version: 66.04
glider: 167
mission: 2
dive: 587
start: 8 27 109 12 1 19
data:
$ID,167
$MISSION,2
$DIVE,587
$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,-20873.004
$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,42
$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
$GPS1,115400,2511.065,12233.930,40,1.4,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-72.0
$GPS2,120056,2511.184,12234.167,12,1.1,12,-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,164.8,52910,-25.0,-13.200
$D_GRID,962
$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,-121.7,0.0,0.0,0,35,0.00,0.00,-16.88,0.000,2,0.000,0.000,138,2421,2002
$GC,39,-1.50,-121.7,3.0,-1.7,3,118,8.15,2.12,-62.15,0.000,4,0.232,0.037,2093,996,3990
$GC,191,-1.06,-121.7,43.1,-31.4,28,199,0.55,2.10,0.00,0.000,6,0.183,0.032,2230,2384,3992
$GC,540,-1.06,-121.7,99.2,-15.1,89,546,0.00,2.12,0.00,0.000,4,0.000,0.044,2221,3766,3996
$GC,749,-1.06,-121.7,135.9,-16.1,126,755,0.00,1.92,0.00,0.000,6,0.000,0.023,2221,2405,3996
$GC,1095,-1.15,-121.7,186.4,-13.5,187,1101,0.00,2.12,0.00,0.000,4,0.000,0.046,2220,3764,3997
$GC,1233,-1.15,-121.7,205.8,-15.7,211,1239,0.00,1.88,0.00,0.000,6,0.000,0.024,2220,2446,3997
$GC,1581,-1.24,-121.7,255.1,-11.9,272,1588,0.12,2.05,0.00,0.000,4,0.079,0.047,2166,3753,3997
$GC,1676,-1.07,-121.7,270.5,-17.0,288,1684,0.25,1.85,0.00,0.000,6,0.169,0.025,2231,2464,3997
$GC,2018,-1.24,-121.7,314.3,-11.6,338,2022,0.15,2.03,0.00,0.000,4,0.074,0.047,2166,3754,3997
$GC,2182,-1.09,-121.7,343.1,-17.6,352,2189,0.22,1.85,0.00,0.000,6,0.170,0.025,2224,2470,3997
$GC,2508,-1.29,-121.7,383.5,-11.9,383,2512,0.17,2.03,0.00,0.000,4,0.069,0.048,2148,3755,3996
$GC,2660,-1.04,-121.7,413.0,-22.2,396,2664,0.28,1.83,0.00,0.000,6,0.173,0.025,2237,2515,3995
$GC,2993,-1.32,-121.7,452.7,-10.8,427,2997,0.20,1.98,0.00,0.000,4,0.067,0.049,2152,3763,3993
$GC,3156,-1.21,-121.7,481.4,-17.4,441,3163,0.15,1.80,0.00,0.000,6,0.174,0.026,2188,2523,3993
$GC,3481,-1.31,-121.7,524.8,-12.9,463,3486,0.00,1.98,0.00,0.000,4,0.000,0.050,2181,3773,3991
$GC,3618,-1.31,-121.7,545.4,-14.0,469,3621,0.00,1.77,0.00,0.000,6,0.000,0.027,2181,2559,3990
$GC,3953,-1.40,-121.7,586.9,-13.4,485,3957,0.15,1.90,0.00,0.000,4,0.082,0.052,2123,3748,3988
$GC,4032,-1.21,-121.7,599.5,-17.2,488,4037,0.20,1.75,0.00,0.000,6,0.182,0.026,2189,2573,3987
$GC,4359,-1.36,-121.7,636.9,-11.6,504,4363,0.15,1.88,0.00,0.000,4,0.074,0.049,2124,3756,3985
$GC,4477,-1.17,-121.7,658.4,-17.7,509,4481,0.22,1.77,0.00,0.000,6,0.181,0.026,2196,2565,3984
$GC,4810,-1.36,-121.7,700.7,-12.6,525,4814,0.15,1.90,0.00,0.000,4,0.081,0.051,2140,3755,3982
$GC,5051,-1.23,-121.7,743.5,-17.3,535,5058,0.17,1.70,0.00,0.000,6,0.184,0.028,2182,2599,3980
$GC,5372,-1.35,-121.7,782.1,-11.6,551,5376,0.12,1.85,0.00,0.000,4,0.087,0.051,2137,3757,3978
$GC,5569,-1.25,-121.7,814.8,-17.0,559,5576,0.15,1.67,0.00,0.000,6,0.184,0.028,2172,2620,3977
$GC,5891,-1.36,-121.7,851.5,-11.3,575,5895,0.00,1.83,0.00,0.000,4,0.000,0.054,2166,3744,3975
$GC,5960,-1.36,-121.7,860.6,-12.7,578,5964,0.00,1.62,0.00,0.000,6,0.000,0.028,2166,2637,3974
$GC,6303,-1.45,-121.7,900.0,-12.1,594,6307,0.15,1.80,0.00,0.000,4,0.087,0.054,2104,3755,3973
$GC,6372,-1.23,-121.7,912.1,-17.5,597,6377,0.30,1.62,0.00,0.000,6,0.189,0.028,2180,2654,3972
$STATE,6475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6475,begin apogee
$GC,6485,-0.27,0.0,925.1,11.2,602,6582,1.02,0.00,93.78,1.358,6,0.150,0.000,2485,2394,3532
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6587,1.50,121.7,928.9,0.0,607,6699,1.60,2.28,104.38,1.316,4,0.058,0.048,3060,3754,3035
