version: 66.04
glider: 167
mission: 2
dive: 543
start: 8 22 109 17 59 7
data:
$ID,167
$MISSION,2
$DIVE,543
$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,-19920.914
$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,65
$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
$GPS1,174837,2516.676,12240.390,35,1.0,35,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.3
$GPS2,175844,2516.899,12240.323,13,1.0,13,-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,345.4,29700,-25.0,-13.200
$D_GRID,826
$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,-121.7,0.0,0.0,0,53,0.00,0.00,-35.03,0.000,2,0.000,0.000,138,2379,2414
$GC,57,-1.50,-121.7,3.0,-1.4,6,125,8.32,0.00,-54.85,0.000,6,0.240,0.000,2092,2379,3989
$GC,465,-0.93,-121.7,114.3,-25.6,77,472,0.62,2.17,0.00,0.000,4,0.181,0.046,2260,3760,3992
$GC,728,-0.93,-121.7,163.7,-16.7,123,734,0.00,2.03,0.00,0.000,6,0.000,0.025,2260,2356,3994
$GC,1072,-0.93,-121.7,219.6,-17.8,184,1079,0.00,2.22,0.00,0.000,4,0.000,0.048,2254,3763,3995
$GC,1248,-0.93,-121.7,250.3,-18.9,214,1254,0.00,1.98,0.00,0.000,6,0.000,0.025,2254,2383,3995
$GC,1590,-0.98,-121.7,313.0,-15.6,268,1593,0.00,2.00,0.00,0.000,4,0.000,0.027,2254,1006,3995
$GC,1629,-1.09,-121.7,319.6,-14.4,271,1635,0.00,2.12,0.00,0.000,6,0.000,0.035,2254,2405,3995
$GC,1955,-1.21,-121.7,356.8,-9.0,302,1960,0.17,2.12,0.00,0.000,4,0.074,0.049,2179,3761,3995
$GC,1996,-1.02,-121.7,362.3,-14.4,305,2001,0.28,1.95,0.00,0.000,6,0.171,0.025,2252,2411,3995
$GC,2323,-1.15,-121.7,401.0,-11.0,335,2328,0.12,2.15,0.00,0.000,4,0.081,0.048,2193,3767,3995
$GC,2413,-1.01,-121.7,415.3,-17.0,342,2419,0.22,1.95,0.00,0.000,6,0.170,0.025,2253,2422,3995
$GC,2739,-1.12,-121.7,456.9,-12.3,373,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2422,3994
$GC,3060,-1.30,-121.7,496.4,-10.6,403,3064,0.22,2.12,0.00,0.000,4,0.068,0.051,2153,3753,3993
$GC,3215,-1.02,-121.7,523.5,-19.3,411,3221,0.30,1.95,0.00,0.000,6,0.169,0.026,2249,2441,3993
$GC,3553,-1.18,-121.7,563.4,-11.2,427,3557,0.15,2.12,0.00,0.000,4,0.079,0.053,2192,3764,3992
$GC,3675,-1.04,-121.7,582.9,-18.1,432,3679,0.20,1.92,0.00,0.000,6,0.170,0.027,2244,2447,3990
$GC,3998,-1.18,-121.7,624.8,-12.8,448,4003,0.15,2.10,0.00,0.000,4,0.079,0.049,2179,3764,3988
$GC,4026,-1.18,-121.7,629.0,-14.4,449,4030,0.00,1.92,0.00,0.000,6,0.000,0.026,2179,2445,3988
$GC,4356,-1.11,-121.7,682.7,-16.1,465,4360,0.17,2.12,0.00,0.000,4,0.175,0.052,2219,3763,3986
$GC,4402,-1.11,-121.7,690.0,-14.7,467,4406,0.00,1.95,0.00,0.000,6,0.000,0.028,2218,2457,3986
$GC,4736,-1.19,-121.7,743.1,-17.4,483,4740,0.00,2.10,0.00,0.000,4,0.000,0.054,2218,3764,3985
$GC,4911,-1.26,-121.7,775.9,-20.8,490,4915,0.12,1.90,0.00,0.000,6,0.084,0.027,2169,2467,3983
$STATE,5147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5147,begin apogee
$GC,5155,-0.27,0.0,827.9,22.7,502,5254,1.12,0.00,95.12,1.282,6,0.171,0.000,2485,2379,3532
$STATE,5255,end apogee,CONTROL_FINISHED_OK
$STATE,5255,begin climb
$GC,5259,1.50,121.7,841.2,0.0,507,5370,1.62,2.33,103.40,1.251,4,0.063,0.049,3062,3754,3034
