version: 66.04
glider: 167
mission: 2
dive: 521
start: 8 19 109 1 49 48
data:
$ID,167
$MISSION,2
$DIVE,521
$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,-19394.27
$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,66
$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
$GPS1,014237,2449.290,12229.151,36,1.1,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-69.8
$GPS2,014926,2449.292,12229.208,17,1.2,17,-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,98.2,30914,-25.0,-13.200
$D_GRID,1187
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.60,0.000,2,0.000,0.000,136,2370,2254
$GC,50,-1.50,-121.7,3.0,-0.9,5,130,8.30,2.12,-63.00,0.000,4,0.240,0.043,2094,982,3990
$GC,234,-0.87,-121.7,43.2,-31.9,36,241,0.77,2.15,0.00,0.000,6,0.189,0.035,2291,2386,3992
$GC,581,-0.94,-121.7,104.9,-16.8,97,587,0.00,2.15,0.00,0.000,4,0.000,0.049,2282,3758,3993
$GC,784,-0.94,-121.7,137.5,-17.1,133,790,0.00,1.95,0.00,0.000,6,0.000,0.027,2282,2413,3995
$GC,1132,-1.04,-121.7,178.9,-10.3,194,1140,0.12,2.12,0.00,0.000,4,0.079,0.048,2220,3755,3996
$GC,1221,-0.86,-121.7,192.2,-17.4,209,1228,0.30,1.90,0.00,0.000,6,0.169,0.027,2303,2446,3996
$GC,1572,-1.07,-121.7,234.7,-11.7,270,1579,0.17,2.08,0.00,0.000,4,0.071,0.049,2219,3754,3997
$GC,1609,-0.96,-121.7,240.9,-17.2,276,1616,0.17,1.88,0.00,0.000,6,0.170,0.027,2264,2457,3996
$GC,1959,-1.08,-121.7,288.1,-11.8,337,1965,0.00,2.05,0.00,0.000,4,0.000,0.050,2262,3764,3996
$GC,2068,-1.17,-121.7,302.2,-13.4,355,2074,0.17,1.85,0.00,0.000,6,0.073,0.026,2191,2486,3997
$GC,2393,-1.01,-121.7,360.0,-18.1,386,2395,0.22,0.00,0.00,0.000,6,0.170,0.000,2251,2485,3996
$GC,2711,-1.14,-121.7,404.3,-14.2,416,2715,0.12,2.03,0.00,0.000,4,0.084,0.051,2193,3757,3997
$GC,2762,-1.00,-121.7,413.7,-20.0,420,2768,0.22,1.83,0.00,0.000,6,0.172,0.027,2252,2498,3997
$GC,3088,-1.12,-121.7,461.5,-14.2,451,3092,0.00,2.00,0.00,0.000,4,0.000,0.051,2246,3757,3996
$GC,3243,-1.22,-121.7,483.4,-13.0,464,3249,0.17,1.80,0.00,0.000,6,0.071,0.028,2177,2529,3996
$GC,3576,-1.07,-121.7,540.5,-16.4,485,3578,0.20,0.00,0.00,0.000,6,0.173,0.000,2228,2528,3994
$GC,3882,-1.15,-121.7,580.3,-12.1,500,3886,0.00,1.95,0.00,0.000,4,0.000,0.053,2221,3751,3993
$GC,3917,-1.15,-121.7,584.9,-13.3,501,3920,0.00,1.77,0.00,0.000,6,0.000,0.029,2221,2545,3993
$GC,4239,-1.20,-121.7,629.6,-15.5,517,4242,0.00,1.95,0.00,0.000,4,0.000,0.054,2218,3759,3991
$GC,4262,-1.20,-121.7,633.4,-16.1,518,4266,0.00,1.80,0.00,0.000,6,0.000,0.029,2218,2539,3991
$GC,4597,-1.25,-121.7,686.4,-15.8,534,4599,0.12,0.00,0.00,0.000,6,0.084,0.000,2168,2538,3990
$GC,4905,-1.12,-121.7,742.5,-17.5,549,4909,0.17,1.98,0.00,0.000,4,0.189,0.053,2208,3762,3987
