version: 66.04
glider: 167
mission: 2
dive: 592
start: 8 28 109 8 8 27
data:
$ID,167
$MISSION,2
$DIVE,592
$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,-20973.518
$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,71
$R_STBD_OVSHOOT,41
$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
$GPS1,080036,2506.068,12238.400,42,1.0,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-71.0
$GPS2,080806,2506.198,12238.452,14,1.0,30,-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,182.9,41634,-25.0,-13.200
$D_GRID,1393
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.48,0.000,2,0.000,0.000,138,2400,2162
$GC,45,-1.50,-121.7,3.1,-3.0,3,117,8.10,2.15,-53.55,0.000,4,0.230,0.037,2093,981,3990
$GC,254,-0.85,-121.7,64.0,-37.7,39,261,0.80,2.12,0.00,0.000,6,0.183,0.031,2299,2392,3992
$GC,602,-1.08,-121.7,118.7,-11.4,100,609,0.17,2.10,0.00,0.000,4,0.067,0.044,2207,3754,3994
$GC,673,-0.88,-121.7,131.5,-19.1,112,679,0.30,2.03,0.00,0.000,6,0.160,0.021,2292,2323,3994
$GC,1020,-1.17,-121.7,171.4,-13.0,173,1027,0.22,2.25,0.00,0.000,4,0.060,0.044,2192,3763,3997
$GC,1255,-1.05,-121.7,216.9,-19.7,214,1263,0.17,2.00,0.00,0.000,6,0.167,0.024,2237,2366,3997
$GC,1605,-1.18,-121.7,262.8,-14.8,275,1611,0.12,2.17,0.00,0.000,4,0.076,0.044,2178,3761,3997
$GC,1800,-1.08,-121.7,299.5,-18.3,309,1811,0.20,1.92,0.00,0.000,6,0.160,0.023,2232,2402,3997
$GC,2126,-1.26,-121.7,346.4,-14.4,340,2131,0.17,2.12,0.00,0.000,4,0.068,0.046,2149,3761,3997
$GC,2223,-1.08,-121.7,365.8,-21.2,348,2230,0.30,1.88,0.00,0.000,6,0.166,0.023,2230,2440,3997
$GC,2551,-1.32,-121.7,403.8,-10.1,379,2556,0.20,2.05,0.00,0.000,4,0.065,0.046,2139,3747,3997
$GC,2720,-1.14,-121.7,431.7,-17.6,393,2726,0.25,1.83,0.00,0.000,6,0.169,0.023,2205,2463,3997
$GC,3046,-1.29,-121.7,474.3,-12.5,424,3051,0.12,2.03,0.00,0.000,4,0.078,0.047,2152,3749,3995
$GC,3131,-1.17,-121.7,488.7,-17.2,431,3137,0.17,1.77,0.00,0.000,6,0.173,0.025,2195,2515,3994
$GC,3465,-1.30,-121.7,533.9,-13.4,451,3468,0.00,1.95,0.00,0.000,4,0.000,0.049,2192,3751,3992
$GC,3723,-1.39,-121.7,571.1,-13.8,462,3727,0.17,1.75,0.00,0.000,6,0.073,0.026,2124,2545,3990
$GC,4050,-1.27,-121.7,625.9,-16.2,478,4052,0.17,0.00,0.00,0.000,6,0.175,0.000,2168,2544,3987
$GC,4354,-1.34,-121.7,667.7,-13.6,493,4358,0.00,1.92,0.00,0.000,4,0.000,0.051,2165,3757,3986
$GC,4485,-1.34,-121.7,686.7,-16.0,498,4492,0.00,1.75,0.00,0.000,6,0.000,0.026,2165,2553,3985
$GC,4801,-1.39,-121.7,729.9,-14.1,514,4805,0.00,1.90,0.00,0.000,4,0.000,0.053,2165,3744,3982
$GC,4917,-1.39,-121.7,748.0,-15.5,519,4921,0.08,1.75,0.00,0.000,6,0.077,0.027,2128,2572,3981
$GC,5253,-1.33,-121.7,807.0,-18.0,535,5257,0.00,1.88,0.00,0.000,4,0.000,0.052,2124,3748,3978
$GC,5450,-1.20,-121.7,846.5,-19.1,543,5457,0.25,1.70,0.00,0.000,6,0.180,0.028,2188,2588,3977
$GC,5768,-1.37,-121.7,890.6,-13.6,559,5772,0.15,1.85,0.00,0.000,4,0.077,0.051,2126,3749,3975
$GC,5821,-1.27,-121.7,899.4,-17.6,561,5826,0.17,1.70,0.00,0.000,6,0.178,0.027,2169,2586,3974
$GC,6152,-1.39,-121.7,946.5,-14.0,577,6153,0.12,0.00,0.00,0.000,6,0.087,0.000,2124,2586,3972
$STATE,6413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6413,begin apogee
$GC,6423,-0.27,0.0,991.0,17.0,590,6521,1.30,0.00,94.40,1.397,6,0.173,0.000,2486,2393,3532
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6525,1.50,121.7,996.5,0.0,595,6638,1.60,2.33,105.55,1.358,4,0.054,0.027,3073,951,3035
