version: 66.04
glider: 167
mission: 2
dive: 518
start: 8 18 109 13 40 29
data:
$ID,167
$MISSION,2
$DIVE,518
$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,-19325.184
$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,74
$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
$GPS1,133306,2451.904,12221.619,26,1.0,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.4
$GPS2,134008,2451.886,12221.789,17,1.2,17,-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,82.1,44224,-25.0,-13.200
$D_GRID,1079
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.15,0.000,2,0.000,0.000,138,2349,2154
$GC,45,-1.50,-121.7,3.2,-2.1,4,120,8.27,2.10,-60.67,0.000,4,0.239,0.040,2094,991,3989
$GC,374,-0.91,-121.7,79.9,-27.8,61,381,0.73,2.15,0.00,0.000,6,0.185,0.036,2279,2395,3992
$GC,720,-1.00,-121.7,139.3,-14.2,122,727,0.00,2.12,0.00,0.000,4,0.000,0.049,2275,3754,3995
$GC,933,-1.09,-121.7,167.5,-11.7,159,940,0.12,1.98,0.00,0.000,6,0.082,0.025,2222,2374,3996
$GC,1280,-0.96,-121.7,222.9,-16.6,220,1286,0.17,2.20,0.00,0.000,4,0.171,0.050,2273,3755,3996
$GC,1310,-0.96,-121.7,227.8,-14.9,225,1316,0.00,1.95,0.00,0.000,6,0.000,0.025,2273,2391,3996
$GC,1659,-1.09,-121.7,268.7,-12.0,286,1667,0.12,2.15,0.00,0.000,4,0.081,0.048,2214,3751,3996
$GC,1685,-1.09,-121.7,272.5,-14.1,290,1693,0.00,1.95,0.00,0.000,6,0.000,0.027,2215,2419,3996
$GC,2027,-1.02,-121.7,330.6,-16.6,336,2032,0.12,2.12,0.00,0.000,4,0.176,0.048,2236,3763,3996
$GC,2089,-1.02,-121.7,340.9,-17.0,341,2093,0.00,1.95,0.00,0.000,6,0.000,0.026,2236,2410,3996
$GC,2420,-1.02,-121.7,392.5,-14.6,372,2424,0.00,2.15,0.00,0.000,4,0.000,0.050,2231,3763,3995
$GC,2613,-1.02,-121.7,424.5,-14.9,389,2618,0.00,1.92,0.00,0.000,6,0.000,0.027,2231,2439,3995
$GC,2944,-1.02,-121.7,468.0,-12.7,420,2947,0.00,2.10,0.00,0.000,4,0.000,0.050,2222,3763,3994
$GC,2979,-1.02,-121.7,472.9,-14.3,423,2983,0.00,1.92,0.00,0.000,6,0.000,0.027,2222,2439,3993
$GC,3310,-1.02,-121.7,517.5,-13.4,448,3314,0.00,2.10,0.00,0.000,4,0.000,0.052,2221,3756,3992
$GC,3343,-1.02,-121.7,522.7,-14.1,449,3347,0.00,1.88,0.00,0.000,6,0.000,0.027,2221,2468,3992
$GC,3667,-1.02,-121.7,562.4,-12.9,465,3670,0.00,2.05,0.00,0.000,4,0.000,0.052,2218,3751,3990
$GC,3713,-1.02,-121.7,569.2,-14.7,467,3717,0.08,1.90,0.00,0.000,6,0.171,0.028,2251,2483,3990
$GC,4049,-1.19,-121.7,606.1,-10.7,483,4053,0.17,2.05,0.00,0.000,4,0.075,0.052,2173,3760,3987
$GC,4142,-1.01,-121.7,621.0,-17.2,487,4146,0.30,1.88,0.00,0.000,6,0.177,0.028,2252,2487,3987