$GC,5041,-1.12,-121.7,762.8,-14.7,555,5045,0.00,1.80,0.00,0.000,6,0.000,0.030,2208,2545,3987
$GC,5375,-1.16,-121.7,809.8,-13.8,571,5379,0.00,2.30,0.00,0.000,4,0.000,0.030,2208,997,3985
$GC,5415,-1.24,-121.7,815.5,-14.0,572,5421,0.00,2.40,0.00,0.000,6,0.000,0.038,2208,2543,3985
$GC,5733,-1.29,-121.7,860.0,-14.0,588,5737,0.12,1.92,0.00,0.000,4,0.087,0.053,2153,3756,3983
$GC,5784,-1.08,-121.7,869.1,-19.1,590,5789,0.30,1.75,0.00,0.000,6,0.181,0.030,2230,2573,3983
$GC,6116,-1.22,-121.7,910.4,-11.8,606,6121,0.12,2.35,0.00,0.000,4,0.083,0.028,2183,1000,3982
$GC,6139,-1.28,-121.7,913.9,-12.8,607,6143,0.00,2.42,0.00,0.000,6,0.000,0.040,2179,2554,3982
$GC,6462,-1.23,-121.7,960.4,-13.8,623,6466,0.00,1.92,0.00,0.000,4,0.000,0.058,2178,3761,3981
$GC,6547,-1.14,-121.7,973.4,-15.8,626,6554,0.12,1.75,0.00,0.000,6,0.187,0.031,2206,2585,3980
$STATE,6674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6674,begin apogee
$GC,6682,-0.27,0.0,990.4,12.9,633,6782,0.98,0.00,96.40,1.412,6,0.161,0.000,2488,2403,3532
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6787,1.50,121.7,993.4,0.0,638,6901,1.62,2.35,106.05,1.371,4,0.061,0.050,3065,3755,3034
$GC,6975,0.65,121.7,987.9,15.6,646,6981,1.15,2.17,0.00,0.000,6,0.228,0.028,2797,2350,3032
$GC,7293,0.77,182.6,958.9,8.8,661,7350,0.00,2.40,51.42,1.343,4,0.000,0.054,2797,3747,2787
$GC,7396,0.77,182.6,947.1,13.7,665,7402,0.00,2.15,0.00,0.000,6,0.000,0.028,2803,2359,2783
$GC,7714,0.92,204.2,909.5,11.6,681,7739,0.17,2.33,18.80,1.276,4,0.081,0.055,2876,3743,2699
$GC,7785,0.70,204.2,898.3,17.1,684,7790,0.30,2.12,0.00,0.000,6,0.191,0.028,2809,2353,2697
$GC,8106,0.86,221.8,859.5,11.9,700,8126,0.15,0.00,16.45,1.251,6,0.087,0.000,2864,2350,2627
$GC,8436,0.86,221.8,811.0,14.9,716,8440,0.00,2.28,0.00,0.000,4,0.000,0.054,2864,3753,2624
$GC,8482,0.73,221.8,803.0,17.4,718,8486,0.22,2.10,0.00,0.000,6,0.191,0.029,2816,2366,2623
$GC,8805,0.90,240.6,763.8,11.8,734,8829,0.15,2.22,16.33,1.214,4,0.084,0.035,2882,952,2550
$GC,8863,0.90,240.6,755.7,13.5,736,8867,0.00,2.22,0.00,0.000,6,0.000,0.037,2882,2374,2549
$GC,9179,0.90,240.6,710.1,14.5,751,9183,0.00,2.20,0.00,0.000,4,0.000,0.054,2882,3753,2548
$GC,9265,0.74,240.6,696.2,16.2,754,9273,0.28,2.10,0.00,0.000,6,0.190,0.029,2820,2352,2547
$GC,9581,0.91,240.6,655.2,13.5,770,9586,0.15,2.28,0.00,0.000,4,0.084,0.054,2877,3755,2546
$GC,9610,0.86,240.6,650.3,18.7,771,9614,0.00,2.05,0.00,0.000,6,0.000,0.030,2886,2400,2546
$GC,9933,0.86,240.6,593.5,16.7,787,9936,0.00,2.20,0.00,0.000,4,0.000,0.054,2886,3764,2546
$GC,10001,0.70,240.6,581.2,17.6,790,10006,0.32,2.10,0.00,0.000,6,0.192,0.031,2811,2375,2545
