version: 66.04
glider: 167
mission: 2
dive: 589
start: 8 27 109 19 57 13
data:
$ID,167
$MISSION,2
$DIVE,589
$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,-20914.936
$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,79
$R_STBD_OVSHOOT,34
$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
$GPS1,195000,2509.135,12235.624,37,1.1,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.9
$GPS2,195650,2509.274,12235.849,14,1.8,14,-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,178.8,48540,-25.0,-13.200
$D_GRID,1118
$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,-121.7,0.0,0.0,0,38,0.00,0.00,-20.62,0.000,2,0.000,0.000,135,2446,2109
$GC,43,-1.50,-121.7,3.2,-2.4,3,114,8.07,2.15,-56.35,0.000,4,0.229,0.036,2093,976,3989
$GC,163,-0.75,-121.7,31.6,-46.0,23,170,0.93,2.17,0.00,0.000,6,0.181,0.036,2334,2397,3991
$GC,511,-1.05,-121.7,83.4,-9.6,84,517,0.22,2.10,0.00,0.000,4,0.061,0.044,2231,3756,3993
$GC,598,-0.86,-121.7,99.7,-21.2,99,604,0.25,1.98,0.00,0.000,6,0.166,0.022,2300,2357,3993
$GC,945,-1.15,-121.7,148.2,-11.1,160,951,0.22,2.20,0.00,0.000,4,0.063,0.045,2192,3764,3997
$GC,1028,-1.03,-121.7,162.3,-19.3,174,1035,0.20,1.95,0.00,0.000,6,0.164,0.022,2245,2385,3997
$GC,1377,-1.18,-121.7,211.4,-12.0,235,1384,0.15,2.15,0.00,0.000,4,0.071,0.044,2178,3764,3997
$GC,1507,-1.00,-121.7,233.3,-19.1,257,1514,0.28,1.88,0.00,0.000,6,0.164,0.023,2253,2440,3997
$GC,1859,-1.26,-121.7,281.7,-11.6,318,1865,0.20,2.05,0.00,0.000,4,0.061,0.046,2165,3753,3997
$GC,1994,-1.04,-121.7,310.0,-22.8,337,2001,0.28,1.85,0.00,0.000,6,0.171,0.023,2238,2457,3997
$GC,2320,-1.28,-121.7,352.7,-11.3,368,2324,0.17,2.03,0.00,0.000,4,0.063,0.046,2154,3753,3997
$GC,2483,-1.12,-121.7,381.9,-18.1,382,2487,0.17,1.85,0.00,0.000,6,0.164,0.023,2216,2482,3997
$GC,2818,-1.28,-121.7,426.0,-12.8,413,2822,0.15,2.00,0.00,0.000,4,0.072,0.048,2152,3752,3996
$GC,2898,-1.10,-121.7,440.7,-19.4,420,2902,0.28,1.80,0.00,0.000,6,0.170,0.024,2226,2501,3996
$GC,3230,-1.33,-121.7,479.4,-12.0,451,3235,0.20,1.98,0.00,0.000,4,0.071,0.048,2140,3751,3994
$GC,3399,-1.16,-121.7,512.9,-19.6,463,3404,0.25,1.77,0.00,0.000,6,0.171,0.025,2204,2525,3993
$GC,3723,-1.33,-121.7,559.3,-14.1,479,3727,0.17,1.95,0.00,0.000,4,0.068,0.048,2124,3759,3992
$GC,3752,-1.26,-121.7,564.6,-18.4,480,3756,0.17,1.77,0.00,0.000,6,0.178,0.024,2167,2529,3991
$GC,4083,-1.31,-121.7,616.9,-15.2,496,4087,0.00,1.98,0.00,0.000,4,0.000,0.051,2165,3756,3989
$GC,4342,-1.26,-121.7,659.7,-16.2,507,4345,0.00,1.75,0.00,0.000,6,0.000,0.025,2165,2573,3987
$GC,4665,-1.31,-121.7,706.0,-14.0,523,4669,0.00,1.88,0.00,0.000,4,0.000,0.052,2164,3750,3985
$GC,4689,-1.31,-121.7,709.7,-14.7,524,4693,0.00,1.75,0.00,0.000,6,0.000,0.026,2165,2576,3985
$GC,5023,-1.36,-121.7,756.9,-14.2,540,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2576,3982
$GC,5333,-1.44,-121.7,799.2,-13.8,555,5338,0.15,1.88,0.00,0.000,4,0.082,0.051,2099,3750,3980
$GC,5395,-1.18,-121.7,810.7,-20.6,557,5403,0.38,1.73,0.00,0.000,6,0.179,0.026,2197,2564,3979
$GC,5714,-1.39,-121.7,847.0,-11.2,573,5718,0.17,1.90,0.00,0.000,4,0.076,0.051,2124,3749,3977
$GC,5827,-1.24,-121.7,866.0,-17.5,578,5832,0.17,1.73,0.00,0.000,6,0.184,0.027,2173,2599,3976
$GC,6165,-1.36,-121.7,911.9,-13.7,594,6169,0.00,1.83,0.00,0.000,4,0.000,0.051,2166,3749,3974
$GC,6362,-1.42,-121.7,941.5,-14.1,602,6368,0.12,1.67,0.00,0.000,6,0.090,0.028,2121,2609,3974
$STATE,6654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6654,begin apogee
$GC,6664,-0.27,0.0,991.7,18.0,617,6762,1.33,0.00,94.60,1.407,6,0.176,0.000,2487,2397,3532
$STATE,6763,end apogee,CONTROL_FINISHED_OK
$STATE,6763,begin climb
$GC,6767,1.50,121.7,997.6,0.0,622,6882,1.60,2.33,105.65,1.366,4,0.055,0.047,3065,3753,3034