$GC,4478,-1.19,-121.7,663.7,-13.4,503,4482,0.17,2.20,0.00,0.000,4,0.074,0.028,2186,1004,3985
$GC,4547,-1.19,-121.7,676.1,-19.0,506,4551,0.00,2.28,0.00,0.000,6,0.000,0.038,2179,2472,3985
$GC,4875,-1.10,-121.7,732.6,-17.2,522,4879,0.17,2.05,0.00,0.000,4,0.186,0.053,2218,3756,3983
$GC,4989,-1.10,-121.7,751.0,-17.4,527,4992,0.00,1.88,0.00,0.000,6,0.000,0.030,2219,2493,3982
$GC,5322,-1.18,-121.7,804.1,-15.6,543,5326,0.00,2.03,0.00,0.000,4,0.000,0.055,2218,3748,3981
$GC,5425,-1.25,-121.7,819.6,-14.6,547,5429,0.12,1.83,0.00,0.000,6,0.085,0.030,2171,2514,3980
$GC,5747,-1.15,-121.7,873.4,-16.2,563,5751,0.15,2.25,0.00,0.000,4,0.179,0.030,2206,1010,3978
$GC,5780,-1.21,-121.7,878.6,-14.0,564,5784,0.00,2.30,0.00,0.000,6,0.000,0.040,2206,2488,3978
$GC,6103,-1.26,-121.7,922.0,-13.8,580,6107,0.00,2.03,0.00,0.000,4,0.000,0.057,2206,3754,3976
$GC,6143,-1.26,-121.7,928.0,-14.2,581,6148,0.00,1.85,0.00,0.000,6,0.000,0.031,2206,2512,3975
$GC,6459,-1.35,-121.7,969.5,-13.1,597,6464,0.17,2.03,0.00,0.000,4,0.078,0.055,2139,3756,3974
$GC,6484,-1.26,-121.7,973.2,-15.8,598,6488,0.12,1.85,0.00,0.000,6,0.189,0.030,2167,2510,3974
$STATE,6587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6587,begin apogee
$GC,6595,-0.27,0.0,990.6,16.3,603,6694,1.15,0.00,95.22,1.407,6,0.173,0.000,2488,2386,3532
$STATE,6694,end apogee,CONTROL_FINISHED_OK
$STATE,6694,begin climb
$GC,6698,1.50,121.7,994.8,0.0,608,6813,1.62,2.40,105.90,1.364,4,0.064,0.050,3060,3759,3034
$GC,6875,0.66,121.7,992.3,14.8,616,6881,1.10,2.17,0.00,0.000,6,0.219,0.027,2801,2341,3032
$GC,7199,0.75,192.8,964.7,8.0,632,7264,0.00,2.22,59.90,1.342,4,0.000,0.035,2803,972,2745
$GC,7336,0.99,221.7,951.2,11.1,638,7368,0.28,2.20,26.17,1.290,6,0.065,0.036,2903,2367,2627
$GC,7697,0.88,221.7,890.4,17.8,655,7699,0.15,0.00,0.00,0.000,6,0.191,0.000,2866,2368,2621
$GC,8000,0.88,221.7,840.7,16.4,670,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2368,2620
$GC,8309,0.88,221.7,791.8,15.1,685,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2368,2619
$GC,8620,0.88,221.7,742.0,15.8,700,8623,0.00,2.22,0.00,0.000,4,0.000,0.053,2866,3764,2618
$GC,8704,0.75,221.7,726.7,17.8,703,8711,0.17,2.12,0.00,0.000,6,0.187,0.029,2829,2351,2617
$GC,9021,0.85,221.7,679.4,14.6,719,9025,0.00,2.28,0.00,0.000,4,0.000,0.054,2829,3757,2616
$GC,9221,0.85,221.7,645.9,19.0,727,9227,0.00,2.08,0.00,0.000,6,0.000,0.028,2829,2377,2616
$GC,9537,0.97,221.7,600.7,13.4,743,9542,0.17,2.12,0.00,0.000,4,0.079,0.032,2902,959,2615
$GC,9709,0.91,221.7,575.6,14.4,750,9717,0.00,2.17,0.00,0.000,6,0.000,0.036,2903,2378,2615
