version: 66.04
glider: 167
mission: 2
dive: 532
start: 8 20 109 22 18 28
data:
$ID,167
$MISSION,2
$DIVE,532
$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,-19679.881
$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,63
$R_STBD_OVSHOOT,37
$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
$GPS1,221007,2502.844,12253.941,42,1.0,43,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-70.9
$GPS2,221808,2503.215,12254.149,14,1.1,14,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,268.2,63287,-25.0,-13.200
$D_GRID,1529
$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,-121.7,0.0,0.0,0,39,0.00,0.00,-20.98,0.000,2,0.000,0.000,139,2350,2111
$GC,44,-1.50,-121.7,3.2,-2.3,3,116,8.15,2.20,-57.17,0.000,4,0.234,0.054,2081,3765,3988
$GC,205,-0.38,-121.7,56.4,-49.2,30,212,1.42,2.03,0.00,0.000,6,0.200,0.022,2451,2371,3990
$GC,553,-1.01,-121.7,90.3,-5.8,91,560,0.50,2.17,0.00,0.000,4,0.050,0.045,2244,3755,3993
$GC,607,-0.76,-121.7,97.9,-18.2,100,613,0.32,1.98,0.00,0.000,6,0.168,0.023,2334,2362,3993
$GC,954,-0.97,-121.7,144.4,-10.3,161,962,0.17,1.95,0.00,0.000,4,0.070,0.025,2255,1012,3996
$GC,998,-0.97,-121.7,150.1,-13.6,168,1004,0.00,2.08,0.00,0.000,6,0.000,0.031,2247,2400,3996
$GC,1345,-0.91,-121.7,207.0,-16.4,229,1353,0.15,2.10,0.00,0.000,4,0.177,0.045,2276,3758,3996
$GC,1475,-1.00,-121.7,227.3,-15.4,251,1481,0.00,1.92,0.00,0.000,6,0.000,0.025,2277,2404,3997
$GC,1821,-1.09,-121.7,278.9,-15.5,312,1828,0.15,2.12,0.00,0.000,4,0.075,0.046,2206,3760,3997
$GC,1881,-0.88,-121.7,290.8,-21.6,322,1887,0.32,1.92,0.00,0.000,6,0.167,0.024,2297,2413,3997
$GC,2213,-1.10,-121.7,330.0,-10.8,358,2218,0.20,2.10,0.00,0.000,4,0.068,0.047,2205,3751,3997
$GC,2287,-0.91,-121.7,342.5,-18.7,364,2291,0.28,1.92,0.00,0.000,6,0.166,0.025,2281,2430,3997
$GC,2618,-1.09,-121.7,385.5,-12.6,395,2620,0.15,0.00,0.00,0.000,6,0.076,0.000,2220,2430,3997
$GC,2936,-1.09,-121.7,436.2,-16.0,425,2939,0.00,2.08,0.00,0.000,4,0.000,0.049,2218,3750,3996
$GC,2971,-1.02,-121.7,441.8,-16.7,428,2975,0.12,1.90,0.00,0.000,6,0.168,0.025,2249,2429,3995
$GC,3302,-1.15,-121.7,487.8,-15.1,459,3306,0.12,2.10,0.00,0.000,4,0.081,0.048,2193,3757,3993
$GC,3353,-1.03,-121.7,497.6,-20.1,463,3357,0.20,1.90,0.00,0.000,6,0.167,0.025,2245,2437,3993
$GC,3689,-1.17,-121.7,549.3,-14.4,480,3694,0.12,2.10,0.00,0.000,4,0.081,0.051,2192,3757,3992
$GC,3736,-1.05,-121.7,557.3,-16.6,482,3740,0.17,1.90,0.00,0.000,6,0.175,0.027,2237,2454,3991
$GC,4076,-1.18,-121.7,601.5,-12.7,498,4080,0.12,2.08,0.00,0.000,4,0.081,0.049,2179,3761,3989
