version: 66.04
glider: 167
mission: 2
dive: 524
start: 8 19 109 13 52 24
data:
$ID,167
$MISSION,2
$DIVE,524
$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,-19450.65
$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,79
$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
$GPS1,134507,2449.846,12241.224,38,1.0,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.7
$GPS2,135202,2450.126,12241.659,14,1.4,14,-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,184.5,12935,-25.0,-13.200
$D_GRID,1196
$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,-23.45,0.000,2,0.000,0.000,137,2362,2163
$GC,45,-1.50,-121.7,3.3,-2.1,4,118,8.20,2.20,-56.80,0.000,4,0.235,0.052,2086,3764,3989
$GC,289,-0.68,-121.7,75.7,-29.4,46,298,1.00,2.03,0.00,0.000,6,0.190,0.024,2357,2357,3992
$GC,638,-1.01,-121.7,109.3,-11.7,107,645,0.25,2.22,0.00,0.000,4,0.061,0.047,2244,3766,3994
$GC,725,-0.87,-121.7,125.5,-20.1,122,732,0.20,1.95,0.00,0.000,6,0.169,0.025,2297,2415,3995
$GC,1072,-1.05,-121.7,180.0,-13.5,183,1078,0.17,2.12,0.00,0.000,4,0.070,0.046,2210,3769,3996
$GC,1256,-0.89,-121.7,216.4,-18.2,215,1262,0.30,1.92,0.00,0.000,6,0.165,0.025,2294,2432,3997
$GC,1608,-1.08,-121.7,257.6,-12.8,276,1614,0.17,2.08,0.00,0.000,4,0.071,0.045,2206,3764,3997
$GC,1673,-0.90,-121.7,268.6,-18.8,287,1679,0.30,1.90,0.00,0.000,6,0.171,0.025,2288,2435,3997
$GC,2018,-1.08,-121.7,321.2,-15.6,337,2023,0.17,2.10,0.00,0.000,4,0.071,0.048,2208,3768,3997
$GC,2104,-0.89,-121.7,338.2,-21.8,344,2109,0.30,1.88,0.00,0.000,6,0.173,0.025,2289,2463,3997
$GC,2436,-1.13,-121.7,380.9,-12.2,375,2438,0.20,0.00,0.00,0.000,6,0.066,0.000,2209,2463,3997
$GC,2753,-1.13,-121.7,432.5,-16.9,405,2757,0.00,2.05,0.00,0.000,4,0.000,0.051,2205,3763,3997
$GC,2823,-1.04,-121.7,444.3,-17.8,411,2827,0.15,1.85,0.00,0.000,6,0.167,0.026,2243,2488,3997
$GC,3154,-1.15,-121.7,489.1,-12.4,442,3158,0.00,2.03,0.00,0.000,4,0.000,0.053,2235,3760,3996
$GC,3317,-1.21,-121.7,512.4,-15.8,453,3321,0.08,1.85,0.00,0.000,6,0.074,0.028,2182,2511,3995
$GC,3652,-1.11,-121.7,573.2,-18.7,469,3656,0.15,2.00,0.00,0.000,4,0.176,0.050,2211,3767,3993
$GC,3770,-1.11,-121.7,592.7,-16.2,474,3774,0.00,1.83,0.00,0.000,6,0.000,0.028,2211,2538,3993
$GC,4097,-1.11,-121.7,638.5,-13.1,490,4101,0.00,1.95,0.00,0.000,4,0.000,0.053,2208,3761,3991
$GC,4148,-1.11,-121.7,646.3,-14.8,492,4151,0.00,1.77,0.00,0.000,6,0.000,0.028,2208,2548,3990
$GC,4476,-1.11,-121.7,692.7,-13.6,508,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2548,3989
