version: 66.04
glider: 167
mission: 2
dive: 542
start: 8 22 109 14 12 34
data:
$ID,167
$MISSION,2
$DIVE,542
$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,-19906.236
$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,72
$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
$GPS1,140537,2516.687,12242.777,38,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.9
$GPS2,141212,2516.604,12242.617,10,2.0,14,-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,304.9,33321,-25.0,-13.200
$D_GRID,917
$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,-121.7,0.0,0.0,0,46,0.00,0.00,-28.08,0.000,2,0.000,0.000,139,2440,2240
$GC,50,-1.50,-121.7,3.0,-1.0,5,130,8.45,2.15,-62.40,0.000,4,0.245,0.058,2082,3762,3990
$GC,313,-0.81,-121.7,66.1,-25.7,50,321,0.85,2.03,0.00,0.000,6,0.184,0.025,2311,2370,3992
$GC,662,-1.03,-121.7,106.8,-9.7,111,668,0.17,2.20,0.00,0.000,4,0.069,0.047,2228,3760,3995
$GC,779,-0.88,-121.7,124.6,-18.1,131,785,0.25,1.98,0.00,0.000,6,0.170,0.025,2295,2397,3995
$GC,1124,-1.06,-121.7,169.8,-13.8,192,1130,0.17,2.15,0.00,0.000,4,0.070,0.047,2206,3761,3996
$GC,1258,-0.83,-121.7,196.2,-20.6,215,1264,0.38,1.92,0.00,0.000,6,0.172,0.025,2311,2423,3996
$GC,1610,-1.10,-121.7,233.3,-9.4,276,1616,0.20,0.00,0.00,0.000,6,0.067,0.000,2223,2423,3996
$GC,1955,-1.10,-121.7,283.7,-14.2,337,1961,0.00,2.12,0.00,0.000,4,0.000,0.050,2218,3767,3996
$GC,2070,-0.95,-121.7,302.4,-17.4,356,2074,0.20,1.90,0.00,0.000,6,0.168,0.025,2271,2448,3996
$GC,2402,-1.11,-121.7,348.5,-14.7,387,2406,0.15,2.12,0.00,0.000,4,0.073,0.025,2210,996,3997
$GC,2453,-1.11,-121.7,357.0,-16.8,391,2457,0.00,2.22,0.00,0.000,6,0.000,0.033,2205,2462,3997
$GC,2786,-1.04,-121.7,408.2,-14.4,422,2790,0.15,2.03,0.00,0.000,4,0.179,0.048,2235,3759,3996
$GC,2843,-1.04,-121.7,417.1,-15.0,427,2847,0.00,1.88,0.00,0.000,6,0.000,0.025,2235,2457,3996
$GC,3175,-1.10,-121.7,459.6,-11.9,458,3179,0.00,2.08,0.00,0.000,4,0.000,0.051,2232,3763,3996
$GC,3215,-1.10,-121.7,464.7,-12.5,461,3221,0.00,1.85,0.00,0.000,6,0.000,0.027,2232,2485,3996
$GC,3543,-1.17,-121.7,506.3,-14.8,490,3547,0.00,2.03,0.00,0.000,4,0.000,0.051,2232,3759,3995
$GC,3589,-1.17,-121.7,514.1,-16.1,492,3593,0.00,1.85,0.00,0.000,6,0.000,0.028,2232,2494,3994
$GC,3924,-1.28,-121.7,566.4,-15.2,508,3928,0.17,2.03,0.00,0.000,4,0.074,0.051,2152,3758,3994
$GC,4031,-0.98,-121.7,590.3,-23.5,512,4037,0.40,1.83,0.00,0.000,6,0.181,0.027,2258,2508,3992
$GC,4351,-1.22,-121.7,633.2,-12.3,528,4353,0.20,0.00,0.00,0.000,6,0.070,0.000,2181,2508,3992
$GC,4657,-1.16,-121.7,687.8,-18.5,543,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2508,3990
$GC,4966,-1.10,-121.7,741.9,-17.9,558,4970,0.17,2.25,0.00,0.000,4,0.176,0.027,2230,994,3987
$GC,5000,-1.26,-121.7,747.8,-16.1,559,5007,0.17,2.33,0.00,0.000,6,0.077,0.037,2169,2498,3987
$GC,5320,-1.13,-121.7,804.4,-15.6,575,5324,0.17,2.00,0.00,0.000,4,0.189,0.053,2209,3757,3986
$GC,5502,-1.13,-121.7,833.7,-15.5,583,5505,0.00,1.83,0.00,0.000,6,0.000,0.028,2209,2520,3985
$GC,5836,-1.21,-121.7,881.0,-15.1,599,5839,0.00,2.00,0.00,0.000,4,0.000,0.054,2205,3766,3983
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6070,-0.27,0.0,917.9,17.3,609,6182,1.00,0.00,98.43,1.331,6,0.170,0.000,2487,2366,3532
$STATE,6182,end apogee,CONTROL_FINISHED_OK
$STATE,6182,begin climb
$GC,6186,1.50,121.7,927.4,0.0,615,6298,1.60,2.35,104.85,1.315,4,0.056,0.048,3064,3755,3035
