version: 66.04
glider: 167
mission: 2
dive: 584
start: 8 27 109 1 23 17
data:
$ID,167
$MISSION,2
$DIVE,584
$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,-20807.76
$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,87
$R_STBD_OVSHOOT,41
$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
$GPS1,011622,2514.374,12232.650,11,2.5,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.3
$GPS2,012258,2514.305,12232.800,14,2.5,33,-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,174.9,59125,-25.0,-13.200
$D_GRID,905
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-18.20,0.000,2,0.000,0.000,137,2415,2034
$GC,40,-1.50,-121.7,3.0,-2.9,3,125,8.15,2.15,-68.25,0.000,4,0.232,0.037,2091,993,3989
$GC,192,-0.62,-121.7,36.7,-47.3,28,199,1.08,2.12,0.00,0.000,6,0.186,0.038,2372,2379,3991
$GC,540,-1.08,-121.7,81.3,-10.6,89,548,0.35,2.03,0.00,0.000,4,0.054,0.022,2222,985,3993
$GC,693,-1.18,-121.7,108.8,-14.9,115,699,0.00,2.15,0.00,0.000,6,0.000,0.032,2218,2418,3993
$GC,1039,-1.18,-121.7,170.3,-16.1,176,1045,0.00,2.05,0.00,0.000,4,0.000,0.044,2207,3756,3996
$GC,1267,-1.08,-121.7,206.4,-15.6,216,1273,0.00,1.88,0.00,0.000,6,0.000,0.023,2207,2437,3996
$GC,1614,-1.14,-121.7,253.1,-14.1,277,1622,0.00,2.05,0.00,0.000,4,0.000,0.046,2205,3753,3997
$GC,1853,-1.14,-121.7,288.8,-14.1,319,1859,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2494,3997
$GC,2183,-1.20,-121.7,337.1,-15.7,356,2187,0.00,1.98,0.00,0.000,4,0.000,0.048,2205,3756,3997
$GC,2289,-1.20,-121.7,354.4,-15.7,365,2296,0.00,1.80,0.00,0.000,6,0.000,0.025,2205,2501,3997
$GC,2620,-1.30,-121.7,400.9,-13.5,396,2625,0.12,1.98,0.00,0.000,4,0.077,0.048,2150,3758,3997
$GC,2796,-1.10,-121.7,434.2,-19.7,411,2802,0.28,1.77,0.00,0.000,6,0.167,0.025,2224,2532,3996
$GC,3123,-1.33,-121.7,472.6,-11.6,442,3127,0.17,1.92,0.00,0.000,4,0.068,0.048,2146,3752,3995
$GC,3174,-1.20,-121.7,480.9,-18.1,446,3181,0.17,1.73,0.00,0.000,6,0.176,0.026,2189,2565,3995
$GC,3509,-1.30,-121.7,524.3,-12.3,469,3513,0.00,1.88,0.00,0.000,4,0.000,0.051,2188,3750,3993
$GC,3686,-1.30,-121.7,547.8,-13.5,476,3692,0.00,1.70,0.00,0.000,6,0.000,0.027,2188,2582,3992
$GC,4003,-1.42,-121.7,589.1,-12.9,492,4005,0.17,0.00,0.00,0.000,6,0.071,0.000,2121,2581,3991
$GC,4314,-1.28,-121.7,643.1,-18.3,507,4318,0.17,1.88,0.00,0.000,4,0.181,0.050,2165,3757,3988
$GC,4431,-1.28,-121.7,663.4,-17.4,512,4435,0.00,1.70,0.00,0.000,6,0.000,0.028,2165,2619,3987
$GC,4760,-1.33,-121.7,714.0,-14.2,528,4764,0.00,1.80,0.00,0.000,4,0.000,0.051,2164,3754,3985
$GC,4838,-1.33,-121.7,727.4,-17.2,531,4842,0.00,1.65,0.00,0.000,6,0.000,0.028,2164,2629,3984
$GC,5164,-1.39,-121.7,777.1,-14.3,547,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2628,3983
$GC,5472,-1.48,-121.7,818.2,-12.2,562,5476,0.17,1.80,0.00,0.000,4,0.076,0.052,2097,3753,3981
$STATE,5492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5492,begin apogee
$GC,5502,-0.27,0.0,821.9,14.0,563,5600,1.42,0.00,94.12,1.270,6,0.179,0.000,2489,2372,3532
$STATE,5601,end apogee,CONTROL_FINISHED_OK
$STATE,5601,begin climb
$GC,5605,1.50,121.7,826.0,0.0,568,5716,1.58,2.22,102.43,1.233,4,0.051,0.028,3075,972,3034
