version: 66.04
glider: 167
mission: 2
dive: 535
start: 8 21 109 10 33 36
data:
$ID,167
$MISSION,2
$DIVE,535
$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,-19747.131
$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,78
$R_STBD_OVSHOOT,41
$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
$GPS1,102624,2510.098,12253.233,38,0.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-69.4
$GPS2,103314,2510.300,12253.250,13,1.3,13,-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,258.5,54536,-25.0,-13.200
$D_GRID,1517
$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,-22.80,0.000,2,0.000,0.000,136,2394,2144
$GC,45,-1.50,-121.7,3.1,-2.3,4,117,8.40,2.20,-55.92,0.000,4,0.243,0.056,2085,3756,3989
$GC,226,-0.63,-121.7,58.6,-35.7,35,235,1.08,2.00,0.00,0.000,6,0.194,0.024,2370,2375,3991
$GC,576,-1.02,-121.7,102.9,-9.5,96,582,0.30,0.00,0.00,0.000,6,0.058,0.000,2244,2374,3994
$GC,921,-0.91,-121.7,166.6,-21.5,157,928,0.15,2.17,0.00,0.000,4,0.183,0.047,2275,3756,3996
$GC,974,-0.91,-121.7,177.2,-18.9,166,980,0.00,1.98,0.00,0.000,6,0.000,0.025,2275,2371,3996
$GC,1320,-1.01,-121.7,233.5,-14.0,227,1327,0.00,2.17,0.00,0.000,4,0.000,0.048,2271,3753,3997
$GC,1431,-1.07,-121.7,249.4,-14.7,246,1439,0.10,1.92,0.00,0.000,6,0.087,0.026,2228,2422,3997
$GC,1782,-0.98,-121.7,312.8,-19.3,302,1787,0.12,2.10,0.00,0.000,4,0.176,0.047,2250,3757,3996
$GC,1817,-0.98,-121.7,319.1,-17.9,304,1823,0.00,1.95,0.00,0.000,6,0.000,0.024,2250,2391,3996
$GC,2142,-1.07,-121.7,367.2,-14.0,335,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2390,3997
$GC,2465,-1.15,-121.7,404.8,-14.0,365,2469,0.12,2.17,0.00,0.000,4,0.081,0.049,2193,3763,3996
$GC,2645,-0.97,-121.7,438.5,-19.5,380,2652,0.28,1.92,0.00,0.000,6,0.168,0.026,2267,2434,3996
$GC,2971,-1.17,-121.7,484.5,-13.5,411,2973,0.20,0.00,0.00,0.000,6,0.071,0.000,2189,2434,3995
$GC,3295,-1.09,-121.7,541.2,-18.0,431,3299,0.15,2.10,0.00,0.000,4,0.174,0.049,2221,3754,3994
$GC,3379,-1.09,-121.7,554.3,-15.5,435,3383,0.00,1.90,0.00,0.000,6,0.000,0.027,2220,2447,3993
$GC,3714,-1.15,-121.7,604.3,-14.7,451,3718,0.00,2.08,0.00,0.000,4,0.000,0.053,2218,3761,3993
$GC,3782,-1.15,-121.7,614.7,-15.1,454,3786,0.00,1.90,0.00,0.000,6,0.000,0.028,2218,2463,3992
$GC,4117,-1.20,-121.7,661.1,-13.8,470,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2462,3991
$GC,4426,-1.27,-121.7,705.4,-15.4,485,4431,0.15,2.08,0.00,0.000,4,0.077,0.052,2152,3761,3987
$GC,4558,-1.06,-121.7,733.0,-21.7,490,4564,0.32,1.90,0.00,0.000,6,0.175,0.028,2239,2468,3986
$GC,4875,-1.23,-121.7,781.7,-14.4,506,4880,0.17,2.05,0.00,0.000,4,0.074,0.051,2166,3748,3984
$GC,4903,-1.17,-121.7,786.7,-17.8,507,4907,0.15,1.88,0.00,0.000,6,0.181,0.028,2201,2473,3984
$GC,5232,-1.17,-121.7,837.2,-15.0,523,5235,0.00,2.05,0.00,0.000,4,0.000,0.051,2193,3760,3982
$GC,5300,-1.17,-121.7,848.0,-14.7,526,5304,0.00,1.88,0.00,0.000,6,0.000,0.028,2194,2491,3981
$GC,5633,-1.17,-121.7,893.3,-13.5,542,5637,0.00,2.03,0.00,0.000,4,0.000,0.054,2192,3751,3980
$GC,5713,-1.17,-121.7,905.0,-14.3,545,5717,0.00,1.85,0.00,0.000,6,0.000,0.029,2192,2523,3979
$GC,6035,-1.17,-121.7,949.3,-13.8,561,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2523,3977
$STATE,6341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6341,begin apogee
$GC,6351,-0.27,0.0,990.9,13.8,576,6457,1.05,0.00,97.55,1.382,6,0.168,0.000,2489,2399,3532
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6458,begin climb
$GC,6461,1.50,121.7,994.3,0.0,581,6574,1.58,2.30,105.45,1.361,4,0.054,0.051,3060,3749,3035
$GC,6828,0.66,121.7,957.3,18.3,597,6834,1.10,2.10,0.00,0.000,6,0.225,0.027,2800,2351,3031
