version: 66.04
glider: 167
mission: 2
dive: 591
start: 8 28 109 3 57 1
data:
$ID,167
$MISSION,2
$DIVE,591
$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,-20941.861
$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,79
$R_STBD_OVSHOOT,40
$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
$GPS1,034937,2506.599,12238.252,34,0.9,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-70.2
$GPS2,035638,2506.736,12238.451,13,1.2,13,-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,207.8,42570,-25.0,-13.200
$D_GRID,1377
$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,-23.17,0.000,2,0.000,0.000,139,2378,2147
$GC,45,-1.50,-121.7,3.4,-3.1,4,117,8.15,2.17,-56.10,0.000,4,0.230,0.053,2082,3760,3990
$GC,268,-0.77,-121.7,72.7,-27.8,42,276,0.90,2.00,0.00,0.000,6,0.176,0.021,2329,2352,3993
$GC,617,-1.24,-121.7,114.8,-11.4,103,624,0.38,2.20,0.00,0.000,4,0.053,0.045,2166,3754,3996
$GC,751,-0.91,-121.7,144.8,-24.0,126,758,0.43,1.88,0.00,0.000,6,0.164,0.024,2284,2435,3997
$GC,1098,-1.19,-121.7,183.7,-13.0,187,1105,0.22,2.08,0.00,0.000,4,0.062,0.044,2180,3764,3998
$GC,1183,-1.00,-121.7,200.4,-22.3,201,1190,0.28,1.88,0.00,0.000,6,0.166,0.022,2254,2440,3998
$GC,1535,-1.20,-121.7,252.5,-13.2,262,1543,0.17,2.08,0.00,0.000,4,0.063,0.048,2175,3761,3998
$GC,1687,-1.05,-121.7,280.7,-18.1,288,1694,0.25,1.85,0.00,0.000,6,0.166,0.024,2242,2463,3998
$GC,2022,-1.24,-121.7,324.6,-11.8,330,2027,0.17,2.03,0.00,0.000,4,0.068,0.046,2166,3758,3998
$GC,2119,-1.05,-121.7,341.2,-18.4,338,2127,0.28,1.83,0.00,0.000,6,0.169,0.024,2239,2486,3998
$GC,2446,-1.32,-121.7,377.9,-11.0,369,2450,0.22,2.00,0.00,0.000,4,0.063,0.048,2146,3754,3998
$GC,2543,-1.15,-121.7,394.8,-20.1,377,2549,0.17,1.83,0.00,0.000,6,0.171,0.025,2205,2514,3997
$GC,2868,-1.27,-121.7,443.3,-14.9,408,2873,0.12,1.95,0.00,0.000,4,0.079,0.049,2152,3753,3997
$GC,2965,-1.11,-121.7,461.3,-19.7,416,2972,0.25,1.75,0.00,0.000,6,0.175,0.026,2217,2542,3996
$GC,3294,-1.32,-121.7,500.3,-10.9,447,3298,0.17,1.92,0.00,0.000,4,0.071,0.050,2146,3757,3993
$GC,3456,-1.16,-121.7,526.6,-17.5,454,3460,0.22,1.75,0.00,0.000,6,0.181,0.026,2202,2561,3994
$GC,3793,-1.33,-121.7,564.4,-10.0,470,3798,0.15,1.90,0.00,0.000,4,0.071,0.049,2138,3760,3990
$GC,3911,-1.19,-121.7,581.9,-15.0,475,3916,0.22,1.73,0.00,0.000,6,0.176,0.027,2195,2576,3990
$GC,4244,-1.33,-121.7,617.2,-11.1,491,4249,0.15,1.88,0.00,0.000,4,0.077,0.051,2137,3752,3987
$GC,4340,-1.17,-121.7,633.1,-16.6,495,4345,0.20,1.70,0.00,0.000,6,0.179,0.026,2205,2609,3986
