version: 66.04
glider: 167
mission: 2
dive: 586
start: 8 27 109 8 18 37
data:
$ID,167
$MISSION,2
$DIVE,586
$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,-20859.926
$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
$GPS1,081136,2512.423,12232.851,39,1.0,45,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.9
$GPS2,081814,2512.577,12232.989,14,1.2,14,-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,158.2,56079,-25.0,-13.200
$D_GRID,953
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.95,0.000,2,0.000,0.000,138,2372,2174
$GC,45,-1.50,-121.7,3.1,-2.0,4,116,8.18,2.10,-53.30,0.000,4,0.235,0.044,2090,1008,3990
$GC,136,-0.60,-121.7,19.6,-41.4,19,145,1.15,2.08,0.00,0.000,6,0.199,0.027,2381,2401,3992
$GC,486,-1.04,-121.7,69.6,-10.5,80,492,0.35,2.05,0.00,0.000,4,0.054,0.022,2230,995,3994
$GC,602,-1.13,-121.7,89.4,-16.8,100,608,0.00,2.12,0.00,0.000,6,0.000,0.031,2221,2417,3995
$GC,948,-1.13,-121.7,145.3,-15.8,161,954,0.00,2.05,0.00,0.000,4,0.000,0.045,2218,3752,3997
$GC,1028,-1.13,-121.7,158.2,-14.6,175,1035,0.00,1.95,0.00,0.000,6,0.000,0.023,2218,2368,3997
$GC,1377,-1.22,-121.7,207.9,-14.1,236,1383,0.00,2.17,0.00,0.000,4,0.000,0.045,2210,3766,3997
$GC,1557,-1.22,-121.7,237.4,-17.0,267,1564,0.00,1.90,0.00,0.000,6,0.000,0.024,2209,2431,3997
$GC,1904,-1.32,-121.7,292.4,-15.9,328,1911,0.15,2.08,0.00,0.000,4,0.074,0.046,2146,3754,3998
$GC,1953,-1.12,-121.7,301.6,-20.1,336,1957,0.28,1.88,0.00,0.000,6,0.166,0.024,2220,2446,3997
$GC,2284,-1.31,-121.7,346.0,-11.6,367,2288,0.20,2.05,0.00,0.000,4,0.065,0.048,2137,3750,3997
$GC,2428,-1.07,-121.7,373.0,-21.6,379,2436,0.35,1.83,0.00,0.000,6,0.167,0.025,2232,2483,3997
$GC,2754,-1.33,-121.7,413.2,-10.3,410,2758,0.20,2.00,0.00,0.000,4,0.065,0.047,2146,3754,3997
$GC,2935,-1.16,-121.7,445.0,-18.5,426,2939,0.22,1.80,0.00,0.000,6,0.167,0.025,2204,2510,3996
$GC,3267,-1.32,-121.7,486.1,-12.4,457,3271,0.15,1.98,0.00,0.000,4,0.071,0.050,2146,3756,3995
$GC,3376,-1.22,-121.7,504.3,-16.3,465,3383,0.15,1.77,0.00,0.000,6,0.176,0.025,2182,2532,3993
$GC,3693,-1.32,-121.7,548.4,-13.9,481,3696,0.00,1.92,0.00,0.000,4,0.000,0.051,2179,3749,3992
$GC,3830,-1.32,-121.7,569.4,-16.0,487,3834,0.00,1.73,0.00,0.000,6,0.000,0.028,2179,2566,3991
$GC,4164,-1.43,-121.7,617.9,-14.0,503,4168,0.17,1.90,0.00,0.000,4,0.078,0.051,2110,3760,3989
$GC,4212,-1.22,-121.7,625.9,-18.4,505,4216,0.22,1.75,0.00,0.000,6,0.176,0.026,2183,2581,3989
$GC,4545,-1.37,-121.7,672.4,-13.3,521,4549,0.15,1.88,0.00,0.000,4,0.077,0.051,2124,3760,3986
$GC,4659,-1.22,-121.7,691.8,-17.8,526,4664,0.22,1.70,0.00,0.000,6,0.181,0.027,2181,2603,3985
$GC,4996,-1.37,-121.7,737.0,-12.9,542,5000,0.12,1.83,0.00,0.000,4,0.086,0.051,2127,3750,3983
$GC,5146,-1.23,-121.7,762.6,-17.9,548,5150,0.20,1.65,0.00,0.000,6,0.183,0.028,2176,2629,3981
$GC,5471,-1.37,-121.7,806.1,-12.5,564,5476,0.12,1.80,0.00,0.000,4,0.087,0.051,2126,3757,3980
$GC,5647,-1.28,-121.7,835.5,-16.2,571,5655,0.15,1.62,0.00,0.000,6,0.179,0.029,2162,2650,3978
$STATE,5899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5899,begin apogee
$GC,5907,-0.27,0.0,871.2,14.1,584,6005,1.10,0.00,93.90,1.307,6,0.155,0.000,2486,2391,3532
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6011,1.50,121.7,876.2,0.0,589,6125,1.62,2.30,103.00,1.272,4,0.055,0.048,3070,3749,3034
