version: 66.04
glider: 167
mission: 2
dive: 517
start: 8 18 109 9 25 41
data:
$ID,167
$MISSION,2
$DIVE,517
$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,-19307.27
$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,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
$GPS1,091837,2453.210,12220.119,30,1.4,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.9
$GPS2,092519,2453.281,12219.990,9,1.6,14,-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,98.1,47887,-25.0,-13.200
$D_GRID,1100
$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,-121.7,0.0,0.0,0,39,0.00,0.00,-21.12,0.000,2,0.000,0.000,137,2368,2092
$GC,43,-1.50,-121.7,3.0,-1.2,3,123,8.32,2.20,-64.62,0.000,4,0.242,0.054,2081,3766,3985
$GC,244,-0.55,-121.7,54.5,-35.1,37,252,1.20,2.03,0.00,0.000,6,0.195,0.023,2397,2383,3988
$GC,593,-1.02,-121.7,87.3,-8.2,98,599,0.38,2.17,0.00,0.000,4,0.056,0.048,2235,3763,3990
$GC,635,-0.82,-121.7,93.9,-19.1,105,643,0.28,2.00,0.00,0.000,6,0.170,0.025,2309,2371,3991
$GC,984,-0.96,-121.7,136.5,-12.1,166,990,0.12,2.20,0.00,0.000,4,0.077,0.047,2258,3768,3991
$GC,1033,-0.88,-121.7,143.9,-16.6,174,1040,0.15,1.95,0.00,0.000,6,0.172,0.025,2296,2406,3991
$GC,1381,-1.05,-121.7,185.9,-10.3,235,1387,0.15,2.12,0.00,0.000,4,0.076,0.047,2232,3757,3992
$GC,1526,-0.93,-121.7,206.9,-14.3,260,1533,0.17,1.90,0.00,0.000,6,0.168,0.026,2278,2433,3992
$GC,1874,-1.03,-121.7,245.7,-11.4,321,1881,0.00,2.08,0.00,0.000,4,0.000,0.027,2278,1000,3992
$GC,1917,-1.19,-121.7,250.7,-11.1,328,1923,0.22,2.20,0.00,0.000,6,0.067,0.033,2189,2456,3992
$GC,2264,-0.94,-121.7,317.4,-20.3,382,2268,0.28,2.05,0.00,0.000,4,0.193,0.048,2257,3766,3992
$GC,2496,-1.03,-121.7,348.0,-12.0,402,2499,0.00,1.85,0.00,0.000,6,0.000,0.026,2256,2476,3992
$GC,2827,-1.12,-121.7,379.9,-10.6,433,2832,0.12,2.05,0.00,0.000,4,0.081,0.050,2205,3767,3992
$GC,2911,-0.98,-121.7,392.5,-15.6,440,2918,0.22,1.85,0.00,0.000,6,0.173,0.027,2264,2487,3992
$GC,3237,-1.14,-121.7,438.8,-15.8,471,3239,0.15,0.00,0.00,0.000,6,0.077,0.000,2205,2486,3991
$GC,3565,-1.09,-121.7,504.9,-20.6,501,3569,0.00,2.03,0.00,0.000,4,0.000,0.052,2204,3761,3990
$GC,3680,-1.03,-121.7,528.6,-20.1,506,3684,0.15,1.85,0.00,0.000,6,0.168,0.028,2242,2502,3990
$GC,4017,-1.16,-121.7,582.4,-15.3,522,4021,0.12,2.03,0.00,0.000,4,0.083,0.053,2192,3767,3988
$GC,4096,-1.05,-121.7,598.1,-20.6,525,4100,0.17,1.83,0.00,0.000,6,0.177,0.028,2236,2521,3986
$GC,4418,-1.16,-121.7,647.8,-14.4,541,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2521,3986
$GC,4728,-1.28,-121.7,686.7,-11.9,556,4733,0.17,1.98,0.00,0.000,4,0.074,0.053,2163,3754,3983
