version: 66.04
glider: 167
mission: 2
dive: 537
start: 8 21 109 18 35 37
data:
$ID,167
$MISSION,2
$DIVE,537
$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,-19815.395
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,182807,2512.778,12249.884,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.8
$GPS2,183516,2512.949,12250.185,16,2.2,35,-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,279.2,47674,-25.0,-13.200
$D_GRID,1387
$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,13,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,-22.50,0.000,2,0.000,0.000,138,2397,2128
$GC,45,-1.50,-121.7,3.0,-1.8,4,126,8.30,2.15,-62.97,0.000,4,0.238,0.052,2081,3761,3990
$GC,152,-0.58,-121.7,19.7,-36.9,21,159,1.17,2.05,0.00,0.000,6,0.202,0.023,2384,2337,3991
$GC,500,-0.95,-121.7,63.4,-10.3,82,507,0.28,2.25,0.00,0.000,4,0.061,0.048,2261,3757,3994
$GC,610,-0.82,-121.7,81.7,-18.6,101,617,0.20,1.92,0.00,0.000,6,0.166,0.024,2315,2419,3994
$GC,956,-0.97,-121.7,125.0,-13.2,162,963,0.15,2.10,0.00,0.000,4,0.074,0.046,2246,3754,3996
$GC,981,-0.97,-121.7,129.0,-15.4,166,987,0.00,1.92,0.00,0.000,6,0.000,0.024,2246,2402,3996
$GC,1328,-0.90,-121.7,190.5,-16.9,227,1334,0.17,2.03,0.00,0.000,4,0.171,0.025,2297,1009,3997
$GC,1377,-1.07,-121.7,198.0,-14.3,235,1383,0.15,2.12,0.00,0.000,6,0.072,0.032,2229,2424,3997
$GC,1727,-1.02,-121.7,261.8,-16.3,296,1733,0.00,2.05,0.00,0.000,4,0.000,0.048,2219,3750,3997
$GC,1797,-0.93,-121.7,274.8,-17.0,308,1806,0.22,1.88,0.00,0.000,6,0.164,0.025,2280,2440,3997
$GC,2138,-1.11,-121.7,318.8,-12.1,355,2140,0.17,0.00,0.00,0.000,6,0.071,0.000,2210,2440,3997
$GC,2456,-1.03,-121.7,372.3,-17.6,385,2460,0.15,2.08,0.00,0.000,4,0.175,0.047,2239,3754,3997
$GC,2581,-1.03,-121.7,393.3,-16.0,396,2585,0.00,1.85,0.00,0.000,6,0.000,0.026,2239,2470,3997
$GC,2914,-1.12,-121.7,440.9,-14.6,427,2917,0.00,2.03,0.00,0.000,4,0.000,0.051,2233,3748,3997
$GC,2938,-1.19,-121.7,444.7,-14.6,429,2942,0.12,1.85,0.00,0.000,6,0.081,0.026,2180,2467,3997
$GC,3280,-1.07,-121.7,504.9,-18.1,460,3284,0.17,2.05,0.00,0.000,4,0.171,0.048,2222,3757,3997
$GC,3313,-1.07,-121.7,511.1,-16.2,461,3317,0.00,1.88,0.00,0.000,6,0.000,0.027,2222,2470,3997
$GC,3637,-1.13,-121.7,554.3,-13.4,477,3641,0.00,2.05,0.00,0.000,4,0.000,0.052,2218,3758,3994
$GC,3695,-1.13,-121.7,562.7,-13.7,479,3698,0.00,1.88,0.00,0.000,6,0.000,0.028,2218,2477,3994
$GC,4017,-1.19,-121.7,605.9,-13.7,495,4020,0.00,2.15,0.00,0.000,4,0.000,0.028,2218,1013,3992
$GC,4045,-1.27,-121.7,610.2,-15.0,496,4050,0.15,2.22,0.00,0.000,6,0.078,0.036,2164,2460,3992
