version: 66.04
glider: 167
mission: 2
dive: 545
start: 8 23 109 0 37 7
data:
$ID,167
$MISSION,2
$DIVE,545
$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,-19950.908
$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,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
$GPS1,003007,2517.956,12240.717,27,1.1,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-69.5
$GPS2,003644,2517.725,12240.794,11,1.2,11,-3.7
$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,311.1,29657,-25.0,-13.200
$D_GRID,797
$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,-121.7,0.0,0.0,0,51,0.00,0.00,-33.17,0.000,2,0.000,0.000,139,2350,2377
$GC,55,-1.50,-121.7,3.2,-1.4,5,124,8.30,2.33,-54.70,0.000,4,0.240,0.056,2086,3770,3990
$GC,210,-0.68,-121.7,37.5,-36.1,30,218,1.00,2.05,0.00,0.000,6,0.186,0.023,2354,2369,3992
$GC,559,-1.05,-121.7,90.5,-8.6,91,566,0.28,2.20,0.00,0.000,4,0.061,0.046,2228,3763,3994
$GC,657,-0.86,-121.7,105.2,-15.0,108,664,0.25,1.98,0.00,0.000,6,0.163,0.025,2297,2385,3995
$GC,1004,-0.99,-121.7,143.5,-11.0,169,1011,0.10,2.17,0.00,0.000,4,0.087,0.047,2246,3765,3996
$GC,1110,-0.92,-121.7,157.9,-14.1,187,1116,0.12,1.90,0.00,0.000,6,0.170,0.025,2277,2439,3996
$GC,1458,-1.04,-121.7,209.7,-17.9,248,1464,0.00,2.08,0.00,0.000,4,0.000,0.048,2275,3759,3997
$GC,1500,-1.16,-121.7,217.4,-18.5,255,1506,0.20,1.90,0.00,0.000,6,0.067,0.025,2192,2432,3997
$GC,1850,-0.99,-121.7,286.5,-14.2,316,1856,0.20,2.10,0.00,0.000,4,0.166,0.045,2244,3766,3997
$GC,1870,-0.88,-121.7,289.6,-13.7,319,1876,0.20,1.90,0.00,0.000,6,0.165,0.024,2298,2443,3997
$GC,2212,-1.14,-121.7,311.4,-6.5,364,2217,0.20,2.08,0.00,0.000,4,0.069,0.048,2208,3756,3997
$GC,2276,-1.02,-121.7,320.2,-15.4,369,2280,0.15,1.88,0.00,0.000,6,0.170,0.025,2245,2454,3997
$GC,2607,-1.11,-121.7,360.4,-11.7,400,2610,0.00,2.05,0.00,0.000,4,0.000,0.049,2238,3754,3997
$GC,2743,-1.11,-121.7,380.2,-16.9,412,2747,0.00,1.85,0.00,0.000,6,0.000,0.027,2238,2475,3997
$GC,3075,-1.18,-121.7,437.8,-19.2,443,3080,0.12,2.05,0.00,0.000,4,0.081,0.049,2179,3764,3997
$GC,3092,-1.18,-121.7,441.8,-20.1,444,3098,0.00,1.88,0.00,0.000,6,0.000,0.025,2179,2466,3997
$GC,3427,-1.02,-121.7,513.6,-20.0,473,3431,0.22,2.15,0.00,0.000,4,0.174,0.025,2245,1002,3996
$GC,3477,-1.19,-121.7,521.9,-14.6,475,3482,0.15,2.22,0.00,0.000,6,0.077,0.036,2188,2454,3996
$GC,3798,-1.14,-121.7,569.1,-13.1,490,3802,0.00,2.05,0.00,0.000,4,0.000,0.051,2182,3764,3994
$GC,3860,-1.01,-121.7,578.2,-13.6,492,3867,0.25,1.85,0.00,0.000,6,0.175,0.027,2247,2494,3994
$GC,4178,-1.20,-121.7,607.5,-9.4,508,4182,0.15,2.03,0.00,0.000,4,0.077,0.051,2189,3762,3993
$GC,4322,-1.12,-121.7,626.8,-14.0,514,4326,0.12,1.85,0.00,0.000,6,0.176,0.028,2219,2497,3992
$GC,4654,-1.20,-121.7,665.0,-10.5,530,4657,0.00,2.03,0.00,0.000,4,0.000,0.053,2218,3764,3991
$GC,4739,-1.20,-121.7,675.2,-10.6,533,4745,0.00,1.83,0.00,0.000,6,0.000,0.027,2218,2510,3989
$GC,5057,-1.27,-121.7,710.8,-11.4,549,5061,0.15,2.00,0.00,0.000,4,0.077,0.052,2152,3754,3987
$GC,5136,-1.06,-121.7,724.5,-18.4,552,5142,0.30,1.77,0.00,0.000,6,0.178,0.028,2231,2545,3986
$GC,5462,-1.18,-121.7,760.7,-10.6,568,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2545,3986
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5723,begin apogee
$GC,5731,-0.27,0.0,797.1,16.1,581,5836,0.88,0.00,96.90,1.251,6,0.155,0.000,2489,2414,3532
