version: 66.04
glider: 167
mission: 2
dive: 536
start: 8 21 109 14 30 49
data:
$ID,167
$MISSION,2
$DIVE,536
$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,-19778.371
$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,69
$R_STBD_OVSHOOT,45
$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
$GPS1,142330,2512.146,12251.401,36,1.0,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-68.8
$GPS2,143028,2512.410,12251.394,10,2.2,29,-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,256.4,49929,-25.0,-13.200
$D_GRID,1413
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.05,0.000,2,0.000,0.000,136,2382,2149
$GC,45,-1.50,-121.7,3.0,-1.5,4,123,8.35,2.22,-59.90,0.000,4,0.242,0.056,2082,3763,3990
$GC,239,-0.67,-121.7,61.9,-33.2,37,245,1.02,2.03,0.00,0.000,6,0.191,0.021,2355,2377,3992
$GC,586,-0.91,-121.7,105.7,-10.3,98,592,0.17,2.17,0.00,0.000,4,0.069,0.048,2275,3755,3995
$GC,616,-0.91,-121.7,110.3,-15.3,103,624,0.00,2.00,0.00,0.000,6,0.000,0.024,2275,2350,3995
$GC,964,-0.91,-121.7,165.5,-15.6,164,970,0.00,1.92,0.00,0.000,4,0.000,0.025,2276,1009,3997
$GC,1051,-1.03,-121.7,178.0,-14.0,179,1059,0.00,2.08,0.00,0.000,6,0.000,0.034,2275,2387,3997
$GC,1400,-1.13,-121.7,228.5,-12.8,240,1407,0.17,2.12,0.00,0.000,4,0.069,0.047,2195,3754,3998
$GC,1567,-0.87,-121.7,259.2,-20.0,269,1574,0.38,1.92,0.00,0.000,6,0.167,0.025,2299,2414,3997
$GC,1914,-1.11,-121.7,296.5,-10.0,330,1921,0.20,2.08,0.00,0.000,4,0.067,0.026,2212,989,3997
$GC,1929,-1.31,-121.7,298.1,-10.9,332,1936,0.15,2.12,0.00,0.000,6,0.071,0.032,2147,2403,3997
$GC,2264,-0.99,-121.7,372.5,-24.2,364,2269,0.38,2.10,0.00,0.000,4,0.187,0.046,2243,3750,3997
$GC,2319,-0.99,-121.7,384.5,-19.0,368,2326,0.00,1.98,0.00,0.000,6,0.000,0.025,2243,2371,3997
$GC,2645,-1.08,-121.7,437.4,-14.0,399,2649,0.00,2.17,0.00,0.000,4,0.000,0.049,2235,3749,3997
$GC,2771,-1.13,-121.7,454.3,-13.3,410,2775,0.00,1.95,0.00,0.000,6,0.000,0.027,2234,2409,3997
$GC,3104,-1.20,-121.7,500.2,-14.6,441,3108,0.12,2.12,0.00,0.000,4,0.084,0.049,2178,3759,3996
$GC,3228,-1.05,-121.7,522.8,-18.4,446,3233,0.22,1.95,0.00,0.000,6,0.173,0.027,2236,2420,3996
$GC,3553,-1.16,-121.7,566.2,-12.0,462,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2420,3994
$GC,3860,-1.28,-121.7,606.9,-13.9,477,3864,0.17,2.12,0.00,0.000,4,0.073,0.052,2163,3755,3992
$GC,3899,-1.09,-121.7,613.5,-17.4,478,3906,0.25,1.95,0.00,0.000,6,0.179,0.028,2226,2411,3991
$GC,4221,-1.20,-121.7,650.6,-9.8,494,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2411,3990
$GC,4526,-1.31,-121.7,681.6,-9.6,509,4530,0.17,2.15,0.00,0.000,4,0.077,0.054,2150,3754,3987
