version: 66.04
glider: 167
mission: 2
dive: 519
start: 8 18 109 17 44 48
data:
$ID,167
$MISSION,2
$DIVE,519
$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,-19340.404
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,173437,2449.952,12223.928,42,1.3,43,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.0
$GPS2,174426,2449.603,12223.888,14,1.5,14,-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,60.6,39756,-25.0,-13.200
$D_GRID,1129
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-27.75,0.000,2,0.000,0.000,137,2389,2259
$GC,50,-1.50,-121.7,3.1,-1.2,4,127,8.30,2.22,-59.72,0.000,4,0.239,0.055,2086,3770,3990
$GC,140,-0.62,-121.7,14.8,-35.3,19,149,1.10,2.05,0.00,0.000,6,0.199,0.024,2371,2364,3991
$GC,489,-0.99,-121.7,61.3,-10.4,80,496,0.28,2.22,0.00,0.000,4,0.059,0.049,2246,3762,3993
$GC,539,-0.84,-121.7,69.2,-19.2,88,545,0.22,1.95,0.00,0.000,6,0.166,0.025,2307,2416,3993
$GC,884,-0.98,-121.7,120.3,-12.0,149,890,0.12,0.00,0.00,0.000,6,0.074,0.000,2256,2416,3995
$GC,1229,-0.98,-121.7,169.8,-16.1,210,1235,0.00,2.12,0.00,0.000,4,0.000,0.048,2246,3764,3996
$GC,1273,-0.88,-121.7,176.9,-17.6,217,1280,0.17,1.98,0.00,0.000,6,0.163,0.025,2292,2394,3996
$GC,1622,-1.05,-121.7,227.7,-14.7,278,1629,0.15,2.15,0.00,0.000,4,0.074,0.048,2222,3755,3996
$GC,1698,-0.93,-121.7,241.4,-18.4,291,1706,0.20,1.92,0.00,0.000,6,0.168,0.027,2274,2426,3996
$GC,2046,-1.08,-121.7,294.1,-14.2,352,2053,0.12,2.12,0.00,0.000,4,0.080,0.050,2220,3766,3996
$GC,2139,-0.98,-121.7,310.0,-17.8,363,2143,0.15,1.92,0.00,0.000,6,0.166,0.027,2259,2437,3996
$GC,2469,-1.09,-121.7,356.4,-13.5,394,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2437,3996
$GC,2792,-1.19,-121.7,399.7,-13.7,424,2798,0.17,2.12,0.00,0.000,4,0.070,0.052,2188,3767,3995
$GC,2816,-1.14,-121.7,404.1,-15.2,426,2820,0.00,1.92,0.00,0.000,6,0.000,0.028,2188,2440,3995
$GC,3149,-1.03,-121.7,463.5,-17.3,457,3151,0.20,0.00,0.00,0.000,6,0.171,0.000,2241,2437,3994
$GC,3468,-1.15,-121.7,505.4,-12.4,485,3471,0.00,2.10,0.00,0.000,4,0.000,0.052,2233,3755,3993
$GC,3576,-1.22,-121.7,519.7,-13.9,489,3582,0.12,1.95,0.00,0.000,6,0.084,0.030,2182,2430,3993
$GC,3892,-1.09,-121.7,573.2,-18.1,505,3897,0.17,2.15,0.00,0.000,4,0.172,0.028,2232,979,3991
$GC,3937,-1.22,-121.7,580.3,-14.6,507,3942,0.15,2.22,0.00,0.000,6,0.080,0.038,2178,2425,3991
$GC,4268,-1.13,-121.7,638.4,-17.9,523,4272,0.15,2.12,0.00,0.000,4,0.190,0.052,2205,3761,3989
$GC,4308,-1.07,-121.7,646.2,-17.5,525,4312,0.12,1.95,0.00,0.000,6,0.179,0.028,2234,2434,3988
$GC,4645,-1.21,-121.7,691.3,-12.9,541,4649,0.12,2.15,0.00,0.000,4,0.084,0.053,2179,3767,3987