$GC,6381,0.48,121.7,843.0,18.6,606,6387,1.40,2.08,0.00,0.000,6,0.230,0.025,2739,2339,3030
$GC,6704,0.55,179.4,812.5,9.0,622,6758,0.00,2.40,47.35,1.240,4,0.000,0.051,2739,3751,2799
$GC,6872,0.55,179.4,791.1,15.2,629,6878,0.00,2.05,0.00,0.000,6,0.000,0.025,2749,2367,2796
$GC,7191,0.66,199.6,751.7,11.7,645,7214,0.12,2.33,16.90,1.166,4,0.089,0.051,2796,3760,2717
$GC,7325,0.49,199.6,730.1,17.1,650,7332,0.25,2.03,0.00,0.000,6,0.191,0.026,2742,2389,2715
$GC,7642,0.63,199.6,687.3,13.3,666,7647,0.12,2.20,0.00,0.000,4,0.087,0.050,2788,3760,2714
$GC,7818,0.51,199.6,657.9,18.0,674,7822,0.20,2.00,0.00,0.000,6,0.189,0.027,2748,2397,2713
$GC,8151,0.67,210.4,613.7,12.4,690,8166,0.15,2.20,9.98,1.058,4,0.085,0.051,2805,3757,2673
$GC,8358,0.50,210.4,579.3,17.2,698,8363,0.28,1.98,0.00,0.000,6,0.191,0.026,2744,2408,2671
$GC,8676,0.71,234.7,542.3,11.4,713,8699,0.17,0.00,20.90,1.085,6,0.082,0.000,2810,2406,2575
$GC,9005,0.71,234.7,494.5,15.7,730,9009,0.00,2.15,0.00,0.000,4,0.000,0.051,2810,3750,2572
$GC,9135,0.59,234.7,471.6,17.2,741,9141,0.17,1.95,0.00,0.000,6,0.195,0.027,2776,2417,2571
$GC,9461,0.75,252.2,430.1,11.9,772,9485,0.12,2.17,14.88,0.993,4,0.087,0.051,2823,3740,2503
$GC,9584,0.62,252.2,411.8,16.6,782,9591,0.20,1.95,0.00,0.000,6,0.190,0.025,2782,2410,2501
$GC,9910,0.75,252.2,370.8,13.7,813,9912,0.12,0.00,0.00,0.000,6,0.084,0.000,2830,2407,2500
$GC,10230,0.75,252.2,317.0,15.2,843,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2407,2499
$GC,10569,0.75,252.2,266.1,14.2,893,10575,0.00,2.12,0.00,0.000,4,0.000,0.048,2830,3750,2499
$GC,10755,0.64,252.2,237.7,14.6,925,10761,0.20,1.95,0.00,0.000,6,0.188,0.025,2789,2406,2498
$GC,11104,0.81,264.6,196.4,12.3,986,11122,0.15,0.00,11.02,0.801,6,0.078,0.000,2848,2403,2452
$GC,11463,0.81,264.6,139.0,15.5,1049,11469,0.00,2.15,0.00,0.000,4,0.000,0.050,2848,3754,2452
$GC,11614,0.69,264.6,113.3,16.9,1075,11620,0.20,1.92,0.00,0.000,6,0.185,0.024,2807,2417,2451
$GC,11962,0.94,339.6,76.9,7.8,1136,12027,0.17,2.22,59.85,0.733,4,0.072,0.048,2884,3750,2145
$GC,12282,0.96,358.1,34.0,11.9,1192,12302,0.00,1.92,15.02,0.660,6,0.000,0.024,2894,2423,2072
$GC,12643,1.38,504.6,11.5,2.6,1255,12738,0.32,0.00,91.53,0.644,2,0.059,0.000,3025,2421,1592
$STATE,12738,end climb,SURFACE_DEPTH_REACHED
$STATE,12738,begin surface coast
$FINISH,1.7,0.999035
$STATE,12760,end surface coast,CONTROL_FINISHED_OK
$STATE,12764,begin surface
$SM_CCo,12845,0.00,0.000,0,0,1585,477.60
$SM_GC,3.16,8.02,0.00,0.00,0.059,0.000,0.000,138,2420,1585,-7.60,1.05,477.60
$IRIDIUM_FIX,2503.20,12231.38,211198,040428
$TT8_MAMPS,0.028379
$HUMID,1823
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,850.9,44.8
$24V_AH,23.1,101.012
$10V_AH,10.6,52.881
$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,27.875,91.975,484.325,0.000,0.000,25.130,30.267,176.586,7.250,0.000,0.000,14.306,2241.545,7408.430,569.135,2347.773,669.183,0.000,1745.161,0.000,2289.173,0.000,48.950,0.000
$DEVICE_MAMPS,234.702,51.389,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,862.244,917.600,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69624,1275
$CAP_FILE_SIZE,136932,0
$CFSIZE,260165632,180117504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,137.5,1
$GPS,270809,115400,2511.065,12233.930,40,1.4,41,-3.6