version: 66.04
glider: 167
mission: 2
dive: 548
start: 8 23 109 9 29 28
data:
$ID,167
$MISSION,2
$DIVE,548
$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,-20001.332
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,092306,2518.697,12237.539,27,1.3,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.1
$GPS2,092908,2518.797,12237.577,15,1.3,15,-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,337.6,23971,-25.0,-13.200
$D_GRID,647
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,47,0.00,0.00,-28.38,0.000,2,0.000,0.000,138,2397,2266
$GC,51,-1.50,-121.7,3.1,-1.5,5,117,8.18,0.00,-55.08,0.000,6,0.237,0.000,2089,2397,3990
$GC,458,-0.86,-121.7,129.7,-28.7,76,464,0.73,2.10,0.00,0.000,4,0.183,0.043,2286,3754,3993
$GC,720,-0.95,-121.7,170.1,-17.2,122,726,0.00,2.03,0.00,0.000,6,0.000,0.025,2286,2334,3996
$GC,1066,-1.10,-121.7,226.5,-16.5,183,1073,0.17,2.22,0.00,0.000,4,0.070,0.046,2205,3751,3997
$GC,1232,-0.89,-121.7,261.8,-22.2,212,1239,0.30,1.92,0.00,0.000,6,0.156,0.025,2291,2399,3997
$GC,1579,-1.13,-121.7,311.8,-14.3,266,1583,0.20,2.03,0.00,0.000,4,0.064,0.025,2204,1014,3997
$GC,1642,-1.13,-121.7,323.8,-20.8,271,1651,0.00,2.08,0.00,0.000,6,0.000,0.033,2199,2381,3997
$GC,1968,-1.05,-121.7,384.9,-16.6,302,1970,0.15,0.00,0.00,0.000,6,0.170,0.000,2238,2381,3997
$GC,2287,-1.16,-121.7,427.2,-13.2,332,2291,0.00,2.15,0.00,0.000,4,0.000,0.048,2232,3760,3997
$GC,2360,-1.16,-121.7,438.0,-14.5,338,2366,0.00,1.98,0.00,0.000,6,0.000,0.025,2232,2386,3997
$GC,2686,-1.21,-121.7,481.6,-14.1,369,2688,0.12,0.00,0.00,0.000,6,0.079,0.000,2179,2386,3997
$GC,3001,-1.11,-121.7,535.2,-8.9,389,3005,0.15,2.15,0.00,0.000,4,0.176,0.046,2208,3754,3995
$GC,3126,-1.05,-121.7,544.7,-5.7,394,3130,0.12,1.98,0.00,0.000,6,0.170,0.027,2238,2394,3994
$GC,3451,-1.13,-121.7,563.3,-12.1,410,3454,0.00,2.15,0.00,0.000,4,0.000,0.051,2233,3749,3992
$GC,3567,-1.13,-121.7,580.1,-17.2,415,3571,0.00,1.98,0.00,0.000,6,0.000,0.028,2233,2400,3992
$GC,3901,-1.25,-121.7,609.1,-0.7,431,3905,0.15,2.17,0.00,0.000,4,0.079,0.051,2166,3760,3990
$GC,3942,-1.03,-121.7,613.3,-12.7,433,3947,0.30,1.98,0.00,0.000,6,0.170,0.027,2247,2412,3989
$GC,4273,-1.22,-121.7,631.7,-5.2,449,4277,0.17,2.15,0.00,0.000,4,0.075,0.051,2166,3758,3987
$GC,4369,-1.05,-121.7,644.0,-17.9,453,4374,0.28,1.98,0.00,0.000,6,0.171,0.027,2239,2433,3986
$STATE,4376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4377,begin apogee
$GC,4384,-0.27,0.0,647.2,24.3,453,4480,0.82,0.00,93.07,1.141,6,0.164,0.000,2484,2432,3532
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4481,begin climb
$GC,4485,1.50,121.7,651.4,0.0,458,4592,1.62,0.00,99.68,1.101,6,0.071,0.000,3054,2432,3034
$GC,4902,0.85,124.8,609.9,13.0,478,4907,0.75,2.20,0.00,0.000,4,0.211,0.028,2868,966,3030
$GC,5058,0.85,215.9,598.8,6.6,485,5143,0.00,2.12,75.07,1.076,6,0.000,0.032,2868,2356,2651
$GC,5453,0.87,239.4,544.2,11.5,504,5478,0.00,2.15,19.30,1.008,4,0.000,0.031,2868,987,2556
$GC,5649,0.98,239.4,513.7,19.7,512,5655,0.00,2.10,0.00,0.000,6,0.000,0.032,2868,2357,2553
$GC,5976,1.04,239.4,443.8,23.5,540,5981,0.12,2.20,0.00,0.000,4,0.087,0.050,2918,3754,2551
$GC,6213,0.85,239.4,378.8,25.9,560,6220,0.28,2.05,0.00,0.000,6,0.184,0.025,2853,2370,2549
$GC,6540,0.99,253.6,330.7,12.2,591,6557,0.12,2.12,11.48,0.885,4,0.086,0.032,2911,962,2498
$GC,6771,1.10,293.9,302.1,10.3,611,6812,0.00,2.12,34.15,0.910,6,0.000,0.031,2911,2359,2332
$GC,7152,1.10,293.9,260.2,14.0,676,7160,0.00,2.20,0.00,0.000,4,0.000,0.051,2911,3753,2326
$GC,7415,1.04,293.9,217.9,18.7,722,7421,0.00,2.08,0.00,0.000,6,0.000,0.025,2919,2344,2324
$GC,7760,1.04,293.9,146.3,22.6,783,7767,0.00,2.03,0.00,0.000,4,0.000,0.031,2922,977,2324
$GC,8023,1.19,293.9,95.2,16.5,829,8030,0.12,2.08,0.00,0.000,6,0.081,0.032,2972,2356,2323
$GC,8368,1.30,384.7,46.5,6.6,890,8443,0.00,2.17,69.57,0.702,4,0.000,0.027,2981,976,1962
$GC,8700,1.49,421.3,12.4,10.5,948,8736,0.22,2.10,29.23,0.646,6,0.069,0.032,3070,2357,1813
$STATE,8756,end climb,SURFACE_DEPTH_REACHED
$STATE,8756,begin surface coast
$FINISH,1.9,0.999726
$STATE,8775,end surface coast,CONTROL_FINISHED_OK
$STATE,8775,begin surface
$SM_CCo,8796,40.20,0.641,0,0,1594,475.15
$SM_GC,3.10,0.00,0.00,40.20,0.000,0.000,0.641,138,2360,1594,-7.63,-0.65,475.15
$IRIDIUM_FIX,2510.35,12239.24,171198,060608
$TT8_MAMPS,0.028379
$HUMID,1802
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,23.3,95.862
$10V_AH,10.6,50.428
$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,23.025,62.750,431.550,40.200,0.000,30.855,35.247,152.113,5.000,0.000,0.000,15.612,1664.635,4767.468,527.213,1711.326,526.398,0.000,1403.666,0.000,1669.877,0.000,34.789,0.000
$DEVICE_MAMPS,237.003,51.389,1140.529,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.675,681.158,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50544,961
$CAP_FILE_SIZE,96886,0
$CFSIZE,260165632,182296576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,182.8,1
$GPS,230809,115804,2518.917,12237.387,17,99.0,36,-3.6