version: 66.04
glider: 167
mission: 2
dive: 585
start: 8 27 109 4 52 25
data:
$ID,167
$MISSION,2
$DIVE,585
$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,-20844.992
$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,84
$R_STBD_OVSHOOT,38
$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
$GPS1,044455,2513.514,12232.815,40,1.4,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.9
$GPS2,045204,2513.413,12232.853,16,99.0,35,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,168.3,57582,-25.0,-13.200
$D_GRID,937
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.92,0.000,2,0.000,0.000,138,2388,2157
$GC,45,-1.50,-121.7,3.1,-1.7,4,125,8.05,2.17,-62.35,0.000,4,0.229,0.052,2083,3762,3990
$GC,381,-0.80,-121.7,109.2,-31.1,62,389,0.88,2.00,0.00,0.000,6,0.189,0.023,2317,2365,3993
$GC,732,-1.19,-121.7,149.3,-10.4,123,738,0.30,2.20,0.00,0.000,4,0.057,0.046,2188,3767,3995
$GC,995,-1.07,-121.7,201.0,-16.9,169,1002,0.17,1.98,0.00,0.000,6,0.158,0.022,2234,2372,3996
$GC,1343,-1.25,-121.7,252.6,-13.3,230,1350,0.17,1.95,0.00,0.000,4,0.066,0.022,2156,1011,3997
$GC,1504,-1.25,-121.7,278.6,-16.5,258,1512,0.00,2.17,0.00,0.000,6,0.000,0.033,2149,2451,3997
$GC,1842,-1.12,-121.7,339.1,-18.4,299,1846,0.22,2.03,0.00,0.000,4,0.172,0.047,2205,3755,3997
$GC,1980,-1.12,-121.7,361.1,-16.3,310,1987,0.00,1.88,0.00,0.000,6,0.000,0.026,2205,2460,3997
$GC,2306,-1.24,-121.7,405.8,-13.2,341,2309,0.00,2.05,0.00,0.000,4,0.000,0.048,2205,3764,3996
$GC,2566,-1.34,-121.7,443.3,-13.7,364,2571,0.17,1.85,0.00,0.000,6,0.069,0.026,2136,2495,3996
$GC,2908,-1.22,-121.7,503.7,-17.9,395,2913,0.17,2.00,0.00,0.000,4,0.169,0.048,2175,3756,3994
$GC,3039,-1.22,-121.7,523.9,-14.9,400,3045,0.00,1.83,0.00,0.000,6,0.000,0.027,2176,2507,3993
$GC,3357,-1.29,-121.7,568.5,-14.3,416,3361,0.00,2.20,0.00,0.000,4,0.000,0.027,2175,1015,3992
$GC,3397,-1.45,-121.7,574.6,-15.3,417,3405,0.17,2.25,0.00,0.000,6,0.071,0.037,2110,2466,3992
$GC,3718,-1.28,-121.7,630.3,-18.1,433,3722,0.17,2.05,0.00,0.000,4,0.189,0.051,2150,3762,3989
$GC,3903,-1.20,-121.7,662.4,-14.4,441,3907,0.15,1.85,0.00,0.000,6,0.177,0.029,2186,2515,3988
$GC,4235,-1.35,-121.7,702.7,-11.3,457,4240,0.12,1.95,0.00,0.000,4,0.077,0.049,2137,3753,3986
$GC,4432,-1.25,-121.7,734.1,-16.3,465,4440,0.15,1.80,0.00,0.000,6,0.176,0.029,2173,2538,3984
$GC,4750,-1.36,-121.7,773.9,-11.9,481,4754,0.00,1.95,0.00,0.000,4,0.000,0.053,2166,3759,3982
$GC,4784,-1.36,-121.7,778.9,-13.8,482,4788,0.00,1.77,0.00,0.000,6,0.000,0.028,2166,2557,3981
$GC,5108,-1.46,-121.7,820.4,-12.8,498,5113,0.17,1.92,0.00,0.000,4,0.077,0.054,2097,3751,3979
$STATE,5235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5235,begin apogee
$GC,5248,-0.27,0.0,845.4,22.7,503,5345,1.40,0.00,94.03,1.300,6,0.180,0.000,2485,2371,3532
$STATE,5346,end apogee,CONTROL_FINISHED_OK
$STATE,5346,begin climb
$GC,5350,1.50,121.7,850.9,0.0,508,5461,1.60,2.35,103.05,1.263,4,0.053,0.049,3067,3753,3035
$GC,5715,0.52,121.7,822.0,14.2,524,5721,1.33,2.08,0.00,0.000,6,0.229,0.031,2754,2362,3030
$GC,6033,0.62,200.6,798.9,7.5,539,6104,0.00,2.38,64.50,1.244,4,0.000,0.054,2755,3754,2713