$GC,4670,-1.37,-121.7,669.2,-10.3,511,4672,0.20,0.00,0.00,0.000,6,0.070,0.000,2131,2609,3984
$GC,4978,-1.28,-121.7,716.9,-16.2,526,4982,0.15,1.83,0.00,0.000,4,0.186,0.051,2164,3749,3982
$GC,5056,-1.28,-121.7,728.8,-15.0,529,5060,0.00,1.67,0.00,0.000,6,0.000,0.027,2164,2602,3982
$GC,5380,-1.35,-121.7,770.8,-12.5,545,5384,0.00,1.83,0.00,0.000,4,0.000,0.052,2162,3749,3980
$GC,5442,-1.35,-121.7,779.3,-12.7,547,5448,0.00,1.65,0.00,0.000,6,0.000,0.028,2162,2623,3979
$GC,5761,-1.42,-121.7,819.3,-12.2,563,5766,0.12,1.80,0.00,0.000,4,0.091,0.051,2110,3749,3978
$GC,5916,-1.21,-121.7,846.6,-18.0,569,5923,0.30,1.62,0.00,0.000,6,0.191,0.028,2185,2641,3976
$GC,6238,-1.37,-121.7,886.0,-12.2,585,6242,0.15,1.80,0.00,0.000,4,0.077,0.051,2126,3764,3974
$GC,6323,-1.24,-121.7,900.1,-16.7,588,6329,0.20,1.62,0.00,0.000,6,0.190,0.028,2175,2654,3975
$GC,6641,-1.37,-121.7,940.1,-12.2,604,6643,0.12,0.00,0.00,0.000,6,0.087,0.000,2130,2654,3972
$GC,6949,-1.37,-121.7,986.5,-15.3,619,6952,0.00,1.75,0.00,0.000,4,0.000,0.054,2124,3749,3971
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6980,-0.27,0.0,990.3,15.9,620,7078,1.30,0.00,94.82,1.404,6,0.173,0.000,2486,2372,3532
$STATE,7079,end apogee,CONTROL_FINISHED_OK
$STATE,7079,begin climb
$GC,7084,1.50,121.7,994.1,0.0,625,7199,1.60,2.25,106.20,1.363,4,0.055,0.028,3073,986,3034
$GC,7455,0.69,121.7,963.7,15.8,641,7462,1.08,2.15,0.00,0.000,6,0.226,0.035,2810,2379,3031
$GC,7772,0.53,166.6,930.7,9.9,657,7817,0.20,2.22,38.05,1.322,4,0.205,0.030,2762,996,2852
$GC,7955,0.62,188.3,911.3,11.6,665,7979,0.00,2.15,18.83,1.263,6,0.000,0.036,2762,2372,2764
$GC,8311,0.63,195.3,866.6,12.7,682,8324,0.00,2.28,6.97,1.085,4,0.000,0.053,2762,3756,2735
$GC,8389,0.54,195.3,855.1,14.7,685,8393,0.00,2.03,0.00,0.000,6,0.000,0.028,2762,2403,2734
$GC,8712,0.59,197.1,813.8,13.1,701,8715,0.00,2.17,0.00,0.000,4,0.000,0.052,2762,3757,2733
$GC,8971,0.50,197.1,774.1,15.2,712,8975,0.00,2.03,0.00,0.000,6,0.000,0.028,2770,2392,2732
$GC,9293,0.50,197.1,727.6,15.5,728,9297,0.00,2.20,0.00,0.000,4,0.000,0.051,2771,3764,2731
$GC,9552,0.40,197.1,684.4,16.0,739,9557,0.25,1.98,0.00,0.000,6,0.193,0.028,2713,2426,2730
$GC,9876,0.68,237.0,649.3,10.3,755,9918,0.20,2.20,35.12,1.187,4,0.078,0.052,2796,3757,2566
$GC,10172,0.57,237.0,599.1,17.6,768,10176,0.17,1.98,0.00,0.000,6,0.187,0.028,2763,2429,2562
$GC,10501,0.71,237.0,555.8,13.3,784,10506,0.12,2.15,0.00,0.000,4,0.086,0.052,2810,3758,2560