$GC,10331,0.91,240.6,538.7,13.5,806,10336,0.17,2.25,0.00,0.000,4,0.081,0.054,2879,3764,2544
$GC,10371,0.78,240.6,531.6,19.2,808,10376,0.20,2.08,0.00,0.000,6,0.186,0.030,2837,2379,2544
$GC,10695,0.91,240.6,485.3,14.2,828,10699,0.10,2.22,0.00,0.000,4,0.096,0.054,2875,3751,2544
$GC,10770,0.81,240.6,472.5,17.3,834,10775,0.17,2.03,0.00,0.000,6,0.189,0.030,2842,2393,2544
$GC,11103,1.00,294.8,438.7,9.3,865,11152,0.17,0.00,45.17,1.050,6,0.078,0.000,2909,2389,2330
$GC,11470,1.00,294.8,382.9,17.8,900,11473,0.00,2.22,0.00,0.000,4,0.000,0.053,2909,3761,2323
$GC,11517,0.90,294.8,373.8,20.9,904,11521,0.20,2.03,0.00,0.000,6,0.185,0.030,2868,2420,2322
$GC,11849,1.03,294.8,317.4,16.4,935,11854,0.12,2.17,0.00,0.000,4,0.087,0.053,2915,3760,2322
$GC,11906,0.92,294.8,305.6,21.6,939,11913,0.17,2.00,0.00,0.000,6,0.188,0.031,2881,2424,2321
$GC,12249,1.04,302.7,253.5,12.6,997,12263,0.10,2.25,7.03,0.799,4,0.095,0.035,2922,978,2296
$GC,12299,1.11,302.7,246.7,13.2,1005,12305,0.00,2.25,0.00,0.000,6,0.000,0.036,2922,2430,2296
$GC,12645,1.11,302.7,199.0,15.5,1066,12652,0.00,2.20,0.00,0.000,4,0.000,0.031,2928,975,2295
$GC,12681,1.17,302.7,193.0,15.2,1072,12687,0.00,2.25,0.00,0.000,6,0.000,0.036,2928,2431,2295
$GC,13027,1.17,302.7,133.7,18.1,1133,13033,0.00,2.08,0.00,0.000,4,0.000,0.054,2928,3753,2295
$GC,13124,1.11,302.7,113.8,19.2,1150,13133,0.00,1.92,0.00,0.000,6,0.000,0.028,2937,2442,2295
$GC,13476,1.11,302.7,66.0,16.5,1211,13482,0.00,2.20,0.00,0.000,4,0.000,0.032,2946,962,2295
$GC,13716,1.29,356.2,30.5,9.3,1253,13764,0.15,2.25,43.15,0.707,6,0.079,0.035,3002,2435,2079
$STATE,13988,end climb,SURFACE_DEPTH_REACHED
$STATE,13988,begin surface coast
$FINISH,1.9,0.997710
$STATE,14012,end surface coast,CONTROL_FINISHED_OK
$STATE,14012,begin surface
$SM_CCo,14032,89.47,0.670,0,0,1594,475.15
$SM_GC,2.91,0.00,0.00,89.47,0.000,0.000,0.670,137,2438,1594,-7.64,1.55,475.15
$IRIDIUM_FIX,2439.44,12227.00,121198,212154
$TT8_MAMPS,0.029146
$HUMID,1802
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.8,91.372
$10V_AH,10.6,48.279
$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,26.950,125.875,400.800,89.475,0.000,26.619,36.927,182.310,8.000,0.000,0.000,17.141,2321.897,8646.378,628.255,2244.563,684.495,0.000,1779.954,0.000,2189.606,0.000,60.441,0.000
$DEVICE_MAMPS,240.071,57.525,1412.047,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,888.406,903.494,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69608,1305
$CAP_FILE_SIZE,147170,0
$CFSIZE,260165632,184225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.290,111.0,1
$GPS,190809,054630,2448.270,12233.442,40,1.2,40,-3.5