$GC,4792,-1.07,-121.7,717.2,-18.3,547,4797,0.20,1.98,0.00,0.000,6,0.176,0.030,2230,2434,3985
$GC,5116,-1.20,-121.7,763.9,-14.8,563,5120,0.12,2.15,0.00,0.000,4,0.082,0.054,2179,3766,3983
$GC,5183,-1.07,-121.7,776.6,-19.7,566,5187,0.20,1.95,0.00,0.000,6,0.176,0.028,2230,2464,3982
$GC,5511,-1.21,-121.7,828.8,-15.9,582,5516,0.12,2.10,0.00,0.000,4,0.084,0.054,2179,3764,3980
$GC,5612,-1.09,-121.7,848.7,-20.3,586,5618,0.17,1.90,0.00,0.000,6,0.177,0.029,2222,2473,3980
$GC,5930,-1.21,-121.7,896.9,-14.4,602,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2473,3978
$GC,6238,-1.33,-121.7,941.9,-14.0,617,6242,0.17,2.08,0.00,0.000,4,0.075,0.053,2149,3754,3976
$GC,6312,-1.11,-121.7,955.5,-20.6,620,6316,0.28,1.88,0.00,0.000,6,0.183,0.031,2220,2498,3976
$STATE,6554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6554,begin apogee
$GC,6561,-0.27,0.0,992.2,13.8,632,6660,0.90,0.00,95.53,1.402,6,0.156,0.000,2483,2376,3532
$STATE,6661,end apogee,CONTROL_FINISHED_OK
$STATE,6661,begin climb
$GC,6664,1.50,121.7,997.8,0.0,637,6780,1.65,2.42,105.88,1.365,4,0.066,0.051,3059,3763,3034
$GC,6848,0.66,121.7,997.9,13.7,645,6854,1.10,2.17,0.00,0.000,6,0.220,0.027,2800,2343,3032
$GC,7165,0.77,209.5,975.6,6.8,660,7245,0.00,0.00,74.55,1.349,6,0.000,0.000,2800,2340,2677
$GC,7556,0.97,241.0,936.8,10.9,679,7589,0.22,2.35,27.33,1.298,4,0.072,0.054,2890,3756,2548
$GC,7623,0.79,241.0,926.0,18.5,682,7628,0.25,2.12,0.00,0.000,6,0.186,0.028,2836,2378,2546
$GC,7946,0.89,241.0,879.5,14.0,698,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2376,2543
$GC,8254,0.98,241.0,835.0,14.7,713,8259,0.17,2.25,0.00,0.000,4,0.080,0.054,2900,3766,2541
$GC,8398,0.77,241.0,807.7,20.4,719,8403,0.30,2.10,0.00,0.000,6,0.187,0.028,2831,2372,2540
$GC,8715,0.90,248.2,764.9,12.7,734,8725,0.12,2.22,5.68,0.992,4,0.087,0.053,2879,3756,2522
$GC,8749,0.80,248.2,759.8,15.8,735,8757,0.20,2.10,0.00,0.000,6,0.189,0.029,2836,2358,2520
$GC,9067,0.93,258.5,720.5,12.5,751,9083,0.12,2.28,10.70,1.135,4,0.088,0.054,2882,3758,2478
$GC,9200,0.81,258.5,698.8,17.3,756,9205,0.17,2.08,0.00,0.000,6,0.189,0.030,2842,2396,2476
$GC,9534,0.92,258.5,650.7,14.4,772,9539,0.10,2.20,0.00,0.000,4,0.094,0.053,2879,3755,2475
$GC,9568,0.83,258.5,644.3,18.5,773,9573,0.15,2.08,0.00,0.000,6,0.191,0.030,2848,2381,2474
$GC,9887,0.93,258.5,593.9,16.1,788,9890,0.00,2.15,0.00,0.000,4,0.000,0.037,2858,958,2475
$GC,10081,1.06,258.5,564.0,15.5,796,10086,0.17,2.22,0.00,0.000,6,0.081,0.036,2925,2401,2474
$GC,10398,0.95,258.5,507.4,16.4,811,10403,0.15,2.20,0.00,0.000,4,0.186,0.031,2896,956,2474