$GC,6957,0.51,121.7,899.3,16.2,623,6964,1.30,2.10,0.00,0.000,6,0.229,0.023,2754,2327,3031
$GC,7275,0.63,218.3,875.8,6.2,639,7361,0.00,2.15,80.78,1.291,4,0.000,0.028,2762,989,2642
$GC,7615,0.82,239.0,840.2,11.7,654,7640,0.25,2.17,17.95,1.208,6,0.074,0.036,2854,2389,2556
$GC,7966,0.66,239.0,780.5,18.1,671,7971,0.20,2.15,0.00,0.000,4,0.187,0.030,2804,980,2551
$GC,8056,0.73,239.0,765.9,15.2,675,8060,0.00,2.17,0.00,0.000,6,0.000,0.035,2804,2389,2551
$GC,8385,0.73,239.0,715.8,15.5,691,8389,0.00,2.17,0.00,0.000,4,0.000,0.054,2803,3760,2550
$GC,8441,0.60,239.0,706.1,17.0,693,8446,0.15,2.03,0.00,0.000,6,0.199,0.028,2777,2380,2549
$GC,8764,0.70,246.7,662.9,12.6,709,8775,0.00,2.30,6.47,0.990,4,0.000,0.054,2777,3762,2525
$GC,8883,0.70,246.7,644.5,15.4,714,8887,0.00,2.00,0.00,0.000,6,0.000,0.028,2786,2396,2524
$GC,9206,0.79,246.7,599.4,14.4,730,9210,0.15,2.20,0.00,0.000,4,0.083,0.050,2844,3764,2523
$GC,9464,0.56,246.7,549.8,19.7,741,9471,0.35,1.98,0.00,0.000,6,0.193,0.028,2763,2421,2523
$GC,9783,0.73,253.7,509.5,12.7,757,9797,0.15,2.22,7.05,0.950,4,0.084,0.052,2818,3761,2497
$GC,9872,0.62,253.7,493.2,19.3,762,9877,0.17,1.98,0.00,0.000,6,0.192,0.027,2785,2422,2496
$GC,10206,0.74,253.7,445.0,14.8,793,10210,0.10,2.17,0.00,0.000,4,0.092,0.052,2823,3767,2495
$GC,10295,0.60,253.7,428.5,18.3,800,10303,0.22,1.98,0.00,0.000,6,0.191,0.026,2774,2420,2495
$GC,10621,0.76,253.7,381.9,14.3,831,10626,0.15,2.15,0.00,0.000,4,0.084,0.051,2830,3755,2494
$GC,10655,0.63,253.7,376.0,18.3,833,10662,0.20,1.95,0.00,0.000,6,0.194,0.026,2787,2420,2494
$GC,10982,0.76,253.7,329.9,14.2,864,10986,0.10,2.15,0.00,0.000,4,0.094,0.031,2831,983,2494
$GC,11021,0.82,253.7,323.7,14.8,867,11027,0.00,2.22,0.00,0.000,6,0.000,0.035,2832,2425,2494
$GC,11357,0.82,253.7,274.4,14.7,913,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2425,2494
$GC,11702,0.85,272.5,228.8,11.8,974,11725,0.00,2.17,16.35,0.862,4,0.000,0.054,2832,3758,2421
$GC,11918,0.76,272.5,196.0,16.5,1012,11925,0.00,1.98,0.00,0.000,6,0.000,0.027,2841,2418,2419
$GC,12266,0.82,286.9,149.7,12.2,1073,12285,0.00,2.22,13.25,0.781,4,0.000,0.049,2841,3765,2362
$GC,12388,0.75,286.9,132.0,15.2,1094,12394,0.00,1.95,0.00,0.000,6,0.000,0.025,2851,2431,2361
$GC,12735,0.84,315.7,85.1,11.1,1155,12764,0.00,2.20,24.15,0.741,4,0.000,0.049,2851,3760,2243
$GC,13020,0.91,321.5,46.3,12.8,1205,13031,0.00,1.92,5.65,0.586,6,0.000,0.025,2861,2431,2220
$GC,13372,1.35,459.1,28.6,3.2,1267,13489,0.38,2.17,108.12,0.668,4,0.061,0.048,3013,3758,1658
$STATE,13596,end climb,SURFACE_DEPTH_REACHED
$STATE,13596,begin surface coast
$FINISH,1.9,1.007740
$STATE,13614,end surface coast,CONTROL_FINISHED_OK
$STATE,13614,begin surface
$SM_CCo,13637,9.98,0.578,0,0,1595,475.15
$SM_GC,4.05,0.00,0.00,9.98,0.000,0.000,0.578,139,2356,1595,-7.63,-0.74,475.15
$IRIDIUM_FIX,2503.20,12233.38,211198,080858
$TT8_MAMPS,0.028379
$HUMID,1869
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,900.0,49.7
$24V_AH,23.0,101.176
$10V_AH,10.5,52.967
$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,26.325,112.300,477.925,9.975,0.000,25.661,37.405,185.459,8.000,0.000,0.000,12.445,2342.283,7906.348,569.226,2518.915,721.846,0.000,1836.199,0.000,2454.866,0.000,52.311,0.000
$DEVICE_MAMPS,232.401,54.457,1357.590,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.444,927.126,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69442,1309
$CAP_FILE_SIZE,148245,0
$CFSIZE,260165632,180031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 81.9,1
$GPS,270809,155007,2509.968,12234.829,37,1.3,38,-3.6