$GC,4801,-1.07,-121.7,699.4,-18.8,559,4806,0.28,1.83,0.00,0.000,6,0.176,0.028,2234,2507,3982
$GC,5133,-1.20,-121.7,740.7,-11.6,575,5135,0.12,0.00,0.00,0.000,6,0.086,0.000,2188,2507,3981
$GC,5439,-1.15,-121.7,778.0,-12.3,590,5442,0.00,2.03,0.00,0.000,4,0.000,0.054,2180,3767,3979
$GC,5576,-0.95,-121.7,796.1,-15.4,596,5580,0.32,1.83,0.00,0.000,6,0.172,0.028,2267,2526,3978
$GC,5912,-1.22,-121.7,826.0,-9.3,612,5916,0.20,2.00,0.00,0.000,4,0.075,0.053,2180,3767,3976
$GC,6020,-1.11,-121.7,842.1,-15.3,616,6026,0.15,1.80,0.00,0.000,6,0.182,0.028,2215,2548,3976
$GC,6336,-1.11,-121.7,881.0,-14.2,632,6340,0.00,2.30,0.00,0.000,4,0.000,0.030,2216,999,3974
$GC,6403,-1.19,-121.7,891.6,-15.7,635,6408,0.00,2.38,0.00,0.000,6,0.000,0.039,2215,2525,3974
$GC,6730,-1.29,-121.7,930.2,-11.2,651,6734,0.15,1.98,0.00,0.000,4,0.084,0.054,2152,3764,3972
$GC,6879,-1.06,-121.7,953.2,-15.0,657,6883,0.30,1.77,0.00,0.000,6,0.179,0.029,2230,2565,3972
$GC,7202,-1.22,-121.7,978.7,-8.5,673,7206,0.12,1.92,0.00,0.000,4,0.087,0.054,2180,3754,3970
$GC,7231,-1.22,-121.7,981.8,-12.1,674,7234,0.00,1.77,0.00,0.000,6,0.000,0.030,2180,2558,3970
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7308,begin apogee
$GC,7317,-0.27,0.0,990.9,11.3,678,7422,1.10,0.00,96.15,1.381,6,0.174,0.000,2484,2385,3532
$STATE,7423,end apogee,CONTROL_FINISHED_OK
$STATE,7423,begin climb
$GC,7426,1.50,121.7,991.1,0.0,683,7541,1.65,2.40,105.88,1.359,4,0.067,0.050,3059,3762,3033
$GC,7663,0.68,121.7,972.0,18.1,694,7669,1.08,2.15,0.00,0.000,6,0.221,0.026,2805,2339,3031
$GC,7991,0.76,183.6,939.1,8.7,710,8048,0.00,2.15,51.90,1.327,4,0.000,0.032,2813,969,2782
$GC,8083,0.92,213.5,930.3,11.0,713,8117,0.17,2.20,26.92,1.276,6,0.077,0.036,2876,2356,2661
$GC,8431,0.87,213.5,882.9,13.8,730,8435,0.00,2.25,0.00,0.000,4,0.000,0.055,2876,3758,2655
$GC,8494,0.71,213.5,872.1,16.8,733,8498,0.30,2.10,0.00,0.000,6,0.187,0.028,2808,2373,2654
$GC,8828,0.88,220.4,832.7,12.7,749,8839,0.17,2.12,6.28,1.044,4,0.084,0.031,2881,959,2633
$GC,8930,0.88,220.4,817.6,14.7,753,8937,0.00,2.15,0.00,0.000,6,0.000,0.037,2881,2344,2632
$GC,9247,0.83,220.4,767.5,16.7,769,9252,0.12,2.25,0.00,0.000,4,0.193,0.053,2852,3755,2630
$GC,9424,0.77,220.4,735.3,19.7,777,9427,0.00,2.12,0.00,0.000,6,0.000,0.029,2859,2335,2629
$GC,9758,0.77,220.4,684.0,13.8,793,9761,0.00,2.05,0.00,0.000,4,0.000,0.035,2866,962,2628
$GC,9804,0.84,220.4,677.3,14.2,795,9808,0.00,2.17,0.00,0.000,6,0.000,0.035,2867,2376,2628
$GC,10137,0.85,229.9,631.9,12.5,811,10148,0.00,0.00,9.15,1.071,6,0.000,0.000,2867,2377,2593
$GC,10448,0.88,259.8,596.5,11.0,826,10478,0.00,2.25,25.60,1.140,4,0.000,0.054,2866,3764,2472
