,2513,3986
$GC,4685,-1.11,-121.7,683.6,-12.0,525,4689,0.12,2.00,0.00,0.000,4,0.183,0.053,2214,3757,3984
$GC,4855,-1.11,-121.7,701.1,-11.7,532,4859,0.00,1.83,0.00,0.000,6,0.000,0.030,2214,2524,3983
$GC,5177,-1.11,-121.7,731.2,-9.8,548,5181,0.00,1.98,0.00,0.000,4,0.000,0.053,2205,3758,3981
$GC,5240,-1.11,-121.7,738.4,-12.2,550,5248,0.00,1.80,0.00,0.000,6,0.000,0.029,2205,2536,3981
$GC,5557,-1.11,-121.7,772.4,-11.1,566,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2536,3979
$GC,5866,-1.11,-121.7,811.6,-14.2,581,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2535,3978
$GC,6176,-1.11,-121.7,861.1,-16.9,596,6180,0.00,1.98,0.00,0.000,4,0.000,0.056,2205,3757,3975
$GC,6209,-1.11,-121.7,867.8,-19.6,597,6213,0.00,1.80,0.00,0.000,6,0.000,0.030,2205,2543,3975
$GC,6531,-1.11,-121.7,921.8,-16.2,613,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2542,3974
$GC,6842,-1.17,-121.7,971.4,-15.7,628,6846,0.00,1.98,0.00,0.000,4,0.000,0.056,2205,3764,3973
$GC,6943,-1.17,-121.7,988.0,-15.8,632,6947,0.00,1.83,0.00,0.000,6,0.000,0.029,2205,2534,3972
$STATE,6973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6973,begin apogee
$GC,6982,-0.27,0.0,992.5,14.6,634,7080,1.00,0.00,94.75,1.402,6,0.164,0.000,2489,2390,3532
$STATE,7081,end apogee,CONTROL_FINISHED_OK
$STATE,7081,begin climb
$GC,7084,1.50,121.7,997.0,0.0,639,7197,1.62,2.33,105.65,1.360,4,0.065,0.049,3060,3760,3035
$GC,7301,0.68,121.7,985.8,17.7,649,7307,1.08,2.12,0.00,0.000,6,0.221,0.026,2805,2351,3032
$GC,7629,0.71,146.8,948.9,11.4,665,7653,0.00,0.00,21.58,1.292,6,0.000,0.000,2805,2348,2933
$GC,7959,0.78,146.8,905.5,13.9,681,7962,0.00,2.25,0.00,0.000,4,0.000,0.054,2805,3750,2930
$GC,8007,0.71,146.8,898.9,14.3,683,8011,0.00,2.05,0.00,0.000,6,0.000,0.028,2813,2373,2930
$GC,8342,0.77,160.9,858.3,12.2,699,8364,0.00,2.15,13.10,1.227,4,0.000,0.034,2815,975,2874
$GC,8457,0.89,169.9,843.6,12.6,704,8472,0.15,2.17,9.12,1.147,6,0.081,0.037,2872,2382,2839
$GC,8791,0.81,169.9,789.6,16.3,720,8793,0.12,0.00,0.00,0.000,6,0.189,0.000,2842,2384,2836
$GC,9098,0.81,169.9,742.4,15.6,735,9101,0.00,2.17,0.00,0.000,4,0.000,0.056,2843,3753,2836
$GC,9311,0.66,169.9,707.4,14.7,744,9316,0.22,2.05,0.00,0.000,6,0.187,0.030,2794,2377,2835
$GC,9630,0.89,218.8,673.9,9.7,759,9673,0.20,0.00,41.03,1.204,6,0.083,0.000,2870,2374,2640
$GC,9977,0.93,252.3,633.8,10.8,776,10011,0.00,2.30,28.05,1.156,4,0.000,0.057,2870,3746,2502
$GC,10075,0.87,252.3,620.7,15.2,780,10079,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,2371,2500
$GC,10398,0.87,252.3,576.9,14.4,796,10402,0.00,2.22,0.00,0.000,4,0.000,0.053,2876,3756,2498
$GC,10449,0.80,252.3,567.7,17.6,798,10454,0.17,2.05,0.00,0.000,6,0.185,0.029,2838,2393,2497
$GC,10772,0.94,252.3,514.0,18.1,814,10776,0.12,2.15,0.00,0.000,4,0.088,0.033,2889,956,2496
$GC,10946,1.00,252.3,480.9,19.0,826,10950,0.00,2.20,0.00,0.000,6,0.000,0.035,2889,2387,2495
$GC,11277,1.00,252.3,428.2,13.6,856,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2387,2495
$GC,11603,1.05,290.6,390.1,10.4,887,11639,0.00,2.20,31.52,1.009,4,0.000,0.034,2898,959,2348
$GC,11654,1.14,325.6,384.8,10.7,891,11690,0.15,2.22,30.05,0.975,6,0.082,0.035,2954,2388,2204
$GC,12016,1.06,325.6,320.5,19.7,925,12020,0.15,2.17,0.00,0.000,4,0.183,0.051,2918,3754,2195
$GC,12125,1.00,325.6,299.2,19.7,934,12132,0.00,2.08,0.00,0.000,6,0.000,0.028,2925,2374,2194
$GC,12472,1.00,325.6,237.0,16.8,995,12478,0.00,2.12,0.00,0.000,4,0.000,0.033,2934,949,2194
$GC,12564,1.09,325.6,222.2,15.0,1011,12570,0.00,2.17,0.00,0.000,6,0.000,0.036,2934,2367,2193
$GC,12910,1.09,325.6,159.5,19.4,1072,12916,0.00,2.20,0.00,0.000,4,0.000,0.051,2934,3762,2193
$GC,12952,1.02,325.6,151.0,20.2,1079,12959,0.12,2.08,0.00,0.000,6,0.199,0.028,2912,2362,2193
$GC,13298,1.16,325.6,89.1,14.6,1140,13305,0.12,2.22,0.00,0.000,4,0.088,0.049,2962,3757,2193
$GC,13548,1.04,325.6,41.9,19.0,1184,13555,0.20,2.03,0.00,0.000,6,0.179,0.027,2921,2371,2193
$GC,13896,1.50,436.6,7.9,5.1,1245,13957,0.35,0.00,57.67,0.673,2,0.061,0.000,3064,2368,1900
$STATE,13957,end climb,SURFACE_DEPTH_REACHED
$STATE,13957,begin surface coast
$FINISH,2.0,1.019374
$STATE,13990,end surface coast,CONTROL_FINISHED_OK
$STATE,13990,begin surface
$SM_CCo,14012,56.42,0.659,0,0,1595,475.15
$SM_GC,3.10,0.00,0.00,56.42,0.000,0.000,0.659,136,2368,1595,-7.64,-0.42,475.15
$IRIDIUM_FIX,2446.56,12152.01,121198,010127
$TT8_MAMPS,0.029146
$HUMID,1822
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.90
$XPDR_PINGS,4
$24V_AH,23.0,90.518
$10V_AH,10.6,47.862
$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,24.675,103.150,432.525,56.425,0.000,28.091,32.062,181.697,9.000,0.000,0.000,29.322,2238.738,8735.874,592.018,2258.478,654.946,0.000,1730.249,0.000,2190.225,0.000,58.009,0.000
$DEVICE_MAMPS,234.702,56.758,1402.076,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,857.798,879.746,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69303,1261
$CAP_FILE_SIZE,137029,0
$CFSIZE,260165632,184614912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,182.6,1
$GPS,180809,091837,2453.210,12220.119,30,1.4,31,-3.5