$GC,10427,0.95,258.5,502.8,15.8,812,10431,0.00,2.22,0.00,0.000,6,0.000,0.036,2896,2401,2474
$GC,10756,0.95,258.5,458.2,14.0,841,10759,0.00,2.15,0.00,0.000,4,0.000,0.055,2896,3754,2473
$GC,10803,0.80,258.5,450.3,17.4,845,10808,0.25,2.08,0.00,0.000,6,0.183,0.029,2841,2361,2473
$GC,11132,0.99,277.1,411.1,11.8,875,11156,0.17,2.10,16.35,1.005,4,0.077,0.035,2914,980,2402
$GC,11192,0.99,277.1,402.4,14.9,880,11196,0.00,2.20,0.00,0.000,6,0.000,0.037,2914,2398,2400
$GC,11519,0.99,277.1,347.1,17.6,910,11523,0.00,2.17,0.00,0.000,4,0.000,0.052,2914,3764,2399
$GC,11567,0.83,277.1,337.8,20.1,914,11572,0.28,2.05,0.00,0.000,6,0.185,0.028,2851,2389,2399
$GC,11898,1.02,296.6,290.3,11.8,950,11923,0.17,2.15,17.42,0.920,4,0.075,0.035,2930,974,2321
$GC,11997,1.02,296.6,276.6,15.5,967,12004,0.00,2.22,0.00,0.000,6,0.000,0.037,2930,2407,2320
$GC,12345,0.97,296.6,221.0,14.7,1028,12351,0.15,2.17,0.00,0.000,4,0.179,0.053,2893,3765,2318
$GC,12512,0.97,296.6,193.8,15.8,1057,12518,0.00,2.03,0.00,0.000,6,0.000,0.028,2894,2411,2318
$GC,12858,1.08,296.6,143.6,14.7,1118,12864,0.10,2.17,0.00,0.000,4,0.094,0.031,2942,953,2317
$GC,12912,1.13,296.6,135.2,15.4,1127,12919,0.00,2.22,0.00,0.000,6,0.000,0.035,2942,2404,2317
$GC,13260,1.08,296.6,81.5,15.0,1188,13266,0.00,2.15,0.00,0.000,4,0.000,0.054,2942,3760,2317
$GC,13346,0.96,296.6,67.7,15.2,1203,13354,0.22,2.05,0.00,0.000,6,0.181,0.027,2893,2359,2317
$GC,13695,1.24,346.3,25.2,9.6,1264,13743,0.20,2.08,39.55,0.696,4,0.072,0.031,2988,976,2120
$STATE,13872,end climb,SURFACE_DEPTH_REACHED
$STATE,13872,begin surface coast
$FINISH,1.9,0.999731
$STATE,13895,end surface coast,CONTROL_FINISHED_OK
$STATE,13895,begin surface
$SM_CCo,13918,97.55,0.669,0,0,1595,475.15
$SM_GC,2.71,0.00,0.00,97.55,0.000,0.000,0.669,137,2392,1595,-7.64,0.25,475.15
$IRIDIUM_FIX,2439.44,12221.72,121198,171705
$TT8_MAMPS,0.029146
$HUMID,1775
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,6
$24V_AH,22.9,91.030
$10V_AH,10.6,48.116
$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,28.675,122.925,392.975,97.550,0.000,49.912,65.027,243.100,9.500,0.000,0.000,14.592,2322.929,8561.807,631.702,2277.964,803.258,0.000,1790.491,0.000,2225.172,0.000,54.406,0.000
$DEVICE_MAMPS,238.537,55.224,1402.076,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,884.230,918.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69559,1299
$CAP_FILE_SIZE,150620,0
$CFSIZE,260165632,184377344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,144.9,1
$GPS,180809,213937,2449.759,12226.387,32,1.2,33,-3.5