$GC,10546,0.83,259.8,583.5,13.8,830,10552,0.00,2.12,0.00,0.000,6,0.000,0.029,2873,2375,2469
$GC,10864,0.83,259.8,542.5,14.8,846,10868,0.00,2.25,0.00,0.000,4,0.000,0.054,2872,3764,2468
$GC,10978,0.75,259.8,520.9,20.9,851,10983,0.22,2.12,0.00,0.000,6,0.183,0.030,2824,2355,2467
$GC,11304,0.96,259.8,466.8,17.1,875,11308,0.20,2.08,0.00,0.000,4,0.075,0.033,2911,980,2466
$GC,11383,0.96,259.8,450.9,19.1,882,11387,0.00,2.15,0.00,0.000,6,0.000,0.036,2912,2364,2466
$GC,11718,0.91,259.8,387.2,17.1,913,11722,0.15,2.22,0.00,0.000,4,0.183,0.051,2875,3762,2466
$GC,11836,0.91,259.8,366.4,16.8,923,11840,0.00,2.05,0.00,0.000,6,0.000,0.029,2882,2400,2466
$GC,12173,0.96,259.8,315.4,14.0,954,12177,0.00,2.17,0.00,0.000,4,0.000,0.053,2882,3753,2465
$GC,12224,0.90,259.8,306.6,15.7,958,12230,0.00,2.05,0.00,0.000,6,0.000,0.029,2892,2367,2465
$GC,12566,0.90,259.8,257.8,14.0,1015,12572,0.00,2.08,0.00,0.000,4,0.000,0.033,2895,974,2465
$GC,12686,0.99,259.8,241.0,15.0,1036,12693,0.00,2.15,0.00,0.000,6,0.000,0.035,2895,2380,2465
$GC,13032,0.99,259.8,189.6,14.2,1097,13038,0.00,2.12,0.00,0.000,4,0.000,0.033,2895,975,2465
$GC,13221,1.14,259.8,158.6,19.5,1130,13228,0.15,2.12,0.00,0.000,6,0.080,0.035,2954,2365,2465
$GC,13568,1.03,259.8,94.6,14.2,1191,13575,0.15,2.20,0.00,0.000,4,0.183,0.048,2917,3760,2465
$GC,13691,0.93,268.0,79.3,12.6,1212,13707,0.17,2.08,7.47,0.686,6,0.183,0.028,2881,2352,2438
$GC,14051,1.14,300.3,51.5,10.9,1274,14086,0.17,2.10,27.55,0.719,4,0.078,0.031,2965,983,2306
$GC,14230,1.18,331.9,24.9,10.9,1305,14261,0.00,2.08,25.60,0.685,6,0.000,0.031,2965,2346,2178
$STATE,14486,end climb,SURFACE_DEPTH_REACHED
$STATE,14486,begin surface coast
$FINISH,1.9,1.021591
$STATE,14649,end surface coast,CONTROL_FINISHED_OK
$STATE,14649,begin surface
$SM_CCo,14669,107.20,0.657,0,0,1594,475.15
$SM_GC,3.09,0.00,0.00,107.20,0.000,0.000,0.657,138,2348,1594,-7.63,-0.99,475.15
$IRIDIUM_FIX,2441.81,12219.71,121198,050557
$TT8_MAMPS,0.029146
$HUMID,1809
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.00
$XPDR_PINGS,4
$24V_AH,22.9,90.684
$10V_AH,10.6,47.950
$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,27.850,124.675,382.500,107.200,0.000,28.412,32.542,181.447,9.000,0.000,0.000,14.930,2480.696,8868.113,617.793,2509.027,699.987,0.000,1879.402,0.000,2450.207,0.000,54.414,0.000
$DEVICE_MAMPS,241.605,55.224,1381.367,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,938.211,985.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72676,1379
$CAP_FILE_SIZE,156213,0
$CFSIZE,260165632,184516608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,194.3,1
$GPS,180809,133306,2451.904,12221.619,26,1.0,27,-3.5