$GC,10026,0.82,221.7,526.1,16.3,766,10028,0.22,0.00,0.00,0.000,6,0.184,0.000,2843,2380,2615
$GC,10339,0.91,221.7,482.7,13.7,786,10343,0.00,2.20,0.00,0.000,4,0.000,0.053,2843,3759,2614
$GC,10453,0.91,221.7,464.3,16.1,796,10456,0.00,2.10,0.00,0.000,6,0.000,0.030,2852,2355,2614
$GC,10784,1.01,234.9,420.7,12.2,827,10800,0.15,2.12,9.80,0.970,4,0.081,0.034,2920,973,2574
$GC,10922,1.01,234.9,401.2,14.7,839,10926,0.00,2.17,0.00,0.000,6,0.000,0.038,2920,2374,2573
$GC,11257,0.91,234.9,351.3,15.9,870,11264,0.17,0.00,0.00,0.000,6,0.181,0.000,2875,2375,2572
$GC,11585,0.92,241.9,309.2,12.7,901,11594,0.00,0.00,7.03,0.843,6,0.000,0.000,2874,2375,2546
$GC,11927,0.99,254.5,265.5,12.3,956,11944,0.00,0.00,11.25,0.875,6,0.000,0.000,2875,2375,2496
$GC,12284,1.11,265.3,217.8,12.4,1019,12302,0.17,2.20,10.88,0.830,4,0.077,0.051,2947,3753,2449
$GC,12559,0.90,265.3,165.8,20.0,1067,12566,0.32,2.08,0.00,0.000,6,0.183,0.027,2871,2365,2447
$GC,12907,1.11,307.0,124.3,10.2,1128,12949,0.17,2.28,34.60,0.793,4,0.077,0.049,2944,3765,2279
$GC,12986,0.95,307.0,113.0,17.8,1141,12993,0.25,2.12,0.00,0.000,6,0.179,0.027,2889,2354,2277
$GC,13335,1.14,311.9,70.4,12.9,1202,13349,0.17,2.10,4.93,0.578,4,0.077,0.031,2973,978,2259
$GC,13423,1.14,311.9,54.9,19.0,1217,13429,0.00,2.15,0.00,0.000,6,0.000,0.035,2973,2373,2259
$GC,13769,1.34,414.2,11.2,5.8,1278,13857,0.12,2.17,80.32,0.675,4,0.082,0.031,3031,976,1841
$STATE,13868,end climb,SURFACE_DEPTH_REACHED
$STATE,13868,begin surface coast
$FINISH,1.9,1.003599
$STATE,13897,end surface coast,CONTROL_FINISHED_OK
$STATE,13897,begin surface
$SM_CCo,13919,45.33,0.653,0,0,1595,475.15
$SM_GC,3.14,0.00,0.00,45.33,0.000,0.000,0.653,137,2389,1595,-7.64,0.17,475.15
$IRIDIUM_FIX,2444.18,12220.98,121198,090956
$TT8_MAMPS,0.029146
$HUMID,1811
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.60
$XPDR_PINGS,3
$24V_AH,22.9,90.852
$10V_AH,10.6,48.032
$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,25.450,113.250,446.000,45.325,0.000,29.784,31.739,194.303,8.750,0.000,0.000,17.286,2280.510,8511.635,587.233,2309.193,688.171,0.000,1766.383,0.000,2254.860,0.000,54.404,0.000
$DEVICE_MAMPS,238.537,56.758,1407.445,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,883.869,901.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69510,1300
$CAP_FILE_SIZE,141427,0
$CFSIZE,260165632,184463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279,174.6,1
$GPS,180809,173437,2449.952,12223.928,42,1.3,43,-3.5