$GC,6552,0.66,121.7,903.6,14.0,631,6559,1.12,2.08,0.00,0.000,6,0.225,0.026,2796,2376,3032
$GC,6870,0.78,174.3,879.7,9.4,647,6917,0.10,0.00,44.45,1.289,6,0.101,0.000,2832,2375,2821
$GC,7222,0.78,174.3,837.0,15.9,664,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2375,2816
$GC,7533,0.85,235.3,803.3,8.8,679,7589,0.00,2.33,51.33,1.261,4,0.000,0.054,2832,3761,2571
$GC,7618,0.85,236.5,794.1,13.1,682,7622,0.00,2.17,0.00,0.000,6,0.000,0.027,2841,2351,2569
$GC,7939,0.95,236.5,749.8,15.9,698,7941,0.12,0.00,0.00,0.000,6,0.086,0.000,2887,2348,2565
$GC,8250,0.95,236.5,693.0,18.3,713,8253,0.00,2.08,0.00,0.000,4,0.000,0.033,2892,962,2564
$GC,8508,0.95,236.5,646.8,19.1,724,8512,0.00,2.12,0.00,0.000,6,0.000,0.035,2892,2350,2562
$GC,8831,0.89,236.5,588.6,16.6,740,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2350,2561
$GC,9139,0.89,236.5,542.3,13.4,755,9143,0.00,2.22,0.00,0.000,4,0.000,0.053,2893,3755,2561
$GC,9218,0.73,236.5,530.3,16.5,758,9223,0.32,2.12,0.00,0.000,6,0.186,0.027,2817,2333,2560
$GC,9538,0.95,247.5,492.5,12.4,775,9553,0.17,2.35,9.43,0.999,4,0.077,0.053,2890,3757,2522
$GC,9621,0.82,247.5,477.2,18.5,782,9629,0.20,2.12,0.00,0.000,6,0.186,0.028,2848,2336,2520
$GC,9947,0.94,247.5,428.4,14.9,813,9949,0.10,0.00,0.00,0.000,6,0.093,0.000,2887,2334,2519
$GC,10269,0.94,247.5,372.5,18.6,843,10273,0.00,2.28,0.00,0.000,4,0.000,0.053,2887,3757,2519
$GC,10365,0.82,247.5,352.1,21.3,851,10371,0.20,2.12,0.00,0.000,6,0.185,0.028,2846,2335,2519
$GC,10692,0.97,247.5,302.1,13.6,882,10693,0.12,0.00,0.00,0.000,6,0.084,0.000,2893,2331,2519
$GC,11026,1.00,275.6,257.5,11.2,940,11055,0.00,2.30,23.25,0.907,4,0.000,0.052,2893,3757,2409
$GC,11132,0.96,287.1,245.5,12.4,958,11151,0.00,2.12,11.57,0.847,6,0.000,0.027,2904,2344,2361
$GC,11490,0.96,287.1,193.6,18.7,1021,11496,0.00,2.08,0.00,0.000,4,0.000,0.031,2914,954,2358
$GC,11527,1.04,287.1,186.7,18.7,1027,11533,0.00,2.17,0.00,0.000,6,0.000,0.034,2914,2364,2357
$GC,11874,1.04,287.1,122.9,15.3,1088,11880,0.00,2.20,0.00,0.000,4,0.000,0.051,2914,3760,2358
$GC,12003,0.96,287.1,102.8,16.2,1110,12011,0.12,2.08,0.00,0.000,6,0.190,0.027,2892,2359,2357
$GC,12354,1.26,382.3,67.1,6.3,1171,12436,0.22,2.15,74.80,0.737,4,0.071,0.033,2995,973,1972
$GC,12636,1.33,382.3,27.6,16.4,1220,12642,0.00,2.17,0.00,0.000,6,0.000,0.035,2995,2375,1965
$STATE,12774,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,1.8,0.998660
$STATE,12797,end surface coast,CONTROL_FINISHED_OK
$STATE,12797,begin surface
$SM_CCo,12817,70.15,0.665,0,0,1595,475.15
$SM_GC,2.78,0.00,0.00,70.15,0.000,0.000,0.665,138,2379,1595,-7.63,-0.11,475.15
$IRIDIUM_FIX,2505.59,12251.84,161198,101044
$TT8_MAMPS,0.029146
$HUMID,1804
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,23.0,94.951
$10V_AH,10.6,50.013
$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,25.600,92.475,418.100,70.150,0.000,24.787,32.271,174.270,8.000,0.000,0.000,14.666,2192.017,7649.465,599.071,2206.719,629.378,0.000,1704.282,0.000,2149.803,0.000,49.387,0.000
$DEVICE_MAMPS,245.440,58.292,1330.745,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.628,868.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66322,1248
$CAP_FILE_SIZE,130975,0
$CFSIZE,260165632,182640640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.171,210.4,1
$GPS,220809,174837,2516.676,12240.390,35,1.0,35,-3.6