version: 66.04
glider: 167
mission: 2
dive: 588
start: 8 27 109 16 0 54
data:
$ID,167
$MISSION,2
$DIVE,588
$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,-20899.309
$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,90
$R_STBD_OVSHOOT,34
$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
$GPS1,155007,2509.968,12234.829,37,1.3,38,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-70.8
$GPS2,160035,2510.242,12235.265,16,2.0,25,-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,173.8,50573,-25.0,-13.200
$D_GRID,1063
$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,-23.08,0.000,2,0.000,0.000,138,2357,2181
$GC,46,-1.50,-121.7,3.0,-1.1,4,111,8.18,0.00,-50.62,0.000,6,0.233,0.000,2093,2356,3988
$GC,452,-1.09,-121.7,117.7,-25.3,75,460,0.43,2.20,0.00,0.000,4,0.169,0.043,2208,3761,3992
$GC,715,-0.99,-121.7,167.3,-18.1,121,722,0.17,1.98,0.00,0.000,6,0.161,0.022,2255,2366,3995
$GC,1062,-1.24,-121.7,213.2,-11.8,182,1069,0.20,2.20,0.00,0.000,4,0.062,0.045,2165,3773,3996
$GC,1247,-1.04,-121.7,250.2,-21.7,214,1254,0.28,1.92,0.00,0.000,6,0.164,0.022,2239,2414,3996
$GC,1595,-1.25,-121.7,301.5,-14.1,274,1600,0.17,2.12,0.00,0.000,4,0.067,0.045,2166,3769,3996
$GC,1749,-1.17,-121.7,330.7,-19.5,287,1754,0.15,1.92,0.00,0.000,6,0.166,0.023,2202,2416,3996
$GC,2081,-1.27,-121.7,381.9,-14.9,318,2085,0.00,2.10,0.00,0.000,4,0.000,0.046,2195,3758,3995
$GC,2255,-1.27,-121.7,409.8,-16.3,333,2258,0.00,1.88,0.00,0.000,6,0.000,0.025,2195,2453,3994
$GC,2587,-1.40,-121.7,455.4,-13.5,364,2591,0.17,2.08,0.00,0.000,4,0.077,0.047,2124,3769,3993
$GC,2742,-1.17,-121.7,484.7,-20.4,377,2749,0.28,1.85,0.00,0.000,6,0.172,0.025,2196,2487,3992
$GC,3065,-1.32,-121.7,528.8,-13.3,398,3069,0.12,2.03,0.00,0.000,4,0.082,0.048,2146,3766,3990
$GC,3145,-1.24,-121.7,542.7,-17.4,401,3149,0.12,1.83,0.00,0.000,6,0.177,0.025,2174,2506,3990
$GC,3470,-1.35,-121.7,587.3,-13.1,417,3474,0.00,2.00,0.00,0.000,4,0.000,0.051,2174,3769,3987
$GC,3667,-1.35,-121.7,616.6,-15.6,425,3673,0.00,1.85,0.00,0.000,6,0.000,0.026,2174,2520,3985
$GC,3983,-1.46,-121.7,659.3,-13.6,441,3988,0.17,1.98,0.00,0.000,4,0.077,0.051,2097,3761,3982
$GC,4194,-1.20,-121.7,701.0,-20.0,450,4198,0.35,1.77,0.00,0.000,6,0.179,0.027,2189,2547,3980
$GC,4526,-1.38,-121.7,740.4,-11.6,466,4530,0.15,1.95,0.00,0.000,4,0.075,0.051,2126,3767,3978
$GC,4657,-1.24,-121.7,761.8,-16.8,471,4665,0.20,1.75,0.00,0.000,6,0.178,0.026,2176,2572,3977
$GC,4979,-1.38,-121.7,801.7,-12.3,487,4984,0.12,1.90,0.00,0.000,4,0.087,0.051,2125,3766,3975
$GC,5019,-1.32,-121.7,807.7,-13.6,488,5026,0.12,1.75,0.00,0.000,6,0.180,0.027,2153,2572,3974
$GC,5337,-1.39,-121.7,848.7,-13.1,504,5341,0.00,1.92,0.00,0.000,4,0.000,0.053,2149,3760,3972
$GC,5440,-1.39,-121.7,863.5,-13.7,508,5443,0.00,1.70,0.00,0.000,6,0.000,0.028,2149,2603,3972
$GC,5762,-1.43,-121.7,908.8,-13.6,524,5766,0.00,1.85,0.00,0.000,4,0.000,0.054,2143,3760,3970
$GC,5889,-1.43,-121.7,926.4,-13.7,529,5893,0.00,1.67,0.00,0.000,6,0.000,0.029,2143,2627,3969
$GC,6211,-1.43,-121.7,975.0,-14.4,545,6216,0.00,1.83,0.00,0.000,4,0.000,0.054,2139,3767,3967
$STATE,6308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6308,begin apogee
$GC,6320,-0.27,0.0,990.8,15.5,549,6424,1.20,0.00,95.70,1.381,6,0.168,0.000,2484,2375,3532
$STATE,6425,end apogee,CONTROL_FINISHED_OK
$STATE,6425,begin climb
$GC,6429,1.50,121.7,994.4,0.0,554,6539,1.62,0.00,105.70,1.364,6,0.059,0.000,3064,2375,3035
$GC,6848,0.66,121.7,954.3,16.6,574,6853,1.05,2.22,0.00,0.000,4,0.226,0.048,2802,3760,3030