$GC,4371,-1.14,-121.7,667.0,-18.1,512,4375,0.17,2.05,0.00,0.000,4,0.193,0.051,2205,3755,3990
$GC,4476,-1.14,-121.7,685.7,-17.0,516,4484,0.00,1.85,0.00,0.000,6,0.000,0.028,2205,2493,3989
$GC,4794,-1.14,-121.7,734.6,-15.0,532,4797,0.00,2.03,0.00,0.000,4,0.000,0.054,2205,3754,3986
$GC,4885,-1.14,-121.7,748.9,-15.3,536,4888,0.00,1.85,0.00,0.000,6,0.000,0.028,2205,2501,3986
$GC,5218,-1.14,-121.7,799.1,-15.3,552,5221,0.00,2.00,0.00,0.000,4,0.000,0.054,2205,3746,3984
$GC,5292,-1.14,-121.7,810.8,-15.8,555,5295,0.00,1.80,0.00,0.000,6,0.000,0.028,2205,2526,3983
$GC,5620,-1.20,-121.7,859.3,-14.4,571,5623,0.00,1.98,0.00,0.000,4,0.000,0.055,2205,3754,3981
$GC,5705,-1.20,-121.7,872.7,-14.8,574,5711,0.00,1.83,0.00,0.000,6,0.000,0.030,2205,2524,3981
$GC,6021,-1.26,-121.7,918.2,-14.2,590,6025,0.00,2.25,0.00,0.000,4,0.000,0.031,2204,1022,3979
$GC,6061,-1.36,-121.7,924.0,-14.5,591,6068,0.17,2.30,0.00,0.000,6,0.077,0.038,2144,2493,3978
$GC,6382,-1.19,-121.7,979.8,-17.9,607,6386,0.20,2.00,0.00,0.000,4,0.199,0.054,2191,3746,3976
$GC,6415,-1.13,-121.7,986.6,-16.8,608,6419,0.00,1.80,0.00,0.000,6,0.000,0.028,2191,2523,3976
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6453,-0.27,0.0,991.3,15.1,610,6553,1.05,0.00,96.12,1.406,6,0.171,0.000,2486,2394,3532
$STATE,6553,end apogee,CONTROL_FINISHED_OK
$STATE,6553,begin climb
$GC,6558,1.50,121.7,995.2,0.0,615,6673,1.60,2.35,106.15,1.364,4,0.058,0.049,3060,3748,3034
$GC,6775,0.67,121.7,987.2,16.1,625,6781,1.10,2.12,0.00,0.000,6,0.225,0.025,2801,2342,3032
$GC,7099,0.77,203.2,961.7,7.3,641,7173,0.00,2.15,68.80,1.345,4,0.000,0.031,2803,981,2702
$GC,7229,1.03,237.0,950.2,10.7,647,7264,0.30,2.20,30.00,1.292,6,0.065,0.036,2912,2367,2565
$GC,7585,0.89,237.0,891.8,16.5,664,7589,0.17,2.15,0.00,0.000,4,0.186,0.031,2871,966,2558
$GC,7630,0.95,237.0,884.5,13.9,666,7634,0.00,2.17,0.00,0.000,6,0.000,0.035,2871,2372,2558
$GC,7953,0.95,237.0,836.3,14.8,682,7956,0.00,2.22,0.00,0.000,4,0.000,0.054,2871,3764,2556
$GC,8037,0.82,237.0,821.7,16.7,685,8043,0.00,2.08,0.00,0.000,6,0.000,0.028,2872,2373,2556
$GC,8354,0.82,237.0,772.2,15.4,701,8357,0.00,2.22,0.00,0.000,4,0.000,0.054,2872,3752,2554
$GC,8389,0.69,237.0,766.1,18.1,702,8394,0.30,2.05,0.00,0.000,6,0.186,0.028,2804,2372,2554
$GC,8706,0.91,249.0,724.6,12.3,717,8721,0.20,2.25,9.25,1.120,4,0.079,0.054,2885,3754,2517
$GC,8860,0.77,249.0,697.4,18.9,723,8867,0.25,2.05,0.00,0.000,6,0.188,0.029,2830,2384,2515
$GC,9177,0.93,262.6,656.2,12.2,739,9199,0.15,2.28,12.98,1.134,4,0.082,0.054,2886,3757,2460
$GC,9257,0.79,262.6,643.1,17.4,742,9262,0.22,2.08,0.00,0.000,6,0.188,0.030,2839,2392,2459