$GC,4785,-1.11,-121.7,734.3,-13.3,523,4788,0.00,1.95,0.00,0.000,4,0.000,0.054,2205,3766,3987
$GC,4887,-1.11,-121.7,748.7,-13.0,527,4891,0.00,1.80,0.00,0.000,6,0.000,0.029,2205,2550,3986
$GC,5210,-1.11,-121.7,791.1,-12.7,543,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2550,3984
$GC,5519,-1.16,-121.7,833.4,-13.6,558,5523,0.00,2.30,0.00,0.000,4,0.000,0.030,2205,1000,3981
$GC,5543,-1.23,-121.7,836.8,-13.9,559,5547,0.00,2.40,0.00,0.000,6,0.000,0.038,2205,2546,3982
$GC,5865,-1.28,-121.7,880.2,-13.7,575,5869,0.12,1.92,0.00,0.000,4,0.085,0.053,2150,3760,3980
$GC,5949,-1.05,-121.7,895.1,-18.4,578,5957,0.32,1.77,0.00,0.000,6,0.179,0.030,2236,2562,3980
$GC,6267,-1.25,-121.7,932.0,-10.8,594,6269,0.17,0.00,0.00,0.000,6,0.077,0.000,2171,2562,3978
$GC,6575,-1.18,-121.7,979.0,-15.6,609,6579,0.00,1.92,0.00,0.000,4,0.000,0.055,2165,3760,3976
$GC,6623,-1.05,-121.7,987.0,-17.1,611,6627,0.28,1.77,0.00,0.000,6,0.177,0.031,2237,2570,3976
$STATE,6636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6636,begin apogee
$GC,6644,-0.27,0.0,990.1,16.7,611,6743,0.80,0.00,95.72,1.398,6,0.153,0.000,2481,2404,3532
$STATE,6744,end apogee,CONTROL_FINISHED_OK
$STATE,6744,begin climb
$GC,6747,1.50,121.7,994.0,0.0,616,6862,1.65,2.35,105.65,1.359,4,0.064,0.049,3064,3756,3035
$GC,7004,0.67,121.7,979.2,17.4,627,7011,1.10,2.15,0.00,0.000,6,0.221,0.027,2801,2346,3032
$GC,7320,0.75,191.5,951.2,8.1,643,7384,0.00,2.42,58.35,1.332,4,0.000,0.052,2801,3751,2751
$GC,7447,0.75,191.5,936.6,14.0,648,7454,0.00,2.12,0.00,0.000,6,0.000,0.027,2808,2352,2748
$GC,7764,0.92,216.7,899.9,11.4,664,7794,0.20,2.38,22.40,1.272,4,0.074,0.054,2890,3758,2647
$GC,7841,0.68,216.7,887.5,18.7,667,7846,0.38,2.08,0.00,0.000,6,0.189,0.027,2801,2397,2646
$GC,8163,0.90,241.4,848.0,11.4,683,8192,0.20,2.30,21.70,1.253,4,0.077,0.052,2883,3763,2546
$GC,8292,0.76,241.4,825.7,19.3,688,8299,0.25,2.10,0.00,0.000,6,0.186,0.027,2827,2368,2543
$GC,8609,0.90,241.4,780.6,14.4,704,8613,0.12,2.10,0.00,0.000,4,0.087,0.034,2875,978,2542
$GC,8688,0.97,241.4,768.3,15.0,707,8694,0.00,2.20,0.00,0.000,6,0.000,0.035,2875,2402,2542
$GC,9005,0.97,241.4,719.5,15.9,723,9008,0.00,2.15,0.00,0.000,4,0.000,0.055,2875,3752,2541
$GC,9051,0.84,241.4,711.4,19.0,725,9055,0.12,2.05,0.00,0.000,6,0.193,0.028,2854,2381,2540
$GC,9385,0.90,241.4,660.4,14.6,741,9389,0.00,2.22,0.00,0.000,4,0.000,0.054,2854,3755,2539
$GC,9509,0.90,241.4,640.2,16.7,746,9513,0.00,2.03,0.00,0.000,6,0.000,0.030,2863,2399,2539
$GC,9831,0.90,241.4,593.4,15.4,762,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2397,2538
