version: 66.04
glider: 167
mission: 2
dive: 596
start: 8 29 109 0 32 31
data:
$ID,167
$MISSION,2
$DIVE,596
$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,-21051.949
$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,85
$R_STBD_OVSHOOT,39
$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
$GPS1,002136,2502.755,12240.725,37,1.0,37,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.7
$GPS2,003208,2502.829,12240.812,15,1.3,15,-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,183.6,34443,-25.0,-13.200
$D_GRID,1409
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.75,0.000,2,0.000,0.000,135,2437,2143
$GC,44,-1.50,-121.7,3.2,-2.1,4,117,8.10,2.17,-56.33,0.000,4,0.230,0.035,2085,985,3990
$GC,305,-0.98,-121.7,79.5,-28.1,48,312,0.68,2.12,0.00,0.000,6,0.175,0.032,2261,2392,3993
$GC,652,-1.07,-121.7,136.4,-14.9,109,659,0.00,2.10,0.00,0.000,4,0.000,0.045,2257,3754,3995
$GC,838,-1.17,-121.7,161.3,-14.6,141,846,0.15,1.92,0.00,0.000,6,0.071,0.023,2193,2382,3996
$GC,1188,-1.11,-121.7,223.0,-17.1,202,1194,0.12,2.15,0.00,0.000,4,0.163,0.045,2217,3756,3997
$GC,1263,-1.11,-121.7,235.8,-17.4,215,1269,0.00,1.85,0.00,0.000,6,0.000,0.024,2217,2447,3997
$GC,1611,-1.19,-121.7,290.9,-14.2,276,1617,0.00,2.05,0.00,0.000,4,0.000,0.047,2210,3761,3997
$GC,1844,-1.19,-121.7,331.0,-17.1,301,1851,0.00,1.85,0.00,0.000,6,0.000,0.025,2210,2463,3997
$GC,2174,-1.32,-121.7,374.5,-13.2,332,2179,0.17,2.03,0.00,0.000,4,0.072,0.048,2137,3749,3997
$GC,2254,-1.13,-121.7,389.5,-19.7,339,2258,0.28,1.83,0.00,0.000,6,0.167,0.025,2210,2475,3997
$GC,2586,-1.30,-121.7,435.5,-13.6,370,2591,0.15,2.03,0.00,0.000,4,0.074,0.048,2149,3758,3995
$GC,2741,-1.17,-121.7,465.0,-19.4,383,2747,0.20,1.85,0.00,0.000,6,0.171,0.025,2199,2483,3995
$GC,3075,-1.32,-121.7,515.1,-14.1,410,3079,0.12,2.03,0.00,0.000,4,0.077,0.049,2149,3763,3993
$GC,3229,-1.22,-121.7,543.8,-18.9,416,3236,0.15,1.83,0.00,0.000,6,0.176,0.025,2185,2507,3992
$GC,3547,-1.34,-121.7,593.0,-14.5,432,3552,0.12,1.98,0.00,0.000,4,0.077,0.051,2137,3749,3990
$GC,3639,-1.20,-121.7,609.8,-19.3,436,3643,0.20,1.77,0.00,0.000,6,0.175,0.027,2187,2534,3989
$GC,3976,-1.34,-121.7,656.1,-13.2,452,3981,0.12,1.95,0.00,0.000,4,0.079,0.051,2137,3759,3986
$GC,4209,-1.21,-121.7,696.7,-18.6,462,4213,0.15,1.77,0.00,0.000,6,0.174,0.026,2180,2566,3984
$GC,4540,-1.33,-121.7,741.0,-13.1,478,4543,0.00,1.88,0.00,0.000,4,0.000,0.051,2179,3748,3982
$GC,4643,-1.42,-121.7,755.5,-13.4,482,4647,0.17,1.73,0.00,0.000,6,0.074,0.027,2111,2567,3981
$GC,4966,-1.30,-121.7,807.3,-15.6,498,4968,0.17,0.00,0.00,0.000,6,0.175,0.000,2156,2566,3978
$GC,5276,-1.37,-121.7,845.5,-12.6,513,5279,0.00,1.90,0.00,0.000,4,0.000,0.051,2152,3760,3976
$GC,5315,-1.37,-121.7,851.3,-14.0,514,5321,0.00,1.73,0.00,0.000,6,0.000,0.027,2152,2583,3976
$GC,5633,-1.42,-121.7,895.7,-14.7,530,5636,0.00,1.88,0.00,0.000,4,0.000,0.053,2152,3757,3974
$GC,5805,-1.42,-121.7,922.3,-15.0,537,5809,0.00,1.73,0.00,0.000,6,0.000,0.028,2152,2607,3973
$GC,6128,-1.48,-121.7,969.7,-14.7,553,6132,0.15,1.85,0.00,0.000,4,0.084,0.053,2097,3757,3971
$STATE,6238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6238,begin apogee
$GC,6250,-0.27,0.0,990.8,19.6,558,6348,1.40,0.00,94.55,1.397,6,0.176,0.000,2484,2368,3531
$STATE,6349,end apogee,CONTROL_FINISHED_OK
$STATE,6349,begin climb
$GC,6353,1.50,121.7,996.2,0.0,563,6468,1.60,2.38,105.88,1.361,4,0.052,0.046,3064,3753,3035
$GC,6722,0.51,121.7,963.0,17.5,579,6729,1.33,2.05,0.00,0.000,6,0.229,0.023,2749,2359,3030
