version: 66.04
glider: 167
mission: 2
dive: 590
start: 8 28 109 0 6 1
data:
$ID,167
$MISSION,2
$DIVE,590
$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,-20927.611
$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,72
$R_STBD_OVSHOOT,36
$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
$GPS1,235837,2507.641,12237.140,41,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-71.1
$GPS2,000538,2507.766,12237.354,11,1.6,11,-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,195.9,45004,-25.0,-13.200
$D_GRID,1304
$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,-23.30,0.000,2,0.000,0.000,135,2395,2174
$GC,45,-1.50,-121.7,3.1,-1.9,4,117,8.07,2.15,-55.53,0.000,4,0.230,0.055,2082,3761,3988
$GC,289,-0.82,-121.7,82.5,-27.9,46,296,0.85,2.03,0.00,0.000,6,0.183,0.022,2313,2345,3992
$GC,637,-1.25,-121.7,116.1,-8.9,107,644,0.32,2.22,0.00,0.000,4,0.055,0.044,2165,3766,3995
$GC,771,-0.99,-121.7,141.8,-23.0,130,778,0.35,1.95,0.00,0.000,6,0.174,0.024,2259,2408,3995
$GC,1118,-1.21,-121.7,192.5,-14.2,191,1126,0.17,2.12,0.00,0.000,4,0.067,0.046,2179,3765,3996
$GC,1179,-1.03,-121.7,203.8,-20.8,201,1185,0.25,1.95,0.00,0.000,6,0.165,0.023,2245,2386,3996
$GC,1527,-1.24,-121.7,248.3,-10.6,262,1534,0.17,2.15,0.00,0.000,4,0.070,0.045,2164,3759,3996
$GC,1709,-1.00,-121.7,281.9,-22.1,293,1715,0.32,1.88,0.00,0.000,6,0.164,0.023,2254,2445,3996
$GC,2049,-1.32,-121.7,322.5,-10.5,336,2054,0.25,2.08,0.00,0.000,4,0.061,0.047,2149,3765,3996
$GC,2204,-1.09,-121.7,351.0,-20.7,349,2209,0.30,1.83,0.00,0.000,6,0.169,0.024,2229,2494,3996
$GC,2538,-1.31,-121.7,392.6,-12.3,380,2542,0.20,2.00,0.00,0.000,4,0.064,0.047,2139,3766,3995
$GC,2607,-1.09,-121.7,405.7,-20.9,386,2612,0.32,1.80,0.00,0.000,6,0.173,0.024,2226,2508,3995
$GC,2940,-1.31,-121.7,450.0,-12.1,417,2944,0.17,1.98,0.00,0.000,4,0.072,0.048,2149,3757,3993
$GC,3036,-1.10,-121.7,467.3,-19.2,425,3042,0.28,1.77,0.00,0.000,6,0.176,0.025,2221,2529,3993
$GC,3371,-1.33,-121.7,504.9,-10.2,455,3376,0.17,1.95,0.00,0.000,4,0.070,0.050,2143,3760,3991
$GC,3545,-1.18,-121.7,533.4,-16.8,462,3552,0.22,1.75,0.00,0.000,6,0.179,0.025,2199,2556,3990
$GC,3864,-1.32,-121.7,572.4,-12.9,478,3868,0.15,1.90,0.00,0.000,4,0.075,0.050,2139,3760,3987
$GC,3987,-1.17,-121.7,594.5,-18.1,483,3992,0.22,1.73,0.00,0.000,6,0.179,0.026,2196,2575,3987
$GC,4314,-1.32,-121.7,638.8,-13.2,499,4318,0.12,1.88,0.00,0.000,4,0.083,0.051,2147,3763,3985
$GC,4477,-1.22,-121.7,667.1,-17.9,506,4481,0.15,1.70,0.00,0.000,6,0.189,0.027,2182,2603,3983
$GC,4814,-1.33,-121.7,714.2,-12.8,522,4818,0.00,1.85,0.00,0.000,4,0.000,0.052,2178,3751,3982
$GC,4876,-1.40,-121.7,723.6,-14.2,524,4882,0.15,1.67,0.00,0.000,6,0.081,0.027,2122,2605,3981
$GC,5194,-1.31,-121.7,772.7,-15.7,540,5196,0.15,0.00,0.00,0.000,6,0.182,0.000,2158,2604,3979
$GC,5502,-1.36,-121.7,818.2,-14.5,555,5505,0.00,1.83,0.00,0.000,4,0.000,0.052,2152,3752,3977
$GC,5644,-1.36,-121.7,841.1,-16.3,561,5647,0.00,1.67,0.00,0.000,6,0.000,0.027,2152,2609,3976
$GC,5971,-1.36,-121.7,891.2,-15.2,577,5975,0.00,1.85,0.00,0.000,4,0.000,0.054,2149,3746,3974
$GC,6131,-1.36,-121.7,916.7,-15.6,584,6135,0.00,1.65,0.00,0.000,6,0.000,0.028,2149,2641,3974
$GC,6465,-1.36,-121.7,967.6,-15.4,600,6468,0.00,1.77,0.00,0.000,4,0.000,0.051,2143,3758,3972
$GC,6584,-1.36,-121.7,987.4,-16.3,605,6588,0.00,1.62,0.00,0.000,6,0.000,0.028,2143,2664,3971
$STATE,6598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6599,begin apogee
$GC,6607,-0.27,0.0,990.4,17.1,606,6705,1.23,0.00,94.50,1.398,6,0.170,0.000,2487,2403,3532
$STATE,6706,end apogee,CONTROL_FINISHED_OK
