version: 66.04
glider: 167
mission: 2
dive: 534
start: 8 21 109 6 35 19
data:
$ID,167
$MISSION,2
$DIVE,534
$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,-19733.234
$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,39
$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
$GPS1,062737,2508.092,12253.525,28,1.5,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-68.8
$GPS2,063458,2508.284,12253.695,18,99.0,37,-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,261.4,57118,-25.0,-13.200
$D_GRID,1567
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-22.27,0.000,2,0.000,0.000,138,2364,2148
$GC,44,-1.50,-121.7,3.3,-3.4,4,115,8.30,2.20,-55.95,0.000,4,0.239,0.054,2077,3763,3988
$GC,225,-0.69,-121.7,58.5,-32.7,34,232,1.05,2.03,0.00,0.000,6,0.200,0.022,2350,2347,3991
$GC,573,-1.00,-121.7,103.5,-9.1,95,580,0.22,2.22,0.00,0.000,4,0.062,0.046,2244,3761,3993
$GC,694,-0.88,-121.7,126.0,-20.8,116,701,0.17,1.95,0.00,0.000,6,0.160,0.024,2291,2395,3994
$GC,1041,-0.96,-121.7,179.4,-11.1,177,1048,0.00,2.12,0.00,0.000,4,0.000,0.046,2288,3754,3995
$GC,1075,-1.01,-121.7,183.2,-12.1,182,1081,0.00,1.92,0.00,0.000,6,0.000,0.024,2287,2396,3995
$GC,1423,-1.14,-121.7,221.7,-10.8,243,1431,0.17,2.15,0.00,0.000,4,0.070,0.046,2204,3764,3995
$GC,1461,-0.95,-121.7,227.3,-16.6,249,1469,0.25,1.92,0.00,0.000,6,0.165,0.024,2273,2414,3995
$GC,1810,-1.04,-121.7,277.6,-18.7,310,1816,0.00,2.10,0.00,0.000,4,0.000,0.048,2273,3754,3995
$GC,1863,-1.11,-121.7,288.7,-20.7,319,1869,0.15,1.90,0.00,0.000,6,0.074,0.025,2210,2423,3995
$GC,2193,-1.03,-121.7,353.1,-16.5,354,2197,0.15,2.05,0.00,0.000,4,0.166,0.025,2249,1024,3995
$GC,2250,-1.17,-121.7,360.9,-12.5,359,2255,0.12,2.12,0.00,0.000,6,0.081,0.033,2194,2422,3995
$GC,2576,-1.06,-121.7,408.3,-16.4,389,2580,0.15,2.08,0.00,0.000,4,0.183,0.048,2223,3754,3995
$GC,2649,-1.06,-121.7,420.3,-16.1,395,2653,0.00,1.92,0.00,0.000,6,0.000,0.025,2223,2414,3995
$GC,2982,-1.06,-121.7,475.2,-15.8,426,2985,0.00,2.12,0.00,0.000,4,0.000,0.050,2221,3756,3994
$GC,3055,-1.06,-121.7,487.3,-16.3,432,3061,0.00,1.95,0.00,0.000,6,0.000,0.026,2221,2406,3994
$GC,3388,-1.11,-121.7,527.6,-11.8,453,3392,0.00,2.15,0.00,0.000,4,0.000,0.051,2218,3760,3992
$GC,3428,-1.11,-121.7,533.2,-13.0,454,3434,0.00,1.98,0.00,0.000,6,0.000,0.027,2218,2401,3992
$GC,3746,-1.16,-121.7,574.3,-13.7,470,3751,0.00,2.15,0.00,0.000,4,0.000,0.051,2218,3753,3990
$GC,3904,-1.16,-121.7,598.5,-15.7,477,3908,0.00,1.98,0.00,0.000,6,0.000,0.028,2218,2408,3989
$GC,4239,-1.23,-121.7,647.5,-14.3,493,4243,0.00,2.15,0.00,0.000,4,0.000,0.051,2218,3760,3986