$GC,7039,0.62,215.5,939.8,6.4,595,7124,0.00,2.33,79.25,1.333,4,0.000,0.050,2749,3745,2652
$GC,7351,0.62,215.5,901.8,14.1,609,7354,0.00,2.03,0.00,0.000,6,0.000,0.025,2759,2380,2646
$GC,7686,0.73,224.2,862.0,12.6,625,7701,0.17,2.25,7.65,1.106,4,0.082,0.051,2825,3741,2617
$GC,7835,0.50,224.2,834.1,20.2,631,7839,0.32,2.00,0.00,0.000,6,0.192,0.026,2745,2407,2616
$GC,8153,0.67,224.2,790.0,13.8,646,8158,0.15,2.17,0.00,0.000,4,0.086,0.031,2802,956,2614
$GC,8265,0.73,224.2,772.2,15.2,651,8270,0.00,2.20,0.00,0.000,6,0.000,0.034,2802,2392,2614
$GC,8589,0.73,224.2,721.3,15.7,667,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2392,2612
$GC,8897,0.73,224.2,676.7,13.4,682,8901,0.00,2.15,0.00,0.000,4,0.000,0.051,2802,3756,2611
$GC,9040,0.59,224.2,656.1,14.7,688,9044,0.12,2.05,0.00,0.000,6,0.199,0.027,2774,2377,2611
$GC,9368,0.69,224.2,615.2,13.3,704,9372,0.00,2.22,0.00,0.000,4,0.000,0.053,2774,3759,2610
$GC,9475,0.69,224.2,597.9,16.4,708,9481,0.00,2.03,0.00,0.000,6,0.000,0.028,2784,2389,2610
$GC,9793,0.75,224.2,551.1,14.0,724,9795,0.10,0.00,0.00,0.000,6,0.094,0.000,2824,2387,2609
$GC,10101,0.70,224.2,503.5,15.4,739,10105,0.00,2.20,0.00,0.000,4,0.000,0.051,2824,3758,2609
$GC,10239,0.51,224.2,481.5,16.1,750,10244,0.32,2.00,0.00,0.000,6,0.188,0.027,2747,2404,2609
$GC,10565,0.75,258.7,445.7,10.7,780,10600,0.20,2.20,27.77,1.039,4,0.077,0.051,2829,3750,2476
$GC,10855,0.61,258.7,395.2,17.5,805,10862,0.22,1.95,0.00,0.000,6,0.189,0.028,2782,2430,2472
$GC,11183,0.78,262.2,351.1,12.9,836,11195,0.15,2.22,3.75,0.637,4,0.077,0.031,2847,980,2462
$GC,11387,0.83,262.2,320.3,13.8,854,11391,0.00,2.22,0.00,0.000,6,0.000,0.035,2847,2422,2462
$GC,11726,0.83,262.2,270.1,14.1,902,11731,0.00,2.10,0.00,0.000,4,0.000,0.051,2847,3754,2462
$GC,11753,0.72,262.2,266.2,16.3,906,11761,0.17,1.95,0.00,0.000,6,0.192,0.025,2814,2405,2461
$GC,12102,0.82,262.2,216.2,13.4,967,12108,0.00,2.10,0.00,0.000,4,0.000,0.030,2816,992,2461
$GC,12201,0.99,285.6,204.1,11.5,984,12231,0.22,2.20,20.95,0.838,6,0.068,0.034,2900,2434,2366
$GC,12575,0.92,285.6,140.2,13.7,1049,12581,0.00,2.08,0.00,0.000,4,0.000,0.049,2900,3755,2363
$GC,12837,0.73,285.6,95.4,18.1,1095,12844,0.35,1.90,0.00,0.000,6,0.182,0.025,2817,2444,2362
$GC,13184,0.99,312.2,55.3,11.3,1156,13214,0.20,2.12,21.92,0.698,4,0.067,0.049,2903,3764,2258
$GC,13472,1.17,460.3,32.2,2.5,1206,13594,0.12,1.88,115.82,0.663,6,0.079,0.025,2965,2464,1654
$STATE,13740,end climb,SURFACE_DEPTH_REACHED
$STATE,13740,begin surface coast
$FINISH,1.8,1.011166
$STATE,13762,end surface coast,CONTROL_FINISHED_OK
$STATE,13762,begin surface
$SM_CCo,13783,8.95,0.563,0,0,1594,475.15
$SM_GC,4.34,0.00,0.00,8.95,0.000,0.000,0.563,138,2463,1594,-7.63,2.26,475.15
$IRIDIUM_FIX,2453.69,12239.40,231198,000009
$TT8_MAMPS,0.029146
$HUMID,1835
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,22.7,102.710
$10V_AH,10.5,53.736
$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,26.075,104.975,477.550,8.950,0.000,53.579,69.467,268.196,8.250,0.000,0.000,15.719,2261.581,8272.534,570.976,2452.620,860.198,0.000,1802.633,0.000,2393.158,0.000,54.420,0.000
$DEVICE_MAMPS,230.100,52.923,1397.474,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,851.043,873.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69432,1257
$CAP_FILE_SIZE,144511,0
$CFSIZE,260165632,179339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 75.2,1
$GPS,290809,042336,2501.596,12241.222,30,1.1,31,-3.6