$GC,6871,0.12,121.7,950.9,13.5,575,6876,0.73,2.08,0.00,0.000,6,0.208,0.024,2625,2341,3030
$GC,7194,0.65,237.6,933.9,4.8,591,7301,0.43,2.40,97.82,1.338,4,0.067,0.051,2789,3760,2561
$GC,7409,0.56,237.6,902.4,16.7,600,7415,0.15,2.05,0.00,0.000,6,0.191,0.025,2764,2384,2556
$GC,7727,0.69,242.8,861.5,12.8,616,7737,0.12,2.22,4.22,0.855,4,0.087,0.052,2811,3754,2542
$GC,7890,0.55,242.8,833.6,17.8,623,7894,0.25,2.00,0.00,0.000,6,0.190,0.025,2756,2397,2540
$GC,8212,0.71,242.8,790.6,13.8,639,8216,0.15,2.20,0.00,0.000,4,0.085,0.051,2812,3765,2539
$GC,8274,0.57,242.8,779.4,20.1,642,8279,0.22,2.00,0.00,0.000,6,0.192,0.026,2765,2406,2538
$GC,8607,0.70,242.8,731.7,14.0,658,8609,0.12,0.00,0.00,0.000,6,0.089,0.000,2811,2401,2538
$GC,8917,0.70,242.8,682.1,15.8,673,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2401,2537
$GC,9226,0.70,242.8,631.9,16.6,688,9230,0.00,2.17,0.00,0.000,4,0.000,0.053,2811,3760,2536
$GC,9272,0.56,242.8,623.4,18.7,690,9277,0.22,1.98,0.00,0.000,6,0.189,0.028,2765,2421,2536
$GC,9608,0.71,250.8,578.6,12.6,706,9622,0.12,2.22,7.28,0.999,4,0.087,0.052,2811,3761,2509
$GC,9837,0.60,250.8,539.6,17.4,716,9842,0.20,1.98,0.00,0.000,6,0.191,0.028,2771,2421,2508
$GC,10166,0.76,261.5,498.9,12.4,732,10182,0.15,2.17,10.60,1.021,4,0.082,0.031,2831,982,2464
$GC,10342,0.81,261.5,472.4,15.3,747,10346,0.00,2.25,0.00,0.000,6,0.000,0.035,2831,2440,2462
$GC,10672,0.81,261.5,418.5,16.5,777,10675,0.00,2.10,0.00,0.000,4,0.000,0.052,2831,3768,2462
$GC,10811,0.69,261.5,393.0,17.6,789,10815,0.15,1.98,0.00,0.000,6,0.199,0.027,2804,2431,2461
$GC,11143,0.79,271.2,346.4,12.5,820,11157,0.00,2.20,9.05,0.905,4,0.000,0.030,2812,991,2426
$GC,11283,0.97,285.0,329.4,12.2,832,11306,0.22,2.25,13.05,0.921,6,0.070,0.035,2896,2443,2371
$GC,11635,0.85,285.0,266.6,16.8,880,11641,0.17,2.10,0.00,0.000,4,0.188,0.051,2847,3764,2368
$GC,11712,0.74,285.0,253.2,16.8,893,11719,0.15,1.95,0.00,0.000,6,0.194,0.026,2821,2433,2368
$GC,12059,0.85,285.0,199.1,15.7,954,12065,0.00,2.12,0.00,0.000,4,0.000,0.050,2821,3764,2367
$GC,12140,0.85,285.0,186.4,15.6,968,12146,0.00,1.92,0.00,0.000,6,0.000,0.026,2829,2441,2368
$GC,12487,0.98,316.5,140.9,10.9,1029,12523,0.17,2.22,26.45,0.792,4,0.074,0.029,2914,988,2239
$GC,12677,0.98,316.5,112.6,15.0,1062,12683,0.00,2.20,0.00,0.000,6,0.000,0.034,2915,2421,2236
$GC,13024,1.03,355.2,59.4,10.4,1123,13061,0.00,2.20,31.33,0.713,4,0.000,0.050,2915,3764,2083
$GC,13317,1.13,435.0,31.1,7.4,1174,13387,0.00,1.90,63.05,0.673,6,0.000,0.025,2924,2448,1757
$STATE,13581,end climb,SURFACE_DEPTH_REACHED
$STATE,13581,begin surface coast
$FINISH,1.8,1.002671
$STATE,13611,end surface coast,CONTROL_FINISHED_OK
$STATE,13611,begin surface
$SM_CCo,13632,29.05,0.628,0,0,1595,475.15
$SM_GC,2.46,0.00,0.00,29.05,0.000,0.000,0.628,135,2446,1595,-7.64,1.78,475.15
$IRIDIUM_FIX,2458.45,12304.43,211198,161642
$TT8_MAMPS,0.029146
$HUMID,1838
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,23.0,101.352
$10V_AH,10.5,53.051
$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,26.625,105.200,464.250,29.050,0.000,57.669,136.448,187.739,8.500,0.000,0.000,25.676,2213.221,8292.931,562.107,2364.412,845.259,0.000,1755.798,0.000,2293.796,0.000,54.419,0.000
$DEVICE_MAMPS,233.168,53.690,1381.367,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,831.579,851.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66337,1226
$CAP_FILE_SIZE,142338,0
$CFSIZE,260165632,179961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081, 57.2,1
$GPS,270809,195000,2509.135,12235.624,37,1.1,43,-3.6