version: 66.04
glider: 167
mission: 2
dive: 593
start: 8 28 109 12 9 57
data:
$ID,167
$MISSION,2
$DIVE,593
$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,-21006.738
$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,86
$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
$GPS1,120207,2505.209,12239.059,32,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-72.3
$GPS2,120936,2505.403,12239.305,16,1.5,32,-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,185.3,39766,-25.0,-13.200
$D_GRID,1407
$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,-121.7,0.0,0.0,0,42,0.00,0.00,-23.38,0.000,2,0.000,0.000,139,2368,2181
$GC,46,-1.50,-121.7,3.4,-3.3,4,113,8.15,2.08,-51.67,0.000,4,0.233,0.037,2090,991,3990
$GC,178,-0.88,-121.7,37.7,-35.9,26,186,0.77,2.12,0.00,0.000,6,0.181,0.031,2290,2394,3992
$GC,527,-1.07,-121.7,97.3,-14.1,87,533,0.17,2.12,0.00,0.000,4,0.064,0.045,2205,3765,3995
$GC,648,-0.90,-121.7,119.9,-18.5,108,655,0.30,1.98,0.00,0.000,6,0.163,0.022,2288,2371,3995
$GC,996,-1.26,-121.7,159.8,-10.1,169,1002,0.28,2.17,0.00,0.000,4,0.058,0.045,2165,3763,3997
$GC,1185,-0.94,-121.7,197.5,-22.6,202,1193,0.40,1.88,0.00,0.000,6,0.168,0.023,2276,2438,3997
$GC,1538,-1.21,-121.7,235.6,-10.9,263,1544,0.22,2.08,0.00,0.000,4,0.062,0.047,2178,3761,3997
$GC,1684,-1.03,-121.7,263.3,-20.5,288,1690,0.25,1.88,0.00,0.000,6,0.168,0.024,2245,2446,3997
$GC,2034,-1.27,-121.7,306.7,-11.5,345,2038,0.20,2.05,0.00,0.000,4,0.064,0.046,2152,3755,3997
$GC,2174,-1.09,-121.7,331.5,-19.0,357,2179,0.22,1.88,0.00,0.000,6,0.162,0.025,2229,2471,3997
$GC,2507,-1.32,-121.7,373.3,-11.4,388,2511,0.20,2.03,0.00,0.000,4,0.064,0.046,2139,3760,3997
$GC,2745,-1.14,-121.7,418.3,-18.3,409,2749,0.28,1.83,0.00,0.000,6,0.170,0.025,2212,2492,3997
$GC,3076,-1.31,-121.7,458.0,-10.3,440,3081,0.17,2.00,0.00,0.000,4,0.068,0.048,2140,3758,3996
$GC,3210,-1.11,-121.7,480.3,-18.3,451,3217,0.30,1.77,0.00,0.000,6,0.175,0.025,2219,2532,3995
$GC,3534,-1.30,-121.7,520.1,-11.9,474,3539,0.17,1.92,0.00,0.000,4,0.071,0.048,2140,3749,3993
$GC,3650,-1.15,-121.7,540.1,-18.6,479,3655,0.25,1.73,0.00,0.000,6,0.173,0.026,2204,2562,3993
$GC,3988,-1.33,-121.7,584.1,-12.7,495,3992,0.15,1.90,0.00,0.000,4,0.074,0.049,2140,3762,3991
$GC,4128,-1.22,-121.7,608.7,-17.4,501,4132,0.17,1.73,0.00,0.000,6,0.175,0.026,2183,2577,3990
$GC,4464,-1.33,-121.7,654.5,-13.9,517,4467,0.00,1.85,0.00,0.000,4,0.000,0.050,2179,3748,3987
$GC,4567,-1.38,-121.7,670.6,-15.5,521,4571,0.12,1.67,0.00,0.000,6,0.084,0.027,2132,2598,3986
$GC,4892,-1.30,-121.7,727.6,-18.1,537,4896,0.00,1.85,0.00,0.000,4,0.000,0.051,2125,3745,3984
$GC,5123,-1.14,-121.7,772.8,-19.9,547,5127,0.32,1.65,0.00,0.000,6,0.179,0.027,2209,2616,3982
$GC,5454,-1.39,-121.7,810.9,-11.3,563,5458,0.20,1.83,0.00,0.000,4,0.074,0.051,2126,3757,3981
$GC,5682,-1.26,-121.7,850.5,-17.8,573,5686,0.17,1.62,0.00,0.000,6,0.177,0.029,2169,2648,3979
$GC,6016,-1.36,-121.7,896.0,-13.5,589,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2649,3976
$GC,6325,-1.46,-121.7,936.5,-12.7,604,6329,0.17,1.77,0.00,0.000,4,0.077,0.053,2098,3753,3975
$GC,6381,-1.24,-121.7,946.0,-18.3,606,6386,0.28,1.65,0.00,0.000,6,0.181,0.027,2174,2650,3975
$GC,6708,-1.38,-121.7,985.5,-12.4,622,6712,0.12,1.77,0.00,0.000,4,0.086,0.053,2126,3756,3973
$STATE,6733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6733,begin apogee
$GC,6743,-0.27,0.0,990.1,15.2,623,6842,1.25,0.00,94.93,1.401,6,0.171,0.000,2481,2368,3532
$STATE,6843,end apogee,CONTROL_FINISHED_OK
$STATE,6843,begin climb
$GC,6848,1.50,121.7,994.5,0.0,628,6961,1.60,2.22,105.85,1.361,4,0.055,0.027,3071,990,3034
$GC,7219,0.70,121.7,962.3,16.8,644,7226,1.08,2.12,0.00,0.000,6,0.226,0.035,2809,2372,3030