$GC,10139,0.90,241.4,544.7,15.8,777,10143,0.00,2.20,0.00,0.000,4,0.000,0.054,2865,3763,2538
$GC,10231,0.83,241.4,528.0,19.6,781,10234,0.00,2.08,0.00,0.000,6,0.000,0.030,2874,2388,2538
$GC,10559,0.83,241.4,473.7,14.6,804,10563,0.00,2.20,0.00,0.000,4,0.000,0.053,2875,3755,2537
$GC,10684,0.74,241.4,453.1,16.8,815,10689,0.25,2.03,0.00,0.000,6,0.186,0.030,2818,2401,2537
$GC,11012,0.99,268.6,411.4,11.2,845,11039,0.20,2.25,21.70,1.012,4,0.074,0.054,2901,3778,2436
$GC,11174,0.90,268.6,383.2,17.6,859,11180,0.17,2.05,0.00,0.000,6,0.187,0.029,2868,2420,2434
$GC,11500,1.04,297.5,341.9,11.1,890,11534,0.15,2.25,25.10,0.956,4,0.081,0.034,2932,974,2318
$GC,11683,1.04,297.5,315.6,14.9,906,11687,0.00,2.22,0.00,0.000,6,0.000,0.037,2932,2398,2315
$GC,12022,1.04,297.5,258.0,18.1,957,12028,0.00,2.17,0.00,0.000,4,0.000,0.033,2937,969,2314
$GC,12041,1.04,297.5,254.2,18.4,960,12047,0.00,2.17,0.00,0.000,6,0.000,0.031,2937,2397,2314
$GC,12386,1.04,297.5,188.1,17.3,1021,12392,0.00,2.15,0.00,0.000,4,0.000,0.051,2937,3761,2314
$GC,12484,0.91,297.5,169.1,19.2,1038,12492,0.28,2.03,0.00,0.000,6,0.182,0.026,2873,2392,2314
$GC,12835,1.14,306.6,124.6,12.5,1099,12853,0.17,2.22,8.43,0.718,4,0.077,0.050,2948,3749,2281
$GC,12934,1.05,306.6,106.2,19.0,1116,12941,0.15,1.98,0.00,0.000,6,0.188,0.026,2922,2403,2280
$GC,13281,1.21,339.2,59.2,10.8,1177,13318,0.15,2.22,27.05,0.717,4,0.077,0.051,2980,3752,2147
$GC,13575,1.12,339.2,15.9,15.5,1228,13581,0.20,1.90,0.00,0.000,6,0.182,0.027,2940,2446,2144
$STATE,13883,end climb,SURFACE_DEPTH_REACHED
$STATE,13883,begin surface coast
$FINISH,1.9,1.004227
$STATE,13975,end surface coast,CONTROL_FINISHED_OK
$STATE,13975,begin surface
$SM_CCo,13995,102.03,0.645,0,0,1594,475.15
$SM_GC,3.21,0.00,0.00,102.03,0.000,0.000,0.645,137,2444,1594,-7.64,1.72,475.15
$IRIDIUM_FIX,2441.81,12236.83,131198,090959
$TT8_MAMPS,0.029146
$HUMID,1757
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.0,91.884
$10V_AH,10.6,48.527
$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,26.725,116.550,386.100,102.025,0.000,33.334,41.783,177.816,8.000,0.000,0.000,14.982,2332.781,8543.290,602.171,2353.153,674.270,0.000,1790.390,0.000,2291.434,0.000,54.397,0.000
$DEVICE_MAMPS,235.469,55.224,1398.241,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,882.606,913.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69431,1299
$CAP_FILE_SIZE,146407,0
$CFSIZE,260165632,183996416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.379, 57.7,1
$GPS,190809,174836,2449.890,12244.336,34,1.0,35,-3.5