version: 66.04
glider: 167
mission: 2
dive: 528
start: 8 20 109 6 3 55
data:
$ID,167
$MISSION,2
$DIVE,528
$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,-19550.674
$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,59
$R_STBD_OVSHOOT,43
$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
$GPS1,055636,2454.213,12250.719,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-71.4
$GPS2,060334,2454.380,12251.071,12,2.8,31,-3.6
$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,250.3,18500,-25.0,-13.200
$D_GRID,1622
$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,-23.40,0.000,2,0.000,0.000,137,2385,2187
$GC,45,-1.50,-121.7,3.3,-2.7,4,110,8.18,2.15,-49.97,0.000,4,0.233,0.055,2084,3755,3989
$GC,294,-0.62,-121.7,92.7,-34.7,47,302,1.08,2.03,0.00,0.000,6,0.189,0.023,2375,2338,3992
$GC,643,-1.03,-121.7,135.0,-8.1,108,649,0.32,1.92,0.00,0.000,4,0.055,0.025,2234,1005,3995
$GC,696,-0.95,-121.7,142.7,-16.5,117,704,0.15,2.05,0.00,0.000,6,0.165,0.033,2268,2368,3995
$GC,1044,-0.95,-121.7,194.9,-14.2,178,1050,0.00,2.15,0.00,0.000,4,0.000,0.046,2259,3763,3997
$GC,1159,-0.95,-121.7,212.4,-14.4,198,1165,0.00,2.00,0.00,0.000,6,0.000,0.025,2259,2358,3996
$GC,1506,-0.95,-121.7,262.5,-14.9,259,1513,0.00,2.20,0.00,0.000,4,0.000,0.048,2251,3761,3997
$GC,1688,-0.95,-121.7,290.8,-15.4,291,1695,0.00,1.92,0.00,0.000,6,0.000,0.025,2251,2409,3997
$GC,2020,-0.95,-121.7,343.5,-16.7,327,2024,0.00,2.12,0.00,0.000,4,0.000,0.048,2247,3763,3996
$GC,2122,-0.95,-121.7,360.7,-16.5,336,2126,0.00,1.92,0.00,0.000,6,0.000,0.025,2247,2414,3997
$GC,2454,-1.04,-121.7,409.7,-14.4,367,2458,0.00,2.12,0.00,0.000,4,0.000,0.048,2246,3763,3996
$GC,2545,-1.09,-121.7,422.8,-15.0,375,2549,0.00,1.90,0.00,0.000,6,0.000,0.025,2246,2431,3996
$GC,2878,-1.19,-121.7,470.8,-15.7,406,2883,0.15,2.10,0.00,0.000,4,0.075,0.048,2179,3758,3994
$GC,2941,-1.01,-121.7,483.5,-20.3,411,2945,0.28,1.92,0.00,0.000,6,0.170,0.026,2252,2456,3994
$GC,3280,-1.19,-121.7,531.2,-13.4,432,3284,0.17,2.08,0.00,0.000,4,0.070,0.050,2176,3763,3992
$GC,3336,-1.03,-121.7,541.3,-16.8,434,3340,0.25,1.88,0.00,0.000,6,0.170,0.026,2242,2475,3991
$GC,3661,-1.15,-121.7,580.2,-12.3,450,3665,0.00,2.15,0.00,0.000,4,0.000,0.028,2243,1010,3990
$GC,3690,-1.31,-121.7,584.6,-13.2,451,3695,0.25,2.22,0.00,0.000,6,0.067,0.036,2151,2461,3990
$GC,4015,-1.13,-121.7,644.8,-18.7,467,4020,0.20,2.05,0.00,0.000,4,0.190,0.051,2198,3761,3986
$GC,4164,-1.06,-121.7,669.4,-15.6,473,4168,0.10,1.85,0.00,0.000,6,0.176,0.028,2238,2523,3986
$GC,4489,-1.21,-121.7,706.9,-10.9,489,4493,0.15,1.98,0.00,0.000,4,0.076,0.052,2178,3757,3983
$GC,4528,-1.10,-121.7,713.0,-15.6,490,4535,0.17,1.80,0.00,0.000,6,0.182,0.028,2221,2532,3982
$GC,4848,-1.20,-121.7,751.6,-12.0,506,4852,0.00,1.95,0.00,0.000,4,0.000,0.054,2218,3752,3981
$GC,4919,-1.27,-121.7,761.0,-13.5,509,4923,0.15,1.77,0.00,0.000,6,0.077,0.029,2162,2546,3980
$GC,5254,-1.15,-121.7,814.7,-16.4,525,5256,0.17,0.00,0.00,0.000,6,0.181,0.000,2204,2546,3977
$GC,5563,-1.20,-121.7,858.6,-14.6,540,5567,0.00,1.92,0.00,0.000,4,0.000,0.057,2204,3753,3975
$GC,5680,-1.20,-121.7,876.4,-13.7,545,5684,0.00,1.77,0.00,0.000,6,0.000,0.031,2204,2556,3974
$GC,6009,-1.27,-121.7,920.6,-14.0,561,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2556,3973
$GC,6318,-1.35,-121.7,963.5,-14.0,576,6322,0.17,1.95,0.00,0.000,4,0.075,0.054,2125,3762,3971
$GC,6437,-1.05,-121.7,986.8,-20.6,581,6442,0.43,1.80,0.00,0.000,6,0.185,0.030,2236,2545,3970
$STATE,6466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6466,begin apogee
$GC,6474,-0.27,0.0,991.9,16.0,583,6572,0.82,0.00,94.50,1.402,6,0.147,0.000,2485,2406,3532
$STATE,6573,end apogee,CONTROL_FINISHED_OK