$GC,7145,0.71,165.0,924.0,10.1,612,7188,0.00,2.15,36.65,1.318,4,0.000,0.033,2804,970,2858
$GC,7237,0.89,185.8,914.0,11.7,616,7262,0.17,2.17,18.45,1.253,6,0.074,0.036,2869,2356,2773
$GC,7592,0.82,185.8,858.0,15.6,633,7596,0.00,2.22,0.00,0.000,4,0.000,0.055,2870,3754,2768
$GC,7672,0.62,185.8,843.7,17.4,636,7677,0.38,2.10,0.00,0.000,6,0.192,0.027,2782,2344,2767
$GC,7989,0.86,209.2,805.5,11.5,651,8016,0.20,2.35,20.17,1.241,4,0.079,0.054,2864,3752,2679
$GC,8069,0.72,209.2,793.3,18.1,654,8074,0.22,2.08,0.00,0.000,6,0.193,0.028,2813,2378,2676
$GC,8391,0.89,218.4,750.7,12.5,670,8405,0.15,2.25,9.23,1.119,4,0.086,0.054,2869,3754,2640
$GC,8452,0.75,218.4,740.6,17.0,672,8459,0.22,2.10,0.00,0.000,6,0.189,0.028,2823,2353,2639
$GC,8770,0.89,224.9,698.6,12.7,688,8779,0.12,0.00,7.07,1.039,6,0.091,0.000,2870,2349,2613
$GC,9078,0.89,224.9,654.7,13.8,703,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2349,2612
$GC,9388,0.91,243.4,616.4,11.9,718,9407,0.00,0.00,16.15,1.134,6,0.000,0.000,2869,2349,2539
$GC,9716,0.91,243.4,573.6,14.8,734,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2349,2536
$GC,10026,0.96,243.4,518.8,18.2,749,10030,0.00,2.28,0.00,0.000,4,0.000,0.054,2869,3759,2536
$GC,10150,0.89,243.4,493.9,20.5,755,10157,0.00,2.05,0.00,0.000,6,0.000,0.028,2880,2380,2535
$GC,10478,0.89,243.4,438.1,16.5,786,10482,0.00,2.22,0.00,0.000,4,0.000,0.054,2881,3757,2534
$GC,10594,0.80,243.4,416.4,19.9,796,10598,0.17,2.03,0.00,0.000,6,0.188,0.028,2837,2403,2534
$GC,10926,0.99,272.6,375.5,11.1,827,10960,0.17,2.28,24.35,0.996,4,0.080,0.054,2905,3760,2419
$GC,11018,0.90,272.6,360.2,17.7,835,11023,0.17,2.10,0.00,0.000,6,0.185,0.028,2870,2379,2417
$GC,11344,1.00,276.1,316.4,12.9,865,11355,0.00,2.28,4.07,0.668,4,0.000,0.053,2870,3760,2406
$GC,11430,1.00,276.1,303.1,15.3,872,11436,0.00,2.05,0.00,0.000,6,0.000,0.028,2880,2384,2405
$GC,11773,1.11,276.1,255.1,14.3,931,11781,0.17,2.12,0.00,0.000,4,0.083,0.034,2956,971,2405
$GC,11942,1.06,276.1,228.2,14.3,960,11948,0.15,2.22,0.00,0.000,6,0.185,0.035,2921,2419,2405
$GC,12287,1.06,276.1,176.4,16.0,1021,12293,0.00,2.10,0.00,0.000,4,0.000,0.051,2921,3757,2405
$GC,12318,1.01,276.1,170.8,19.4,1026,12324,0.00,1.98,0.00,0.000,6,0.000,0.026,2929,2413,2404
$GC,12662,1.01,276.1,111.7,15.3,1087,12668,0.00,2.12,0.00,0.000,4,0.000,0.030,2938,972,2404
$GC,12825,1.13,315.0,93.7,10.4,1115,12862,0.00,2.15,32.42,0.755,6,0.000,0.032,2938,2392,2247
$GC,13205,1.28,353.2,53.6,10.4,1181,13241,0.15,2.22,30.70,0.700,4,0.073,0.029,3006,972,2091
$GC,13497,1.44,432.7,19.8,7.4,1232,13567,0.10,2.12,62.33,0.662,6,0.092,0.029,3046,2378,1767
$STATE,13637,end climb,SURFACE_DEPTH_REACHED
$STATE,13637,begin surface coast
$FINISH,1.8,1.000549
$STATE,13660,end surface coast,CONTROL_FINISHED_OK
$STATE,13660,begin surface
$SM_CCo,13680,31.08,0.634,0,0,1595,475.15
$SM_GC,2.81,0.00,0.00,31.08,0.000,0.000,0.634,136,2382,1595,-7.64,-0.03,475.15
$IRIDIUM_FIX,2458.45,12257.84,151198,060610
$TT8_MAMPS,0.029146
$HUMID,1794
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.0,93.751
$10V_AH,10.6,49.443
$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,26.025,100.550,464.600,31.075,0.000,27.929,37.281,182.451,8.250,0.000,0.000,13.268,2219.595,8417.175,585.133,2239.014,653.647,0.000,1726.703,0.000,2177.944,0.000,54.409,0.000
$DEVICE_MAMPS,243.139,55.991,1382.134,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.696,876.671,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69362,1260
$CAP_FILE_SIZE,138330,0
$CFSIZE,260165632,183156736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.282,  3.8,1
$GPS,210809,142330,2512.146,12251.401,36,1.0,42,-3.6