$STATE,6706,begin climb
$GC,6709,1.50,121.7,995.3,0.0,611,6822,1.60,2.33,105.53,1.362,4,0.054,0.027,3075,965,3034
$GC,6845,1.00,275.7,1003.1,2.0,616,6985,0.70,2.25,131.85,1.341,6,0.222,0.033,2907,2382,2406
$GC,7311,0.74,275.7,906.3,23.0,639,7316,0.30,2.17,0.00,0.000,4,0.196,0.051,2824,3748,2399
$GC,7384,0.61,275.7,889.8,20.7,642,7389,0.22,2.08,0.00,0.000,6,0.193,0.025,2775,2347,2398
$GC,7701,0.73,275.7,841.7,15.0,657,7706,0.12,2.25,0.00,0.000,4,0.089,0.050,2824,3748,2396
$GC,7887,0.57,275.7,804.7,20.7,665,7891,0.25,2.00,0.00,0.000,6,0.196,0.026,2769,2377,2396
$GC,8208,0.74,275.7,753.8,15.3,681,8213,0.15,2.20,0.00,0.000,4,0.084,0.051,2826,3750,2394
$GC,8400,0.60,275.7,715.2,20.3,689,8404,0.22,1.95,0.00,0.000,6,0.192,0.026,2778,2415,2394
$GC,8723,0.73,275.7,668.7,13.8,705,8727,0.12,2.15,0.00,0.000,4,0.087,0.050,2826,3756,2393
$GC,8779,0.60,275.7,658.7,17.6,707,8787,0.22,1.95,0.00,0.000,6,0.193,0.026,2778,2421,2393
$GC,9096,0.74,279.5,615.8,12.9,723,9098,0.12,0.00,0.00,0.000,6,0.087,0.000,2825,2418,2392
$GC,9405,0.74,279.5,566.2,17.0,738,9409,0.00,2.15,0.00,0.000,4,0.000,0.054,2825,3757,2391
$GC,9596,0.63,279.5,530.2,19.8,746,9600,0.20,1.95,0.00,0.000,6,0.192,0.027,2785,2429,2391
$GC,9921,0.77,279.5,480.7,14.5,767,9925,0.12,2.10,0.00,0.000,4,0.085,0.050,2832,3749,2391
$GC,10095,0.63,279.5,446.7,18.8,782,10101,0.22,1.92,0.00,0.000,6,0.189,0.028,2785,2436,2391
$GC,10421,0.78,279.5,398.1,14.8,813,10422,0.12,0.00,0.00,0.000,6,0.084,0.000,2832,2432,2390
$GC,10743,0.78,279.5,345.7,15.7,843,10747,0.00,2.10,0.00,0.000,4,0.000,0.051,2833,3749,2390
$GC,10813,0.67,279.5,332.8,17.6,849,10817,0.17,1.95,0.00,0.000,6,0.190,0.026,2800,2418,2390
$GC,11146,0.81,279.5,283.0,15.1,889,11153,0.12,2.15,0.00,0.000,4,0.084,0.029,2857,972,2390
$GC,11178,0.86,279.5,277.7,16.1,894,11184,0.00,2.22,0.00,0.000,6,0.000,0.034,2856,2424,2389
$GC,11524,0.86,279.5,219.7,17.2,955,11531,0.00,2.10,0.00,0.000,4,0.000,0.053,2856,3751,2390
$GC,11681,0.72,279.5,190.9,18.2,982,11687,0.20,1.92,0.00,0.000,6,0.189,0.026,2816,2425,2389
$GC,12028,0.84,279.5,143.1,16.4,1043,12036,0.10,2.15,0.00,0.000,4,0.094,0.030,2855,982,2390
$GC,12225,0.96,305.4,114.3,11.3,1077,12255,0.10,2.17,22.58,0.763,6,0.091,0.032,2894,2414,2285
$GC,12598,0.96,306.9,74.2,13.1,1142,12604,0.00,2.15,0.00,0.000,4,0.000,0.028,2904,976,2282
$GC,12726,1.10,363.8,59.1,9.1,1164,12779,0.00,2.25,46.85,0.709,6,0.000,0.032,2904,2450,2047
$GC,13122,1.44,479.7,21.3,4.8,1233,13221,0.35,2.10,91.12,0.652,4,0.058,0.048,3044,3751,1574
$STATE,13251,end climb,SURFACE_DEPTH_REACHED
$STATE,13251,begin surface coast
$FINISH,1.8,1.003404
$STATE,13261,end surface coast,CONTROL_FINISHED_OK
$STATE,13261,begin surface
$SM_CCo,13344,0.00,0.000,0,0,1568,481.77
$SM_GC,2.99,8.05,0.00,0.00,0.058,0.000,0.000,139,2378,1568,-7.60,-0.14,481.77
$IRIDIUM_FIX,2458.45,12235.39,211198,202026
$TT8_MAMPS,0.029146
$HUMID,1796
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.0,101.692
$10V_AH,10.6,53.220
$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,28.450,107.850,492.425,0.000,0.000,25.276,32.340,194.436,8.000,0.000,0.000,12.046,2249.800,7870.353,562.014,2364.379,708.823,0.000,1762.112,0.000,2301.727,0.000,54.404,0.000
$DEVICE_MAMPS,230.100,55.224,1398.241,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,851.360,888.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66328,1257
$CAP_FILE_SIZE,143487,0
$CFSIZE,260165632,179806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 80.0,1
$GPS,280809,034937,2506.599,12238.252,34,0.9,34,-3.6