$GC,5551,0.74,159.3,843.5,10.5,520,5590,1.00,2.10,31.83,1.217,6,0.223,0.026,2826,2353,2882
$GC,5916,0.86,258.9,822.9,6.0,538,6004,0.00,2.38,82.90,1.242,4,0.000,0.054,2826,3757,2475
$GC,6137,0.99,305.1,804.7,9.8,548,6184,0.20,2.10,40.05,1.206,6,0.076,0.026,2900,2371,2287
$GC,6512,0.99,305.1,756.3,14.3,566,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2371,2280
$GC,6823,0.99,305.1,706.9,16.6,581,6826,0.00,2.22,0.00,0.000,4,0.000,0.052,2900,3754,2278
$GC,6879,0.87,305.1,696.5,18.9,583,6884,0.17,2.05,0.00,0.000,6,0.189,0.027,2863,2367,2278
$GC,7196,0.97,305.1,648.4,16.2,598,7199,0.00,2.22,0.00,0.000,4,0.000,0.051,2863,3753,2277
$GC,7282,1.02,305.1,630.8,21.8,601,7288,0.12,2.00,0.00,0.000,6,0.090,0.027,2916,2398,2277
$GC,7599,0.98,305.1,565.4,20.8,617,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2396,2276
$GC,7907,0.98,305.1,500.3,20.4,632,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2396,2275
$GC,8227,0.98,305.1,437.1,21.6,661,8230,0.00,2.20,0.00,0.000,4,0.000,0.053,2916,3764,2274
$GC,8266,0.88,305.1,427.3,23.8,664,8274,0.22,2.03,0.00,0.000,6,0.181,0.028,2866,2397,2274
$GC,8592,1.03,305.1,366.4,18.8,695,8596,0.12,2.15,0.00,0.000,4,0.091,0.031,2923,960,2274
$GC,8632,1.09,305.1,358.6,20.2,698,8636,0.00,2.20,0.00,0.000,6,0.000,0.033,2923,2402,2273
$GC,8963,1.09,305.1,301.7,13.6,728,8966,0.00,2.17,0.00,0.000,4,0.000,0.031,2928,963,2273
$GC,9066,1.15,305.1,287.6,13.3,745,9072,0.00,2.17,0.00,0.000,6,0.000,0.033,2929,2385,2272
$GC,9412,1.15,305.1,223.3,23.5,806,9417,0.00,2.15,0.00,0.000,4,0.000,0.031,2938,960,2272
$GC,9492,1.20,305.1,204.9,22.0,820,9499,0.00,2.15,0.00,0.000,6,0.000,0.034,2938,2366,2272
$GC,9838,1.20,305.1,133.8,15.7,881,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2366,2272
$GC,10182,1.20,305.1,72.0,19.2,942,10188,0.00,2.20,0.00,0.000,4,0.000,0.050,2938,3764,2272
$GC,10286,1.23,334.1,54.8,11.1,960,10317,0.00,2.08,22.02,0.728,6,0.000,0.025,2948,2351,2168
$GC,10659,1.31,334.1,14.8,15.3,1025,10666,0.15,2.05,0.00,0.000,4,0.079,0.028,3016,965,2165
$STATE,10731,end climb,SURFACE_DEPTH_REACHED
$STATE,10731,begin surface coast
$FINISH,1.9,0.999044
$STATE,10749,end surface coast,CONTROL_FINISHED_OK
$STATE,10749,begin surface
$SM_CCo,10773,107.80,0.672,0,0,1594,475.15
$SM_GC,2.70,0.00,0.00,107.80,0.000,0.000,0.672,135,2399,1594,-7.64,0.45,475.15
$IRIDIUM_FIX,2505.59,12239.96,161198,181803
$TT8_MAMPS,0.029146
$HUMID,1763
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,23.1,95.121
$10V_AH,10.6,50.083
$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,23.725,84.150,375.325,107.800,0.000,57.236,65.689,253.254,7.000,0.000,0.000,14.051,1847.465,6451.709,573.412,1865.109,745.593,0.000,1524.500,0.000,1816.097,0.000,48.164,0.000
$DEVICE_MAMPS,240.071,86.671,1282.424,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.220,725.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56985,1041
$CAP_FILE_SIZE,114029,0
$CFSIZE,260165632,182595584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,146.2,1
$GPS,220809,210137,2517.130,12240.908,27,1.1,27,-3.6