$GC,6895,0.69,121.7,970.6,16.2,611,6902,1.08,2.20,0.00,0.000,6,0.225,0.036,2809,2373,3030
$GC,7213,0.56,170.5,938.2,9.7,627,7260,0.20,2.22,41.38,1.325,4,0.200,0.028,2759,956,2835
$GC,7513,0.67,192.2,904.5,11.6,640,7541,0.12,2.20,18.50,1.262,6,0.093,0.035,2804,2377,2747
$GC,7855,0.61,192.2,854.4,15.0,657,7859,0.00,2.15,0.00,0.000,4,0.000,0.029,2809,957,2743
$GC,7889,0.61,192.2,848.4,15.2,658,7894,0.12,2.20,0.00,0.000,6,0.187,0.035,2780,2380,2743
$GC,8207,0.63,204.5,808.0,12.3,673,8222,0.00,2.20,11.07,1.176,4,0.000,0.053,2780,3753,2697
$GC,8397,0.53,207.2,780.4,13.0,680,8408,0.15,2.05,4.03,0.818,6,0.195,0.026,2754,2362,2687
$GC,8739,0.68,226.6,740.4,11.8,697,8764,0.12,2.33,17.88,1.201,4,0.091,0.051,2800,3758,2608
$GC,9019,0.54,226.6,692.3,17.4,709,9023,0.20,2.03,0.00,0.000,6,0.192,0.028,2761,2399,2605
$GC,9336,0.68,230.2,650.4,12.9,724,9345,0.12,2.20,4.28,0.825,4,0.090,0.053,2807,3753,2593
$GC,9480,0.56,230.2,626.1,17.8,730,9484,0.22,1.98,0.00,0.000,6,0.190,0.027,2759,2417,2592
$GC,9802,0.71,231.5,581.8,13.1,746,9804,0.15,0.00,0.00,0.000,6,0.086,0.000,2815,2412,2592
$GC,10111,0.71,231.5,536.4,14.1,761,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2412,2591
$GC,10421,0.71,231.5,491.1,14.9,778,10424,0.00,2.15,0.00,0.000,4,0.000,0.051,2815,3759,2590
$GC,10618,0.57,231.5,457.3,16.4,795,10624,0.22,1.98,0.00,0.000,6,0.191,0.028,2768,2414,2590
$GC,10944,0.74,252.5,418.1,11.7,826,10966,0.15,0.00,18.77,1.010,6,0.081,0.000,2825,2412,2502
$GC,11284,0.74,252.5,368.0,14.3,858,11288,0.00,2.15,0.00,0.000,4,0.000,0.050,2825,3758,2499
$GC,11410,0.65,252.5,348.4,16.5,869,11414,0.17,1.92,0.00,0.000,6,0.196,0.026,2787,2448,2498
$GC,11741,0.79,252.5,305.7,14.0,900,11746,0.15,2.10,0.00,0.000,4,0.081,0.051,2844,3757,2498
$GC,12003,0.64,252.5,259.3,17.2,942,12010,0.25,1.88,0.00,0.000,6,0.189,0.027,2790,2469,2497
$GC,12352,0.85,291.2,217.2,10.4,1003,12394,0.17,2.12,32.17,0.860,4,0.076,0.057,2865,3750,2344
$GC,12504,0.70,291.2,191.1,19.5,1029,12510,0.25,1.85,0.00,0.000,6,0.187,0.025,2811,2481,2341
$GC,12851,0.90,293.2,142.0,13.1,1090,12859,0.17,2.05,0.00,0.000,4,0.078,0.048,2885,3765,2340
$GC,13115,0.74,293.2,97.7,16.1,1136,13122,0.28,1.83,0.00,0.000,6,0.181,0.025,2822,2496,2340
$GC,13462,1.18,422.9,64.0,3.8,1197,13575,0.35,2.10,102.70,0.704,4,0.060,0.048,2966,3752,1806
$GC,13833,1.20,440.2,8.2,11.9,1261,13852,0.00,1.80,14.05,0.610,6,0.000,0.023,2975,2496,1737
$STATE,13873,end climb,SURFACE_DEPTH_REACHED
$STATE,13873,begin surface coast
$FINISH,1.9,1.004709
$STATE,13897,end surface coast,CONTROL_FINISHED_OK
$STATE,13897,begin surface
$SM_CCo,13919,25.90,0.630,0,0,1595,475.15
$SM_GC,2.86,0.00,0.00,25.90,0.000,0.000,0.630,139,2368,1595,-7.63,-0.42,475.15
$IRIDIUM_FIX,2458.45,12240.68,221198,040412
$TT8_MAMPS,0.029146
$HUMID,1836
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,23.0,102.028
$10V_AH,10.5,53.392
$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,27.825,96.900,464.775,25.900,0.000,30.586,32.070,197.612,8.750,0.000,0.000,31.028,2276.688,8356.141,573.304,2452.211,726.416,0.000,1793.273,0.000,2374.424,0.000,54.441,0.000
$DEVICE_MAMPS,230.100,56.758,1396.707,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.613,880.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69417,1272
$CAP_FILE_SIZE,144836,0
$CFSIZE,260165632,179658752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 66.4,1
$GPS,280809,120207,2505.209,12239.059,32,1.1,33,-3.6