$STATE,6573,begin climb
$GC,6576,1.50,121.7,997.1,0.0,588,6687,1.60,0.00,105.78,1.361,6,0.053,0.000,3064,2406,3035
$GC,6995,0.81,121.7,966.2,13.9,608,6997,0.88,0.00,0.00,0.000,6,0.221,0.000,2848,2406,3030
$GC,7303,0.78,187.9,939.6,8.4,623,7367,0.00,2.30,55.05,1.335,4,0.000,0.055,2848,3746,2765
$GC,7514,0.67,187.9,910.5,15.8,632,7519,0.22,2.12,0.00,0.000,6,0.189,0.028,2800,2345,2761
$GC,7830,0.86,214.2,874.0,11.3,647,7856,0.17,0.00,23.23,1.272,6,0.082,0.000,2866,2342,2658
$GC,8160,0.86,214.2,828.3,13.9,663,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2342,2654
$GC,8468,0.86,214.2,782.4,14.7,678,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2342,2653
$GC,8778,0.88,226.9,741.6,12.3,693,8794,0.00,2.35,11.50,1.161,4,0.000,0.053,2866,3760,2606
$GC,8891,0.78,226.9,725.8,14.7,697,8896,0.17,2.10,0.00,0.000,6,0.188,0.028,2831,2363,2604
$GC,9213,0.96,266.3,690.5,10.3,713,9252,0.17,0.00,33.75,1.203,6,0.080,0.000,2896,2361,2445
$GC,9563,0.96,266.3,636.3,17.1,730,9567,0.00,2.25,0.00,0.000,4,0.000,0.053,2896,3755,2440
$GC,9596,0.84,266.3,629.5,19.7,731,9604,0.20,2.08,0.00,0.000,6,0.188,0.028,2854,2375,2440
$GC,9914,0.96,266.3,576.4,16.5,747,9919,0.10,2.22,0.00,0.000,4,0.093,0.053,2893,3755,2439
$GC,9986,0.86,266.3,561.9,20.0,750,9991,0.17,2.05,0.00,0.000,6,0.188,0.028,2858,2378,2439
$GC,10303,0.98,266.3,514.9,14.3,765,10307,0.12,2.12,0.00,0.000,4,0.084,0.033,2913,966,2438
$GC,10411,0.98,266.3,497.2,17.1,770,10415,0.00,2.17,0.00,0.000,6,0.000,0.036,2913,2380,2438
$GC,10742,0.98,266.3,437.7,18.0,801,10743,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2380,2437
$GC,11064,0.98,266.3,382.7,15.3,831,11068,0.00,2.15,0.00,0.000,4,0.000,0.035,2917,967,2437
$GC,11132,0.98,266.3,371.6,14.3,837,11136,0.00,2.17,0.00,0.000,6,0.000,0.036,2917,2378,2437
$GC,11467,0.98,266.3,326.7,13.6,868,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2379,2437
$GC,11800,0.99,271.8,283.8,12.8,910,11809,0.00,2.25,4.60,0.693,4,0.000,0.053,2917,3755,2423
$GC,11938,0.88,271.8,262.3,17.2,933,11945,0.22,2.05,0.00,0.000,6,0.183,0.028,2867,2384,2422
$GC,12285,1.06,271.8,209.8,14.3,994,12292,0.15,2.15,0.00,0.000,4,0.080,0.033,2925,952,2422
$GC,12339,1.14,271.8,201.3,15.4,1003,12346,0.00,2.17,0.00,0.000,6,0.000,0.034,2925,2374,2422
$GC,12686,1.14,271.8,153.5,13.5,1064,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2374,2422
$GC,13031,1.26,315.7,114.8,10.0,1125,13074,0.17,2.22,36.60,0.755,4,0.069,0.031,3008,956,2243
$GC,13332,1.32,362.6,73.9,9.8,1177,13379,0.00,2.17,37.78,0.706,6,0.000,0.033,3007,2380,2052
$GC,13722,1.49,435.9,35.0,7.9,1245,13787,0.15,2.25,57.47,0.658,4,0.078,0.029,3081,956,1754
$STATE,13961,end climb,SURFACE_DEPTH_REACHED
$STATE,13961,begin surface coast
$FINISH,1.9,1.020623
$STATE,13990,end surface coast,CONTROL_FINISHED_OK
$STATE,13990,begin surface
$SM_CCo,14013,28.33,0.617,0,0,1594,475.15
$SM_GC,2.51,0.00,0.00,28.33,0.000,0.000,0.617,136,2378,1594,-7.64,-0.14,475.15
$IRIDIUM_FIX,2441.81,12247.40,141198,020233
$TT8_MAMPS,0.029146
$HUMID,1755
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.0,92.564
$10V_AH,10.6,48.860
$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,25.800,99.475,460.250,28.325,0.000,24.575,33.083,178.597,8.000,0.000,0.000,32.863,2272.160,8689.648,571.997,2260.006,657.676,0.000,1711.323,0.000,2186.480,0.000,54.409,0.000
$DEVICE_MAMPS,233.168,56.758,1402.076,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.720,900.998,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69418,1292
$CAP_FILE_SIZE,138924,0
$CFSIZE,260165632,183693312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.441, 52.2,1
$GPS,200809,095907,2456.031,12252.078,29,1.1,30,-3.6