$GC,4410,-1.29,-121.7,673.2,-14.7,500,4414,0.15,1.95,0.00,0.000,6,0.077,0.028,2160,2431,3985
$GC,4735,-1.16,-121.7,729.6,-17.8,516,4740,0.17,2.12,0.00,0.000,4,0.173,0.028,2209,996,3982
$GC,4763,-1.16,-121.7,735.2,-16.5,517,4767,0.00,2.20,0.00,0.000,6,0.000,0.035,2207,2432,3982
$GC,5084,-1.21,-121.7,780.5,-14.0,533,5088,0.00,2.10,0.00,0.000,4,0.000,0.053,2205,3760,3979
$GC,5154,-1.21,-121.7,790.5,-13.7,536,5158,0.00,1.95,0.00,0.000,6,0.000,0.028,2205,2435,3979
$GC,5487,-1.26,-121.7,839.1,-15.1,552,5491,0.00,2.12,0.00,0.000,4,0.000,0.054,2205,3759,3976
$GC,5562,-1.26,-121.7,851.0,-16.0,555,5565,0.00,1.92,0.00,0.000,6,0.000,0.028,2205,2448,3976
$GC,5889,-1.32,-121.7,899.2,-14.9,571,5898,0.15,2.12,0.00,0.000,4,0.078,0.052,2143,3767,3974
$GC,5921,-1.17,-121.7,904.6,-18.1,572,5925,0.22,1.92,0.00,0.000,6,0.179,0.028,2200,2467,3974
$GC,6255,-1.22,-121.7,953.7,-15.1,588,6259,0.00,2.08,0.00,0.000,4,0.000,0.052,2192,3764,3972
$GC,6328,-1.22,-121.7,965.6,-13.4,591,6332,0.00,1.90,0.00,0.000,6,0.000,0.028,2192,2478,3971
$STATE,6508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6508,begin apogee
$GC,6517,-0.27,0.0,991.1,14.2,600,6615,1.02,0.00,94.78,1.405,6,0.165,0.000,2485,2377,3532
$STATE,6616,end apogee,CONTROL_FINISHED_OK
$STATE,6616,begin climb
$GC,6619,1.50,121.7,995.1,0.0,605,6734,1.62,2.28,105.72,1.364,4,0.060,0.030,3074,970,3035
$GC,6782,0.86,144.2,995.7,11.6,612,6808,0.88,2.22,20.23,1.281,6,0.222,0.035,2861,2377,2944
$GC,7128,0.77,172.8,956.9,11.1,629,7160,0.12,2.28,25.15,1.302,4,0.206,0.054,2832,3744,2827
$GC,7308,0.69,188.5,935.0,12.1,637,7331,0.15,2.08,14.10,1.239,6,0.199,0.026,2804,2356,2762
$GC,7642,0.83,197.7,897.6,12.5,653,7657,0.12,2.30,9.10,1.162,4,0.093,0.054,2849,3748,2725
$GC,7827,0.71,197.7,867.4,17.8,661,7832,0.20,2.03,0.00,0.000,6,0.190,0.027,2809,2390,2723
$GC,8149,0.85,208.1,827.2,12.4,677,8164,0.12,2.15,10.35,1.177,4,0.094,0.032,2861,969,2683
$GC,8217,0.90,208.1,817.5,14.7,679,8221,0.00,2.22,0.00,0.000,6,0.000,0.037,2861,2398,2682
$GC,8544,0.90,208.1,768.9,15.1,695,8548,0.00,2.17,0.00,0.000,4,0.000,0.056,2861,3757,2680
$GC,8572,0.79,208.1,764.1,17.3,696,8576,0.15,2.03,0.00,0.000,6,0.193,0.030,2834,2405,2680
$GC,8901,0.86,208.1,717.6,14.2,712,8904,0.00,2.15,0.00,0.000,4,0.000,0.035,2843,972,2679
$GC,9138,0.97,208.1,685.0,13.5,722,9143,0.15,2.17,0.00,0.000,6,0.086,0.038,2897,2381,2679
$GC,9455,0.86,208.1,636.4,14.7,737,9459,0.15,2.20,0.00,0.000,4,0.192,0.054,2861,3760,2678
$GC,9573,0.72,208.1,618.8,15.4,742,9578,0.20,2.05,0.00,0.000,6,0.195,0.030,2820,2389,2678
