version: 66.04
glider: 167
mission: 2
dive: 544
start: 8 22 109 21 7 57
data:
$ID,167
$MISSION,2
$DIVE,544
$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,-19938.904
$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,70
$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
$GPS1,210137,2517.130,12240.908,27,1.1,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-68.7
$GPS2,210737,2517.123,12241.108,12,1.6,17,-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,329.8,30642,-25.0,-13.200
$D_GRID,842
$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,17,-1.50,-121.7,0.0,0.0,0,54,0.00,0.00,-34.95,0.000,2,0.000,0.000,135,2399,2396
$GC,58,-1.50,-121.7,3.1,-1.2,6,132,8.30,0.00,-60.65,0.000,6,0.239,0.000,2091,2399,3990
$GC,472,-0.89,-121.7,112.0,-24.2,78,477,0.70,0.00,0.00,0.000,6,0.182,0.000,2288,2400,3992
$GC,818,-0.96,-121.7,153.2,-9.4,139,824,0.00,2.12,0.00,0.000,4,0.000,0.048,2280,3759,3994
$GC,893,-1.01,-121.7,160.6,-8.9,152,901,0.00,2.03,0.00,0.000,6,0.000,0.024,2280,2342,3995
$GC,1240,-1.11,-121.7,193.7,-12.9,213,1247,0.15,2.22,0.00,0.000,4,0.076,0.046,2209,3755,3996
$GC,1351,-0.84,-121.7,215.9,-22.6,232,1359,0.35,1.95,0.00,0.000,6,0.165,0.025,2307,2394,3995
$GC,1700,-1.08,-121.7,265.8,-14.8,293,1706,0.17,2.03,0.00,0.000,4,0.067,0.025,2229,999,3996
$GC,1726,-1.19,-121.7,270.7,-18.0,297,1732,0.00,2.15,0.00,0.000,6,0.000,0.034,2222,2416,3995
$GC,2065,-1.13,-121.7,333.7,-16.3,341,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2417,3995
$GC,2385,-1.13,-121.7,374.4,-11.8,371,2390,0.00,2.10,0.00,0.000,4,0.000,0.052,2218,3756,3996
$GC,2489,-1.04,-121.7,388.9,-15.6,380,2493,0.00,2.00,0.00,0.000,6,0.000,0.027,2218,2379,3996
$GC,2820,-1.04,-121.7,437.1,-14.6,411,2823,0.00,2.20,0.00,0.000,4,0.000,0.051,2210,3761,3996
$GC,2880,-0.96,-121.7,445.6,-14.7,416,2885,0.20,2.00,0.00,0.000,6,0.163,0.027,2264,2387,3996
$GC,3207,-1.18,-121.7,479.7,-9.1,446,3211,0.17,2.17,0.00,0.000,4,0.072,0.050,2193,3753,3996
$GC,3309,-1.03,-121.7,493.4,-14.2,454,3315,0.20,1.95,0.00,0.000,6,0.167,0.026,2245,2412,3996
$GC,3641,-1.17,-121.7,530.5,-10.2,473,3645,0.12,2.15,0.00,0.000,4,0.081,0.051,2193,3755,3995
$GC,3705,-1.06,-121.7,539.1,-14.3,476,3709,0.17,1.98,0.00,0.000,6,0.170,0.027,2237,2406,3994
$GC,4040,-1.19,-121.7,589.7,-16.6,492,4045,0.12,2.17,0.00,0.000,4,0.082,0.051,2188,3764,3993
$GC,4175,-1.05,-121.7,614.9,-19.4,498,4179,0.15,1.98,0.00,0.000,6,0.162,0.028,2242,2441,3992
$GC,4511,-1.19,-121.7,657.5,-11.3,514,4515,0.15,2.10,0.00,0.000,4,0.077,0.052,2179,3751,3991
$GC,4574,-1.07,-121.7,667.9,-16.4,516,4582,0.20,1.92,0.00,0.000,6,0.175,0.028,2230,2440,3991
$GC,4894,-1.19,-121.7,707.6,-13.2,532,4897,0.00,2.10,0.00,0.000,4,0.000,0.052,2222,3754,3989
$GC,5010,-1.26,-121.7,725.0,-14.6,537,5015,0.08,1.95,0.00,0.000,6,0.054,0.029,2169,2457,3988
$GC,5346,-1.15,-121.7,780.6,-16.0,553,5351,0.15,2.10,0.00,0.000,4,0.179,0.054,2205,3754,3986
$GC,5420,-1.15,-121.7,792.4,-15.2,556,5424,0.00,1.95,0.00,0.000,6,0.000,0.028,2205,2456,3986
$STATE,5717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5717,begin apogee
$GC,5725,-0.27,0.0,844.5,18.1,571,5832,1.00,0.00,97.93,1.276,6,0.166,0.000,2490,2373,3532
$STATE,5833,end apogee,CONTROL_FINISHED_OK
$STATE,5833,begin climb