$GC,4149,-1.06,-121.7,614.5,-17.2,501,4153,0.15,1.90,0.00,0.000,6,0.160,0.026,2235,2479,3989
$GC,4480,-1.19,-121.7,654.8,-11.9,517,4484,0.12,2.03,0.00,0.000,4,0.083,0.051,2179,3749,3986
$GC,4513,-1.09,-121.7,660.1,-14.7,518,4517,0.17,1.85,0.00,0.000,6,0.176,0.028,2222,2485,3986
$GC,4837,-1.17,-121.7,702.0,-13.9,534,4840,0.00,2.03,0.00,0.000,4,0.000,0.052,2221,3756,3983
$GC,4866,-1.23,-121.7,706.5,-15.0,535,4870,0.10,1.88,0.00,0.000,6,0.087,0.028,2179,2476,3983
$GC,5196,-1.17,-121.7,758.9,-16.1,551,5200,0.00,2.05,0.00,0.000,4,0.000,0.052,2179,3760,3981
$GC,5266,-1.06,-121.7,770.4,-15.9,554,5270,0.22,1.85,0.00,0.000,6,0.176,0.028,2237,2504,3980
$GC,5603,-1.23,-121.7,814.4,-13.4,570,5607,0.17,2.00,0.00,0.000,4,0.074,0.053,2166,3749,3978
$GC,5728,-1.06,-121.7,838.2,-20.8,575,5733,0.28,1.83,0.00,0.000,6,0.176,0.030,2238,2515,3976
$GC,6051,-1.24,-121.7,883.7,-13.5,591,6055,0.17,1.98,0.00,0.000,4,0.075,0.054,2165,3754,3975
$GC,6120,-1.09,-121.7,895.9,-19.9,594,6124,0.25,1.83,0.00,0.000,6,0.179,0.029,2229,2524,3974
$GC,6457,-1.24,-121.7,940.8,-13.0,610,6459,0.15,0.00,0.00,0.000,6,0.078,0.000,2173,2524,3972
$STATE,6759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6759,begin apogee
$GC,6767,-0.27,0.0,993.2,17.3,625,6865,1.12,0.00,94.43,1.409,6,0.173,0.000,2487,2399,3532
$STATE,6865,end apogee,CONTROL_FINISHED_OK
$STATE,6865,begin climb
$GC,6870,1.50,121.7,999.1,0.0,630,6983,1.60,2.30,105.53,1.367,4,0.061,0.049,3059,3758,3034
$GC,7029,0.68,152.0,1002.7,11.0,637,7062,1.08,2.15,26.75,1.305,6,0.225,0.026,2809,2351,2912
$GC,7389,0.82,217.3,973.4,8.5,655,7453,0.10,2.35,55.45,1.342,4,0.101,0.052,2844,3749,2646
$GC,7499,0.74,217.3,959.7,14.3,660,7504,0.15,2.10,0.00,0.000,6,0.191,0.027,2819,2375,2643
$GC,7828,0.87,227.2,918.9,12.5,676,7840,0.12,0.00,9.25,1.167,6,0.092,0.000,2866,2373,2605
$GC,8135,0.87,227.2,871.7,15.4,691,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2373,2602
$GC,8446,0.87,227.2,826.0,14.5,706,8450,0.00,2.20,0.00,0.000,4,0.000,0.053,2867,3747,2601
$GC,8634,0.75,227.2,794.7,15.8,714,8639,0.20,2.05,0.00,0.000,6,0.189,0.028,2824,2370,2600
$GC,8958,0.91,248.8,755.7,11.6,730,8983,0.15,2.28,18.17,1.222,4,0.084,0.054,2882,3741,2516
$GC,9034,0.77,248.8,743.7,16.5,733,9039,0.22,2.05,0.00,0.000,6,0.189,0.029,2834,2377,2515
$GC,9357,0.92,257.1,703.4,12.6,749,9368,0.12,0.00,8.10,1.077,6,0.089,0.000,2879,2373,2484
$GC,9664,0.92,257.1,658.6,14.4,764,9668,0.00,2.22,0.00,0.000,4,0.000,0.054,2880,3754,2482
$GC,9811,0.81,257.1,634.1,17.8,770,9815,0.17,2.03,0.00,0.000,6,0.189,0.028,2845,2390,2481
$GC,10128,0.93,257.1,591.1,14.1,785,10132,0.00,2.17,0.00,0.000,4,0.000,0.052,2845,3747,2480