$STATE,5837,end apogee,CONTROL_FINISHED_OK
$STATE,5837,begin climb
$GC,5840,1.50,121.7,804.7,0.0,586,5954,1.62,2.33,102.70,1.233,4,0.066,0.049,3062,3762,3034
$GC,6208,0.69,130.2,783.6,12.6,602,6226,1.08,2.12,7.57,1.023,6,0.222,0.025,2806,2338,3003
$GC,6535,0.78,205.2,758.5,7.8,618,6603,0.00,2.15,62.67,1.214,4,0.000,0.033,2814,970,2694
$GC,6858,1.04,247.2,727.7,10.2,632,6899,0.28,2.20,35.00,1.180,6,0.070,0.036,2917,2386,2524
$GC,7218,0.93,247.2,665.8,18.2,650,7223,0.15,2.20,0.00,0.000,4,0.180,0.053,2880,3761,2517
$GC,7315,0.83,247.2,646.6,20.3,654,7320,0.15,2.05,0.00,0.000,6,0.188,0.028,2845,2399,2517
$GC,7632,0.94,250.9,601.8,12.9,669,7636,0.10,2.20,0.00,0.000,4,0.094,0.053,2883,3762,2516
$GC,7741,0.82,250.9,583.5,17.8,674,7745,0.17,2.08,0.00,0.000,6,0.189,0.028,2848,2371,2515
$GC,8068,0.93,250.9,533.6,15.7,690,8071,0.00,2.22,0.00,0.000,4,0.000,0.051,2849,3758,2514
$GC,8231,0.93,250.9,503.3,20.0,697,8235,0.00,2.00,0.00,0.000,6,0.000,0.028,2854,2408,2514
$GC,8559,1.03,250.9,450.8,14.7,726,8564,0.17,2.15,0.00,0.000,4,0.082,0.033,2925,977,2513
$GC,8708,1.03,250.9,427.3,15.8,738,8715,0.00,2.22,0.00,0.000,6,0.000,0.036,2925,2426,2513
$GC,9037,0.94,250.9,373.8,17.0,769,9041,0.17,2.20,0.00,0.000,4,0.179,0.032,2882,984,2512
$GC,9134,1.07,279.2,361.7,11.1,777,9169,0.12,2.17,25.27,0.985,6,0.092,0.034,2929,2416,2394
$GC,9488,1.00,279.2,308.6,17.2,810,9491,0.00,2.12,0.00,0.000,4,0.000,0.051,2929,3758,2390
$GC,9558,0.85,279.2,295.1,20.0,818,9566,0.32,2.00,0.00,0.000,6,0.186,0.027,2853,2409,2390
$GC,9907,1.03,279.2,246.1,14.0,879,9913,0.17,2.15,0.00,0.000,4,0.080,0.049,2925,3752,2390
$GC,10106,0.89,279.2,210.4,18.1,914,10114,0.25,1.95,0.00,0.000,6,0.184,0.027,2869,2426,2389
$GC,10455,1.03,279.2,163.4,15.3,975,10462,0.12,2.12,0.00,0.000,4,0.088,0.051,2916,3752,2389
$GC,10656,0.94,279.2,123.0,18.5,1010,10664,0.15,1.90,0.00,0.000,6,0.183,0.028,2888,2453,2389
$GC,11005,1.07,279.2,80.6,13.3,1071,11011,0.10,2.08,0.00,0.000,4,0.094,0.051,2927,3753,2389
$GC,11054,0.95,279.2,72.9,16.4,1079,11061,0.20,1.92,0.00,0.000,6,0.179,0.027,2885,2432,2389
$GC,11401,1.30,374.2,35.2,6.3,1140,11484,0.28,2.17,74.72,0.710,4,0.066,0.050,2997,3753,2004
$GC,11639,1.27,405.1,9.7,11.0,1181,11669,0.00,1.85,24.92,0.660,6,0.000,0.026,3007,2494,1879
$STATE,11707,end climb,SURFACE_DEPTH_REACHED
$STATE,11707,begin surface coast
$FINISH,1.9,1.007396
$STATE,11736,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11761,52.85,0.657,0,0,1595,475.15
$SM_GC,3.04,0.00,0.00,52.85,0.000,0.000,0.657,137,2386,1595,-7.64,0.06,475.15
$IRIDIUM_FIX,2507.97,12241.25,161198,212137
$TT8_MAMPS,0.029146
$HUMID,1840
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.1,95.437
$10V_AH,10.6,50.234
$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,27.000,102.975,429.775,52.850,0.000,29.188,34.790,174.778,6.250,0.000,0.000,11.374,2132.105,6660.387,589.178,2178.926,648.382,0.000,1699.221,0.000,2129.477,0.000,44.832,0.000
$DEVICE_MAMPS,240.071,56.758,1250.977,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,813.459,873.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63162,1198
$CAP_FILE_SIZE,133270,0
$CFSIZE,260165632,182439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.163,250.2,1
$GPS,230809,035524,2518.188,12238.470,24,1.8,42,-3.6