$GC,10609,0.56,237.0,536.9,18.3,789,10614,0.20,1.95,0.00,0.000,6,0.192,0.028,2766,2448,2560
$GC,10938,0.70,237.0,491.1,13.9,807,10942,0.12,2.12,0.00,0.000,4,0.086,0.052,2813,3766,2560
$GC,11129,0.55,237.0,456.6,17.9,823,11135,0.22,1.90,0.00,0.000,6,0.190,0.028,2764,2468,2559
$GC,11455,0.73,252.3,415.3,12.1,854,11473,0.15,2.25,12.65,0.983,4,0.081,0.031,2830,973,2503
$GC,11514,0.73,252.3,406.4,15.9,858,11521,0.00,2.30,0.00,0.000,6,0.000,0.035,2830,2460,2502
$GC,11844,0.73,252.3,356.3,15.1,889,11847,0.00,2.05,0.00,0.000,4,0.000,0.051,2830,3761,2501
$GC,11913,0.59,252.3,344.5,16.6,895,11918,0.28,1.90,0.00,0.000,6,0.189,0.027,2769,2467,2501
$GC,12245,0.80,274.8,305.1,11.6,926,12270,0.20,2.15,19.77,0.923,4,0.077,0.052,2852,3755,2411
$GC,12319,0.62,274.8,292.9,18.4,935,12326,0.30,1.90,0.00,0.000,6,0.189,0.026,2785,2464,2409
$GC,12667,0.80,279.9,246.2,12.8,996,12679,0.15,2.10,5.80,0.735,4,0.077,0.051,2841,3766,2389
$GC,12689,0.90,279.9,243.0,14.1,999,12695,0.00,1.90,0.00,0.000,6,0.000,0.025,2851,2461,2389
$GC,13036,0.90,279.9,190.1,14.0,1060,13042,0.00,2.08,0.00,0.000,4,0.000,0.050,2851,3761,2388
$GC,13297,0.82,303.1,152.8,11.5,1106,13321,0.00,1.83,20.17,0.788,6,0.000,0.026,2860,2499,2296
$GC,13665,1.00,383.8,108.3,7.3,1170,13736,0.12,2.12,64.00,0.748,4,0.083,0.049,2910,3763,1966
$GC,13991,1.00,383.8,58.8,14.9,1227,13997,0.00,1.80,0.00,0.000,6,0.000,0.025,2920,2514,1957
$GC,14338,1.25,441.7,17.4,9.0,1288,14392,0.17,2.33,45.78,0.644,4,0.067,0.028,3007,974,1730
$STATE,14461,end climb,SURFACE_DEPTH_REACHED
$STATE,14461,begin surface coast
$FINISH,1.8,0.999627
$STATE,14483,end surface coast,CONTROL_FINISHED_OK
$STATE,14483,begin surface
$SM_CCo,14506,24.38,0.612,0,0,1594,475.15
$SM_GC,3.20,0.00,0.00,24.38,0.000,0.000,0.612,138,2400,1594,-7.63,0.48,475.15
$IRIDIUM_FIX,2456.07,12237.40,221198,000004
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.9,101.860
$10V_AH,10.5,53.307
$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,29.175,118.650,468.175,24.375,0.000,23.221,43.588,185.541,8.000,0.000,0.000,13.621,2384.907,8692.990,585.345,2550.702,732.787,0.000,1867.814,0.000,2481.906,0.000,54.421,0.000
$DEVICE_MAMPS,230.100,53.690,1404.377,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,889.470,908.088,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69480,1313
$CAP_FILE_SIZE,155275,0
$CFSIZE,260165632,179724288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 44.4,1
$GPS,280809,080036,2506.068,12238.400,42,1.0,43,-3.6