$GC,7536,0.52,139.7,925.3,11.9,660,7558,0.20,2.12,15.50,1.256,4,0.202,0.029,2761,990,2961
$GC,7812,0.56,173.6,896.6,10.7,672,7849,0.00,2.12,29.60,1.297,6,0.000,0.035,2760,2364,2824
$GC,8159,0.59,197.3,855.6,11.5,689,8184,0.00,2.15,20.38,1.256,4,0.000,0.031,2765,982,2727
$GC,8209,0.71,219.9,850.0,11.6,691,8236,0.12,2.17,21.08,1.237,6,0.094,0.035,2809,2371,2635
$GC,8549,0.71,219.9,800.0,14.4,707,8553,0.00,2.20,0.00,0.000,4,0.000,0.052,2809,3757,2630
$GC,8621,0.53,219.9,788.5,16.3,710,8626,0.25,2.05,0.00,0.000,6,0.193,0.026,2752,2379,2629
$GC,8949,0.67,234.4,747.8,12.1,726,8972,0.12,2.30,12.45,1.165,4,0.093,0.052,2799,3760,2576
$GC,9106,0.54,234.4,722.4,16.8,732,9113,0.20,2.05,0.00,0.000,6,0.193,0.028,2760,2381,2574
$GC,9423,0.69,245.7,681.3,12.4,748,9439,0.12,2.22,10.57,1.112,4,0.091,0.052,2806,3753,2529
$GC,9512,0.56,245.7,666.4,16.8,751,9517,0.20,2.00,0.00,0.000,6,0.193,0.027,2763,2404,2528
$GC,9835,0.71,246.5,624.6,13.1,767,9840,0.12,2.17,0.00,0.000,4,0.088,0.051,2811,3753,2526
$GC,10049,0.59,246.5,584.7,19.3,776,10055,0.20,1.95,0.00,0.000,6,0.193,0.026,2770,2422,2526
$GC,10366,0.72,246.5,538.5,14.5,792,10370,0.12,2.15,0.00,0.000,4,0.088,0.052,2815,3757,2525
$GC,10423,0.58,246.5,528.7,17.7,794,10431,0.22,1.92,0.00,0.000,6,0.191,0.028,2768,2445,2525
$GC,10746,0.74,253.2,484.5,12.7,815,10759,0.15,2.17,7.12,0.944,4,0.083,0.053,2824,3755,2499
$GC,10878,0.59,253.2,461.9,17.5,826,10882,0.22,1.92,0.00,0.000,6,0.195,0.026,2773,2452,2497
$GC,11209,0.76,261.4,418.2,12.6,857,11224,0.15,2.25,8.35,0.933,4,0.083,0.031,2837,983,2466
$GC,11300,0.82,261.4,405.2,14.8,865,11304,0.00,2.28,0.00,0.000,6,0.000,0.035,2837,2448,2464
$GC,11629,0.82,261.4,354.3,16.0,895,11632,0.00,2.08,0.00,0.000,4,0.000,0.053,2837,3758,2464
$GC,11665,0.67,261.4,347.8,17.7,898,11670,0.20,1.95,0.00,0.000,6,0.194,0.026,2797,2427,2464
$GC,11997,0.78,261.4,302.5,13.4,929,12002,0.10,2.15,0.00,0.000,4,0.095,0.051,2835,3763,2463
$GC,12078,0.64,261.4,288.4,17.3,941,12085,0.22,1.95,0.00,0.000,6,0.189,0.025,2788,2420,2463
$GC,12426,0.83,278.6,244.2,11.9,1002,12450,0.17,2.20,15.32,0.871,4,0.077,0.051,2863,3757,2395
$GC,12707,0.66,278.6,196.1,17.2,1051,12713,0.30,1.92,0.00,0.000,6,0.192,0.026,2796,2441,2393
$GC,13054,0.85,281.5,154.5,13.0,1112,13067,0.17,2.15,4.18,0.584,4,0.077,0.050,2873,3758,2384
$GC,13167,0.68,281.5,134.8,20.1,1131,13174,0.30,1.95,0.00,0.000,6,0.184,0.025,2804,2423,2384
$GC,13515,0.96,312.4,89.8,11.0,1192,13551,0.20,2.22,26.02,0.742,4,0.074,0.029,2900,979,2257
$GC,13808,1.13,335.5,53.4,11.5,1243,13833,0.12,2.25,19.27,0.690,6,0.085,0.034,2950,2445,2164
$GC,14177,1.24,417.8,25.2,7.2,1307,14249,0.00,2.33,64.70,0.659,4,0.000,0.028,2953,975,1826
$STATE,14407,end climb,SURFACE_DEPTH_REACHED
$STATE,14407,begin surface coast
$FINISH,1.8,1.020454
$STATE,14436,end surface coast,CONTROL_FINISHED_OK
$STATE,14436,begin surface
$SM_CCo,14459,42.33,0.620,0,0,1595,475.15
$SM_GC,3.42,0.00,0.00,42.33,0.000,0.000,0.620,139,2404,1595,-7.63,0.57,475.15
$IRIDIUM_FIX,2458.45,12238.68,221198,080810
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.0,102.196
$10V_AH,10.5,53.481
$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,29.975,120.800,455.325,42.325,0.000,28.073,47.928,177.532,8.000,0.000,0.000,32.593,2449.197,8527.105,585.207,2614.475,765.101,0.000,1888.316,0.000,2532.754,0.000,61.121,0.000
$DEVICE_MAMPS,233.168,52.923,1400.542,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,916.618,951.648,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72488,1352
$CAP_FILE_SIZE,158724,0
$CFSIZE,260165632,179560448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 61.8,1
$GPS,280809,161301,2504.625,12239.874,40,1.1,41,-3.6