$GC,4599,-1.09,-121.7,692.8,-15.6,512,4603,0.30,1.95,0.00,0.000,6,0.176,0.028,2229,2427,3986
$GC,4926,-1.21,-121.7,726.1,-10.6,528,4930,0.12,2.12,0.00,0.000,4,0.084,0.053,2179,3758,3984
$GC,5027,-1.09,-121.7,741.4,-16.0,532,5031,0.17,1.95,0.00,0.000,6,0.177,0.028,2222,2436,3983
$GC,5350,-1.19,-121.7,783.5,-13.8,548,5354,0.00,2.10,0.00,0.000,4,0.000,0.054,2218,3745,3981
$GC,5412,-1.26,-121.7,793.3,-15.1,550,5419,0.12,1.90,0.00,0.000,6,0.085,0.028,2171,2455,3981
$GC,5729,-1.18,-121.7,849.6,-18.4,566,5737,0.00,2.08,0.00,0.000,4,0.000,0.052,2166,3752,3980
$GC,5789,-1.01,-121.7,861.5,-20.5,568,5793,0.32,1.90,0.00,0.000,6,0.175,0.028,2252,2463,3979
$GC,6106,-1.27,-121.7,899.2,-10.9,583,6110,0.20,2.08,0.00,0.000,4,0.074,0.052,2166,3753,3977
$GC,6208,-1.16,-121.7,912.6,-12.7,587,6217,0.15,1.88,0.00,0.000,6,0.179,0.028,2201,2478,3977
$GC,6525,-1.21,-121.7,947.4,-11.5,603,6528,0.00,2.05,0.00,0.000,4,0.000,0.053,2194,3754,3975
$GC,6594,-1.21,-121.7,956.5,-13.4,606,6598,0.00,1.88,0.00,0.000,6,0.000,0.029,2194,2493,3975
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6850,-0.27,0.0,990.8,14.3,618,6948,1.00,0.00,95.32,1.411,6,0.158,0.000,2485,2378,3532
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6952,1.50,121.7,994.8,0.0,623,7066,1.67,2.35,105.85,1.370,4,0.066,0.050,3067,3758,3035
$GC,7263,0.66,121.7,970.5,15.8,637,7269,1.12,2.12,0.00,0.000,6,0.225,0.027,2800,2357,3031
$GC,7581,0.75,194.5,945.7,7.9,652,7647,0.00,2.35,61.25,1.342,4,0.000,0.054,2799,3743,2738
$GC,7677,0.75,194.5,935.6,13.8,657,7681,0.00,2.12,0.00,0.000,6,0.000,0.028,2802,2372,2736
$GC,8011,0.88,203.2,893.2,12.6,673,8022,0.17,0.00,8.27,1.139,6,0.078,0.000,2870,2368,2703
$GC,8319,0.82,203.2,848.7,13.8,688,8323,0.00,2.22,0.00,0.000,4,0.000,0.052,2871,3754,2701
$GC,8449,0.64,203.2,827.9,15.7,693,8455,0.32,2.10,0.00,0.000,6,0.188,0.028,2793,2348,2700
$GC,8767,0.91,259.3,796.1,9.1,709,8820,0.22,2.20,47.83,1.276,4,0.074,0.033,2885,975,2475
$GC,8854,0.96,259.3,784.6,14.4,712,8859,0.00,2.17,0.00,0.000,6,0.000,0.035,2885,2354,2472
$GC,9172,0.96,259.3,733.6,17.3,727,9176,0.00,2.25,0.00,0.000,4,0.000,0.054,2885,3758,2468
$GC,9302,0.84,259.3,707.6,20.4,733,9307,0.15,2.08,0.00,0.000,6,0.193,0.029,2849,2383,2468
$GC,9631,0.95,259.3,655.2,15.4,749,9635,0.10,2.22,0.00,0.000,4,0.091,0.054,2887,3756,2466
$GC,9768,0.83,259.3,628.5,19.6,755,9772,0.17,2.03,0.00,0.000,6,0.192,0.029,2852,2397,2466
$GC,10096,0.93,259.3,578.8,15.1,771,10100,0.00,2.15,0.00,0.000,4,0.000,0.034,2861,957,2465