$GC,9579,0.94,269.5,600.4,12.7,758,9594,0.12,2.28,7.32,1.006,4,0.087,0.051,2885,3765,2432
$GC,9664,0.83,269.5,586.3,18.0,761,9671,0.17,2.08,0.00,0.000,6,0.190,0.028,2851,2394,2431
$GC,9982,0.94,270.8,543.4,13.1,777,9985,0.00,2.17,0.00,0.000,4,0.000,0.035,2855,952,2430
$GC,10083,1.12,280.8,530.3,12.5,781,10100,0.25,2.22,11.12,1.045,6,0.073,0.035,2948,2397,2387
$GC,10417,0.97,280.8,465.9,19.4,805,10422,0.20,2.17,0.00,0.000,4,0.186,0.051,2893,3759,2384
$GC,10473,0.87,280.8,454.9,19.5,809,10480,0.15,2.03,0.00,0.000,6,0.189,0.028,2864,2401,2385
$GC,10799,0.98,284.2,407.5,13.0,840,10812,0.00,2.17,4.22,0.740,4,0.000,0.034,2873,966,2373
$GC,10863,1.16,284.2,399.3,13.2,845,10870,0.22,2.22,0.00,0.000,6,0.077,0.034,2957,2416,2372
$GC,11189,1.00,284.2,339.3,20.7,876,11193,0.20,2.20,0.00,0.000,4,0.187,0.030,2911,966,2372
$GC,11437,1.06,284.2,299.3,15.7,898,11443,0.00,2.17,0.00,0.000,6,0.000,0.033,2911,2389,2371
$GC,11783,1.06,284.2,245.4,15.4,959,11789,0.00,2.15,0.00,0.000,4,0.000,0.031,2917,963,2371
$GC,11914,1.15,291.0,227.5,12.7,982,11927,0.00,2.15,7.18,0.791,6,0.000,0.033,2916,2374,2345
$GC,12266,1.15,291.0,177.4,14.2,1044,12274,0.00,2.12,0.00,0.000,4,0.000,0.031,2925,963,2344
$GC,12479,1.23,291.0,144.1,15.3,1081,12486,0.15,2.12,0.00,0.000,6,0.080,0.033,2982,2355,2343
$GC,12827,1.07,291.0,83.4,18.3,1142,12833,0.20,2.22,0.00,0.000,4,0.189,0.050,2927,3761,2344
$GC,13089,1.02,306.7,38.9,12.1,1188,13109,0.00,2.08,14.40,0.704,6,0.000,0.025,2937,2353,2281
$GC,13451,1.38,427.9,5.7,4.4,1251,13499,0.20,0.00,45.30,0.679,2,0.071,0.000,3019,2352,2044
$STATE,13500,end climb,SURFACE_DEPTH_REACHED
$STATE,13500,begin surface coast
$FINISH,1.8,1.000710
$STATE,13561,end surface coast,CONTROL_FINISHED_OK
$STATE,13561,begin surface
$SM_CCo,13581,83.30,0.661,0,0,1595,475.15
$SM_GC,2.93,0.00,0.00,83.30,0.000,0.000,0.661,136,2351,1595,-7.64,-0.90,475.15
$IRIDIUM_FIX,2503.20,12250.55,151198,141446
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,22.9,94.093
$10V_AH,10.6,49.609
$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,27.200,129.300,412.850,83.300,0.000,25.932,34.449,182.435,8.250,0.000,0.000,36.396,2287.738,8172.550,618.217,2313.155,694.660,0.000,1797.698,0.000,2235.594,0.000,54.411,0.000
$DEVICE_MAMPS,237.770,55.224,1405.911,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,863.533,901.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69335,1270
$CAP_FILE_SIZE,147908,0
$CFSIZE,260165632,182992896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 62.7,1
$GPS,210809,222437,2513.783,12249.238,33,1.1,33,-3.6