$GC,10207,0.93,257.1,578.2,16.1,788,10211,0.00,1.98,0.00,0.000,6,0.000,0.029,2853,2412,2480
$GC,10530,1.02,257.1,529.5,14.8,804,10535,0.15,2.15,0.00,0.000,4,0.086,0.032,2920,972,2479
$GC,10599,1.02,257.1,517.7,17.1,807,10603,0.00,2.20,0.00,0.000,6,0.000,0.038,2919,2396,2479
$GC,10932,0.93,257.1,456.3,19.2,833,10937,0.15,2.17,0.00,0.000,4,0.183,0.052,2882,3761,2479
$GC,10972,0.85,257.1,448.5,18.2,836,10979,0.15,2.00,0.00,0.000,6,0.193,0.031,2853,2417,2479
$GC,11299,0.96,257.9,404.6,13.1,867,11304,0.10,2.15,0.00,0.000,4,0.094,0.035,2898,978,2479
$GC,11515,1.05,269.3,375.4,12.4,886,11531,0.00,2.20,10.93,0.945,6,0.000,0.036,2898,2404,2434
$GC,11852,1.05,269.3,325.1,15.9,917,11856,0.00,2.15,0.00,0.000,4,0.000,0.054,2898,3757,2432
$GC,12021,0.95,269.3,296.0,18.0,933,12028,0.00,1.98,0.00,0.000,6,0.000,0.028,2909,2426,2431
$GC,12369,0.95,269.3,236.7,15.8,994,12375,0.00,2.17,0.00,0.000,4,0.000,0.034,2915,969,2432
$GC,12631,1.02,269.3,195.9,14.4,1040,12637,0.00,2.20,0.00,0.000,6,0.000,0.035,2915,2403,2431
$GC,12976,1.02,269.3,147.8,13.5,1101,12983,0.00,2.15,0.00,0.000,4,0.000,0.053,2915,3766,2431
$GC,13031,0.94,269.3,139.7,16.5,1110,13037,0.15,2.05,0.00,0.000,6,0.176,0.028,2887,2393,2432
$GC,13380,1.12,308.3,102.4,10.4,1171,13422,0.15,2.20,32.62,0.750,4,0.080,0.032,2955,963,2274
$GC,13678,1.31,370.8,64.9,8.7,1223,13736,0.15,2.17,49.67,0.708,6,0.080,0.033,3014,2382,2018
$GC,14076,1.34,390.9,14.1,11.7,1293,14100,0.00,2.20,15.85,0.632,4,0.000,0.051,3014,3744,1936
$STATE,14188,end climb,SURFACE_DEPTH_REACHED
$STATE,14188,begin surface coast
$FINISH,1.8,1.013760
$STATE,14230,end surface coast,CONTROL_FINISHED_OK
$STATE,14230,begin surface
$SM_CCo,14252,63.53,0.639,0,0,1595,475.15
$SM_GC,3.81,0.00,0.00,63.53,0.000,0.000,0.639,136,2368,1595,-7.64,-0.42,475.15
$IRIDIUM_FIX,2448.93,12255.25,141198,181802
$TT8_MAMPS,0.029146
$HUMID,1804
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.0,93.245
$10V_AH,10.6,49.194
$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,28.450,120.000,426.750,63.525,0.000,31.083,40.345,246.056,8.250,0.000,0.000,14.403,2368.656,8718.456,590.617,2347.382,761.649,0.000,1782.676,0.000,2286.240,0.000,54.424,0.000
$DEVICE_MAMPS,233.935,54.457,1408.979,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,895.352,932.391,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69452,1320
$CAP_FILE_SIZE,151436,0
$CFSIZE,260165632,183377920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.402, 27.4,1
$GPS,210809,021824,2506.054,12253.630,39,0.9,40,-3.6