$GC,7136,0.48,121.7,965.1,18.4,638,7143,1.38,2.08,0.00,0.000,6,0.229,0.023,2738,2343,3030
$GC,7454,0.56,186.3,936.4,8.5,654,7517,0.00,2.38,53.97,1.330,4,0.000,0.052,2737,3740,2771
$GC,7731,0.56,187.4,902.6,13.1,666,7734,0.00,2.03,0.00,0.000,6,0.000,0.025,2746,2370,2766
$GC,8055,0.68,205.0,865.8,11.9,682,8078,0.15,2.30,16.30,1.244,4,0.087,0.051,2802,3750,2695
$GC,8275,0.49,205.0,827.5,19.6,691,8282,0.25,2.03,0.00,0.000,6,0.193,0.025,2739,2387,2692
$GC,8593,0.64,205.0,783.9,13.3,707,8597,0.15,2.20,0.00,0.000,4,0.086,0.050,2795,3760,2691
$GC,8683,0.49,205.0,768.1,17.5,711,8687,0.25,2.00,0.00,0.000,6,0.192,0.025,2739,2394,2691
$GC,9006,0.68,226.6,727.5,11.6,727,9031,0.17,2.17,18.85,1.202,4,0.084,0.029,2814,981,2607
$GC,9172,0.68,226.6,703.8,15.6,734,9176,0.00,2.20,0.00,0.000,6,0.000,0.036,2814,2397,2605
$GC,9489,0.68,226.6,658.1,13.9,749,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2396,2604
$GC,9797,0.68,232.7,617.1,12.8,764,9808,0.00,2.17,6.20,0.969,4,0.000,0.052,2814,3761,2582
$GC,9942,0.52,232.7,595.2,15.7,770,9947,0.28,2.03,0.00,0.000,6,0.192,0.027,2753,2382,2581
$GC,10259,0.72,239.2,554.6,12.7,785,10269,0.17,0.00,6.88,0.968,6,0.081,0.000,2818,2380,2556
$GC,10569,0.72,239.2,504.8,16.0,800,10572,0.00,2.20,0.00,0.000,4,0.000,0.052,2818,3753,2555
$GC,10800,0.57,239.2,461.8,16.8,818,10806,0.22,1.98,0.00,0.000,6,0.190,0.026,2771,2406,2554
$GC,11126,0.75,262.1,423.0,11.5,849,11151,0.15,2.25,19.62,1.012,4,0.082,0.051,2828,3760,2462
$GC,11180,0.61,262.1,414.9,16.4,853,11188,0.22,2.03,0.00,0.000,6,0.190,0.027,2781,2395,2461
$GC,11506,0.77,262.1,369.7,14.2,884,11510,0.15,2.12,0.00,0.000,4,0.081,0.030,2844,975,2459
$GC,11603,0.77,262.1,354.5,15.7,892,11607,0.00,2.20,0.00,0.000,6,0.000,0.035,2844,2401,2459
$GC,11934,0.77,262.1,306.7,14.4,923,11938,0.00,2.15,0.00,0.000,4,0.000,0.053,2844,3758,2459
$GC,12003,0.62,262.1,295.6,16.7,931,12010,0.28,2.00,0.00,0.000,6,0.189,0.026,2783,2393,2458
$GC,12351,0.80,262.6,251.4,13.2,992,12357,0.15,2.20,0.00,0.000,4,0.078,0.050,2840,3764,2458
$GC,12614,0.68,262.6,205.1,16.3,1038,12620,0.20,2.00,0.00,0.000,6,0.186,0.025,2800,2386,2458
$GC,12963,0.85,274.0,162.7,12.4,1099,12983,0.15,2.08,10.82,0.772,4,0.078,0.028,2867,991,2413
$GC,13110,0.85,274.0,139.2,15.7,1124,13116,0.00,2.15,0.00,0.000,6,0.000,0.035,2867,2389,2413
$GC,13456,0.85,274.4,93.7,13.2,1185,13463,0.00,2.15,0.00,0.000,4,0.000,0.049,2867,3762,2413
$GC,13717,0.85,324.5,59.4,9.6,1231,13764,0.00,1.98,40.85,0.718,6,0.000,0.025,2877,2391,2208
$GC,14108,1.15,413.1,30.8,6.8,1299,14184,0.17,2.28,69.47,0.670,4,0.074,0.047,2955,3755,1845
$STATE,14307,end climb,SURFACE_DEPTH_REACHED
$STATE,14307,begin surface coast
$FINISH,1.8,1.006495
$STATE,14331,end surface coast,CONTROL_FINISHED_OK
$STATE,14331,begin surface
$SM_CCo,14353,45.72,0.634,0,0,1594,475.15
$SM_GC,3.40,0.00,0.00,45.72,0.000,0.000,0.634,136,2396,1594,-7.64,0.34,475.15
$IRIDIUM_FIX,2503.20,12231.38,211198,161646
$TT8_MAMPS,0.028379
$HUMID,1823
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.0,101.518
$10V_AH,10.6,53.138
$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,28.625,113.650,443.225,45.725,0.000,25.418,34.434,180.184,8.500,0.000,0.000,14.999,2409.348,8555.978,590.318,2531.575,718.143,0.000,1852.530,0.000,2467.176,0.000,54.422,0.000
$DEVICE_MAMPS,228.566,52.923,1406.678,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,907.246,945.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72664,1338
$CAP_FILE_SIZE,152025,0
$CFSIZE,260165632,179871744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158, 94.1,1
$GPS,270809,235837,2507.641,12237.140,41,1.1,42,-3.6