$GC,9890,0.88,225.2,581.7,12.0,757,9914,0.12,2.22,14.98,1.111,4,0.093,0.054,2868,3757,2613
$GC,9983,0.78,225.2,566.4,18.4,761,9988,0.17,2.08,0.00,0.000,6,0.191,0.030,2835,2381,2611
$GC,10316,0.90,229.4,522.2,12.9,777,10322,0.00,0.00,5.05,0.860,6,0.000,0.000,2835,2378,2596
$GC,10625,1.08,271.2,486.2,10.2,798,10670,0.22,2.20,35.28,1.078,4,0.077,0.037,2925,972,2425
$GC,10810,1.08,271.2,456.0,17.4,814,10817,0.00,2.22,0.00,0.000,6,0.000,0.038,2925,2395,2420
$GC,11140,1.00,271.2,390.5,20.6,845,11144,0.00,2.17,0.00,0.000,4,0.000,0.032,2931,967,2418
$GC,11202,1.00,271.2,376.7,21.1,850,11208,0.00,2.17,0.00,0.000,6,0.000,0.035,2930,2381,2418
$GC,11533,0.94,281.0,324.0,12.5,881,11548,0.17,2.22,8.43,0.877,4,0.181,0.032,2894,960,2386
$GC,11689,1.11,332.5,307.2,9.5,894,11740,0.12,2.17,43.42,0.940,6,0.090,0.035,2938,2375,2176
$GC,12079,1.11,332.5,241.2,20.5,958,12085,0.00,2.15,0.00,0.000,4,0.000,0.031,2948,963,2168
$GC,12122,1.11,332.5,231.8,21.2,965,12129,0.00,2.20,0.00,0.000,6,0.000,0.035,2948,2389,2168
$GC,12468,1.11,332.5,161.7,19.7,1026,12474,0.00,2.17,0.00,0.000,4,0.000,0.054,2948,3752,2167
$GC,12544,1.03,332.5,146.5,19.5,1039,12551,0.17,2.03,0.00,0.000,6,0.189,0.027,2915,2375,2167
$GC,12894,1.15,343.1,98.7,12.4,1100,12909,0.10,2.28,8.88,0.702,4,0.097,0.051,2953,3752,2132
$GC,12990,1.08,343.1,82.3,16.6,1116,12996,0.15,2.00,0.00,0.000,6,0.188,0.026,2927,2387,2131
$GC,13336,1.30,355.2,32.8,12.3,1177,13356,0.17,2.10,11.50,0.665,4,0.072,0.032,3009,986,2082
$GC,13613,1.45,407.9,10.2,9.4,1225,13661,0.10,2.12,42.42,0.663,6,0.093,0.032,3052,2389,1868
$STATE,13682,end climb,SURFACE_DEPTH_REACHED
$STATE,13682,begin surface coast
$FINISH,1.9,1.019676
$STATE,13715,end surface coast,CONTROL_FINISHED_OK
$STATE,13716,begin surface
$SM_CCo,13735,50.42,0.647,0,0,1595,475.15
$SM_GC,3.53,0.00,0.00,50.42,0.000,0.000,0.647,136,2393,1595,-7.64,0.31,475.15
$IRIDIUM_FIX,2458.45,12252.55,151198,020249
$TT8_MAMPS,0.029146
$HUMID,1802
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.0,93.583
$10V_AH,10.6,49.363
$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,25.750,130.500,449.375,50.425,0.000,30.712,39.107,183.678,8.250,0.000,0.000,38.174,2260.211,8288.600,604.313,2355.772,709.828,0.000,1807.702,0.000,2272.638,0.000,54.430,0.000
$DEVICE_MAMPS,239.304,65.962,1405.144,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,843.080,871.394,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66255,1242
$CAP_FILE_SIZE,150209,0
$CFSIZE,260165632,183222272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.314, 35.9,1
$GPS,210809,102624,2510.098,12253.233,38,0.9,39,-3.6