$GC,5836,1.50,121.7,852.7,0.0,576,5949,1.58,2.30,103.45,1.260,4,0.057,0.031,3068,958,3035
$GC,6202,0.86,124.4,836.6,13.0,592,6208,0.85,2.20,0.00,0.000,6,0.219,0.036,2858,2375,3032
$GC,6526,0.76,158.8,804.8,10.7,608,6563,0.12,2.25,31.05,1.225,4,0.200,0.034,2834,962,2883
$GC,6700,0.81,158.8,783.3,14.3,615,6706,0.00,2.20,0.00,0.000,6,0.000,0.035,2834,2378,2881
$GC,7016,0.81,158.8,740.2,13.8,631,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2378,2879
$GC,7326,0.82,165.5,700.3,12.7,646,7337,0.00,2.28,6.47,0.993,4,0.000,0.054,2834,3763,2856
$GC,7512,0.70,165.5,673.0,15.1,654,7517,0.15,2.10,0.00,0.000,6,0.193,0.028,2807,2364,2855
$GC,7829,0.88,219.0,639.9,9.3,669,7880,0.17,2.33,44.60,1.166,4,0.079,0.052,2881,3760,2638
$GC,8021,0.73,219.0,611.2,17.1,677,8028,0.28,2.10,0.00,0.000,6,0.186,0.028,2818,2368,2634
$GC,8340,0.94,253.7,575.3,10.7,693,8371,0.17,0.00,28.80,1.109,6,0.078,0.000,2890,2365,2497
$GC,8671,0.94,253.7,523.6,15.5,709,8675,0.00,2.10,0.00,0.000,4,0.000,0.033,2898,975,2492
$GC,8763,0.94,253.7,511.2,13.3,713,8766,0.00,2.17,0.00,0.000,6,0.000,0.033,2898,2389,2490
$GC,9096,0.90,287.8,471.0,10.7,739,9131,0.00,0.00,28.95,1.046,6,0.000,0.000,2898,2389,2358
$GC,9454,0.94,317.6,430.8,11.0,773,9486,0.00,2.22,25.02,1.009,4,0.000,0.035,2907,970,2236
$GC,9568,1.10,328.8,416.7,12.4,783,9584,0.00,2.20,10.70,0.927,6,0.000,0.035,2907,2377,2191
$GC,9906,1.15,328.8,353.9,22.3,814,9910,0.12,2.20,0.00,0.000,4,0.085,0.051,2959,3757,2186
$GC,10029,1.00,328.8,321.8,24.8,824,10037,0.25,2.03,0.00,0.000,6,0.185,0.027,2903,2406,2186
$GC,10368,1.08,328.8,266.0,14.4,874,10374,0.00,2.15,0.00,0.000,4,0.000,0.034,2913,966,2184
$GC,10519,1.22,331.6,245.9,13.0,900,10527,0.17,2.17,0.00,0.000,6,0.074,0.034,2980,2391,2184
$GC,10867,1.10,331.6,172.6,23.9,961,10874,0.17,2.17,0.00,0.000,4,0.184,0.031,2939,953,2184
$GC,11003,1.19,331.6,146.2,20.1,984,11010,0.00,2.17,0.00,0.000,6,0.000,0.036,2940,2375,2184
$GC,11352,1.19,331.6,75.4,15.4,1045,11358,0.00,2.17,0.00,0.000,4,0.000,0.051,2940,3760,2183
$GC,11546,1.28,355.5,48.1,11.5,1079,11576,0.12,2.08,21.98,0.723,6,0.079,0.026,2996,2352,2081
$GC,11920,1.32,389.0,4.9,10.8,1144,11934,0.00,0.00,11.95,0.647,2,0.000,0.000,2996,2351,2019
$STATE,11935,end climb,SURFACE_DEPTH_REACHED
$STATE,11935,begin surface coast
$FINISH,1.9,1.011756
$STATE,11962,end surface coast,CONTROL_FINISHED_OK
$STATE,11962,begin surface
$SM_CCo,11982,79.78,0.670,0,0,1595,475.15
$SM_GC,2.73,0.00,0.00,79.78,0.000,0.000,0.670,139,2350,1595,-7.63,-0.93,475.15
$IRIDIUM_FIX,2507.97,12241.25,161198,181821
$TT8_MAMPS,0.029146
$HUMID,1804
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.0,95.281
$10V_AH,10.6,50.157
$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,24.425,88.975,410.900,79.775,0.000,24.022,31.735,155.756,6.750,0.000,0.000,17.362,2053.661,7061.529,598.953,2105.880,598.125,0.000,1666.495,0.000,2055.500,0.000,44.393,0.000
$DEVICE_MAMPS,238.537,86.671,1276.288,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.431,808.960,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63174,1151
$CAP_FILE_SIZE,126035,0
$CFSIZE,260165632,182517760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,151.4,1
$GPS,230809,003007,2517.956,12240.717,27,1.1,28,-3.7