$GC,6358,0.62,200.6,759.8,13.4,553,6365,0.00,2.08,0.00,0.000,6,0.000,0.025,2759,2371,2707
$GC,6675,0.72,221.6,722.1,11.7,569,6701,0.15,2.30,18.05,1.167,4,0.082,0.053,2815,3754,2627
$GC,6832,0.52,221.6,694.2,17.3,576,6836,0.28,2.05,0.00,0.000,6,0.193,0.025,2752,2371,2625
$GC,7159,0.71,259.3,655.5,10.5,592,7196,0.17,2.35,31.48,1.166,4,0.082,0.053,2817,3760,2474
$GC,7338,0.57,259.3,623.7,19.5,599,7343,0.22,2.03,0.00,0.000,6,0.191,0.027,2770,2397,2469
$GC,7660,0.72,259.3,576.6,14.7,615,7665,0.12,2.20,0.00,0.000,4,0.087,0.052,2817,3760,2468
$GC,7751,0.61,259.3,559.6,19.3,619,7756,0.17,1.98,0.00,0.000,6,0.190,0.027,2783,2418,2467
$GC,8080,0.73,259.3,511.2,14.9,635,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2415,2465
$GC,8397,0.87,283.7,470.4,11.4,661,8424,0.17,2.20,20.48,1.046,4,0.075,0.053,2858,3744,2375
$GC,8535,0.70,283.7,447.3,18.0,673,8540,0.22,1.95,0.00,0.000,6,0.192,0.025,2813,2422,2372
$GC,8867,0.78,283.7,404.2,13.8,704,8871,0.00,2.15,0.00,0.000,4,0.000,0.053,2812,3758,2370
$GC,8929,0.78,283.7,394.1,16.3,709,8935,0.00,1.95,0.00,0.000,6,0.000,0.026,2821,2426,2370
$GC,9259,0.83,283.7,345.0,16.0,740,9263,0.00,2.12,0.00,0.000,4,0.000,0.052,2821,3751,2369
$GC,9378,0.78,283.7,322.1,17.9,750,9385,0.00,1.90,0.00,0.000,6,0.000,0.026,2828,2446,2369
$GC,9717,0.84,283.7,265.5,16.8,799,9722,0.00,2.10,0.00,0.000,4,0.000,0.051,2828,3761,2369
$GC,9832,0.77,283.7,245.4,16.8,819,9838,0.00,1.88,0.00,0.000,6,0.000,0.027,2838,2480,2368
$GC,10178,0.77,283.7,196.5,14.7,880,10184,0.00,2.05,0.00,0.000,4,0.000,0.051,2838,3764,2369
$GC,10268,0.69,283.7,183.2,16.4,895,10274,0.17,1.80,0.00,0.000,6,0.189,0.026,2804,2513,2368
$GC,10614,0.92,298.9,136.5,12.1,956,10634,0.17,2.35,12.95,0.762,4,0.074,0.028,2891,975,2312
$GC,10804,0.92,298.9,107.2,13.3,989,10810,0.00,2.35,0.00,0.000,6,0.000,0.031,2891,2516,2310
$GC,11150,0.97,345.0,64.8,9.9,1050,11193,0.00,2.40,37.20,0.714,4,0.000,0.028,2900,986,2124
$GC,11348,1.18,355.9,40.5,12.4,1084,11369,0.17,2.33,9.85,0.630,6,0.074,0.034,2969,2495,2079
$GC,11712,1.32,469.3,5.9,5.0,1147,11748,0.10,0.00,33.15,0.637,2,0.083,0.000,3011,2495,1908
$STATE,11749,end climb,SURFACE_DEPTH_REACHED
$STATE,11749,begin surface coast
$FINISH,1.8,1.020996
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11803,58.05,0.629,0,0,1595,475.15
$SM_GC,3.55,0.00,0.00,58.05,0.000,0.000,0.629,138,2372,1595,-7.63,-0.31,475.15
$IRIDIUM_FIX,2503.20,12233.38,211198,010131
$TT8_MAMPS,0.029146
$HUMID,1805
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,801.6,68.0
$24V_AH,23.1,100.857
$10V_AH,10.6,52.800
$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,25.600,95.325,424.725,58.050,0.000,28.922,32.275,172.649,7.000,0.000,0.000,36.604,2071.108,6744.856,575.120,2236.547,658.662,0.000,1685.475,0.000,2154.745,0.000,48.640,0.000
$DEVICE_MAMPS,229.333,53.690,1300.065,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.274,823.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63206,1159
$CAP_FILE_SIZE,127982,0
$CFSIZE,260165632,180203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,326.0,1
$GPS,270809,081136,2512.423,12232.851,39,1.0,45,-3.6