$GC,10232,1.07,259.3,559.5,13.9,777,10237,0.17,2.22,0.00,0.000,6,0.084,0.037,2928,2396,2465
$GC,10561,0.95,259.3,500.5,17.5,793,10566,0.15,2.17,0.00,0.000,4,0.183,0.032,2899,967,2464
$GC,10641,1.02,259.3,487.6,14.7,799,10648,0.00,2.17,0.00,0.000,6,0.000,0.036,2899,2379,2464
$GC,10970,1.02,259.3,438.2,15.4,830,10973,0.00,2.20,0.00,0.000,4,0.000,0.054,2899,3758,2464
$GC,10987,0.96,259.3,434.7,16.0,831,10995,0.00,2.10,0.00,0.000,6,0.000,0.028,2910,2352,2464
$GC,11317,0.96,259.3,383.8,14.9,862,11320,0.00,2.28,0.00,0.000,4,0.000,0.053,2910,3763,2463
$GC,11387,0.81,259.3,371.3,17.3,868,11392,0.30,2.08,0.00,0.000,6,0.187,0.028,2841,2368,2463
$GC,11713,1.00,259.3,324.9,14.9,898,11717,0.17,2.10,0.00,0.000,4,0.075,0.033,2912,969,2462
$GC,11781,1.06,259.3,313.4,17.3,903,11789,0.00,2.17,0.00,0.000,6,0.000,0.035,2912,2384,2462
$GC,12121,1.06,259.3,259.7,13.8,956,12127,0.00,2.15,0.00,0.000,4,0.000,0.032,2918,966,2462
$GC,12224,1.13,277.3,246.4,11.9,974,12243,0.00,2.12,14.45,0.881,6,0.000,0.035,2918,2356,2400
$GC,12583,1.13,277.3,197.4,13.9,1037,12589,0.00,2.22,0.00,0.000,4,0.000,0.051,2918,3762,2398
$GC,12613,1.05,277.3,192.7,16.2,1042,12620,0.00,2.15,0.00,0.000,6,0.000,0.026,2927,2326,2399
$GC,12959,1.05,277.3,139.6,13.4,1103,12966,0.00,2.03,0.00,0.000,4,0.000,0.032,2937,960,2398
$GC,13220,1.05,277.3,103.6,16.6,1149,13226,0.00,2.03,0.00,0.000,6,0.000,0.033,2937,2295,2398
$GC,13565,1.14,356.6,59.9,7.4,1210,13634,0.00,0.00,62.90,0.724,6,0.000,0.000,2937,2295,2078
$GC,13977,1.47,422.9,14.2,8.4,1282,14038,0.28,2.12,52.40,0.663,4,0.061,0.029,3062,954,1806
$STATE,14070,end climb,SURFACE_DEPTH_REACHED
$STATE,14070,begin surface coast
$FINISH,1.8,1.008969
$STATE,14099,end surface coast,CONTROL_FINISHED_OK
$STATE,14099,begin surface
$SM_CCo,14123,39.05,0.645,0,0,1595,475.15
$SM_GC,3.17,0.00,0.00,39.05,0.000,0.000,0.645,138,2397,1595,-7.63,0.40,475.15
$IRIDIUM_FIX,2503.20,12248.55,151198,101051
$TT8_MAMPS,0.029146
$HUMID,1797
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,22.9,93.921
$10V_AH,10.6,49.526
$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,27.250,126.125,448.275,39.050,0.000,22.923,32.364,184.355,8.750,0.000,0.000,30.614,2323.775,8596.689,622.444,2365.621,665.244,0.000,1813.006,0.000,2284.849,0.000,54.408,0.000
$DEVICE_MAMPS,242.372,59.059,1410.513,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,884.588,906.614,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69420,1303
$CAP_FILE_SIZE,149350,0
$CFSIZE,260165632,183070720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 23.7,1
$GPS,210809,182807,2512.778,12249.884,36,1.0,36,-3.6