$GC,5970,0.71,121.7,798.7,14.7,584,5976,1.05,2.15,0.00,0.000,6,0.220,0.035,2815,2366,3031
$GC,6288,0.60,190.6,769.8,8.2,599,6353,0.17,2.28,55.78,1.213,4,0.204,0.051,2772,3751,2753
$GC,6496,0.51,190.6,745.3,14.1,608,6499,0.00,2.05,0.00,0.000,6,0.000,0.025,2773,2368,2750
$GC,6823,0.54,210.9,706.1,11.7,624,6843,0.00,0.00,17.48,1.140,6,0.000,0.000,2773,2365,2672
$GC,7153,0.63,229.2,666.4,11.9,640,7176,0.00,2.28,16.62,1.121,4,0.000,0.051,2773,3749,2597
$GC,7362,0.63,229.2,634.3,15.9,649,7366,0.00,2.03,0.00,0.000,6,0.000,0.025,2776,2382,2593
$GC,7690,0.71,229.2,589.8,15.5,665,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2381,2592
$GC,8000,0.81,229.2,543.9,15.1,680,8005,0.17,2.17,0.00,0.000,4,0.082,0.050,2850,3750,2591
$GC,8047,0.55,229.2,534.8,20.8,682,8052,0.38,2.03,0.00,0.000,6,0.193,0.025,2762,2372,2591
$GC,8376,0.73,249.6,490.7,11.7,701,8400,0.15,2.25,16.35,1.041,4,0.086,0.051,2818,3757,2514
$GC,8458,0.60,249.6,476.6,18.9,708,8463,0.20,2.05,0.00,0.000,6,0.191,0.025,2778,2370,2512
$GC,8786,0.73,249.6,430.9,14.0,738,8792,0.12,0.00,0.00,0.000,6,0.088,0.000,2825,2366,2511
$GC,9116,0.73,249.6,380.9,15.6,769,9119,0.00,2.22,0.00,0.000,4,0.000,0.051,2825,3761,2510
$GC,9336,0.59,249.6,342.8,16.7,788,9342,0.25,2.08,0.00,0.000,6,0.189,0.026,2771,2348,2509
$GC,9663,0.81,264.6,305.3,12.1,819,9681,0.20,0.00,13.10,0.902,6,0.076,0.000,2847,2343,2453
$GC,10017,0.81,264.6,245.5,17.6,879,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2343,2450
$GC,10364,0.81,264.6,188.5,14.2,940,10370,0.00,2.25,0.00,0.000,4,0.000,0.051,2847,3755,2450
$GC,10597,0.71,264.6,155.7,13.4,981,10605,0.17,2.03,0.00,0.000,6,0.189,0.024,2813,2360,2449
$GC,10949,0.88,282.5,118.7,11.9,1042,10974,0.15,2.05,15.57,0.759,4,0.080,0.029,2884,989,2379
$GC,11230,0.98,305.5,82.2,11.5,1091,11256,0.00,2.03,19.45,0.726,6,0.000,0.031,2884,2328,2285
$GC,11599,1.10,349.1,41.1,10.0,1155,11642,0.15,2.05,34.72,0.688,4,0.078,0.026,2951,980,2109
$GC,11671,1.10,349.1,31.6,13.2,1167,11678,0.00,2.05,0.00,0.000,6,0.000,0.031,2951,2318,2106
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,1.8,1.014191
$STATE,11898,end surface coast,CONTROL_FINISHED_OK
$STATE,11898,begin surface
$SM_CCo,11919,95.22,0.650,0,0,1595,475.15
$SM_GC,3.35,0.00,0.00,95.22,0.000,0.000,0.650,137,2388,1595,-7.64,0.14,475.15
$IRIDIUM_FIX,2507.97,12229.37,201198,222259
$TT8_MAMPS,0.029146
$HUMID,1802
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,777.1,69.8
$24V_AH,23.1,100.699
$10V_AH,10.6,52.723
$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,24.850,80.175,385.625,95.225,0.000,29.288,32.095,165.358,6.250,0.000,0.000,34.548,2115.809,6920.894,584.252,2171.324,614.264,0.000,1657.011,0.000,2094.671,0.000,47.899,0.000
$DEVICE_MAMPS,232.401,87.438,1270.152,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,818.342,866.953,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63247,1207
$CAP_FILE_SIZE,122907,0
$CFSIZE,260165632,180281344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 14.5,1
$GPS,270809,044455,2513.514,12232.815,40,1.4,40,-3.6