version: 66.04
glider: 167
mission: 2
dive: 595
start: 8 28 109 20 27 49
data:
$ID,167
$MISSION,2
$DIVE,595
$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,-21035.604
$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,69
$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
$GPS1,202024,2503.784,12240.377,40,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-72.0
$GPS2,202726,2504.017,12240.531,14,1.7,14,-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,192.0,36684,-25.0,-13.200
$D_GRID,1428
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-21.73,0.000,2,0.000,0.000,137,2395,2134
$GC,44,-1.50,-121.7,3.2,-2.1,4,117,8.18,2.12,-56.78,0.000,4,0.233,0.036,2091,969,3990
$GC,255,-1.01,-121.7,68.5,-35.1,39,262,0.62,2.15,0.00,0.000,6,0.181,0.035,2249,2379,3992
$GC,602,-1.01,-121.7,141.9,-17.8,100,608,0.00,2.12,0.00,0.000,4,0.000,0.046,2241,3761,3996
$GC,751,-1.07,-121.7,163.5,-14.1,126,757,0.00,2.00,0.00,0.000,6,0.000,0.023,2241,2343,3996
$GC,1097,-1.16,-121.7,216.7,-15.1,187,1104,0.10,2.22,0.00,0.000,4,0.083,0.044,2192,3768,3997
$GC,1191,-1.00,-121.7,233.3,-18.9,203,1198,0.22,1.92,0.00,0.000,6,0.167,0.023,2252,2417,3997
$GC,1543,-1.21,-121.7,278.9,-12.5,264,1549,0.17,2.10,0.00,0.000,4,0.066,0.046,2175,3758,3998
$GC,1703,-1.07,-121.7,309.9,-19.5,288,1707,0.22,1.88,0.00,0.000,6,0.168,0.023,2234,2439,3998
$GC,2035,-1.27,-121.7,352.6,-13.1,319,2039,0.20,2.08,0.00,0.000,4,0.065,0.046,2142,3764,3998
$GC,2211,-1.09,-121.7,388.2,-20.8,334,2215,0.32,1.88,0.00,0.000,6,0.166,0.024,2229,2456,3998
$GC,2542,-1.32,-121.7,434.2,-13.6,365,2547,0.20,2.05,0.00,0.000,4,0.064,0.047,2139,3760,3998
$GC,2675,-1.13,-121.7,460.1,-21.7,376,2682,0.28,1.85,0.00,0.000,6,0.170,0.025,2212,2474,3998
$GC,3015,-1.32,-121.7,505.8,-11.9,406,3019,0.17,2.03,0.00,0.000,4,0.071,0.048,2138,3756,3997
$GC,3205,-1.16,-121.7,540.5,-19.2,414,3209,0.25,1.80,0.00,0.000,6,0.171,0.025,2202,2508,3995
$GC,3533,-1.34,-121.7,580.0,-12.3,430,3537,0.15,1.98,0.00,0.000,4,0.070,0.048,2139,3757,3994
$GC,3624,-1.20,-121.7,595.8,-17.7,434,3628,0.20,1.80,0.00,0.000,6,0.174,0.025,2190,2515,3993
$GC,3963,-1.35,-121.7,637.1,-12.2,450,3967,0.15,1.98,0.00,0.000,4,0.077,0.048,2125,3764,3990
$GC,4126,-1.18,-121.7,666.0,-17.6,457,4130,0.28,1.80,0.00,0.000,6,0.175,0.026,2196,2530,3989
$GC,4458,-1.38,-121.7,705.7,-12.0,473,4462,0.17,1.95,0.00,0.000,4,0.075,0.051,2125,3752,3986
$GC,4589,-1.23,-121.7,728.6,-17.4,478,4595,0.22,1.75,0.00,0.000,6,0.177,0.027,2181,2554,3985
$GC,4908,-1.38,-121.7,769.2,-12.6,494,4912,0.15,1.92,0.00,0.000,4,0.082,0.051,2125,3760,3982
$GC,4942,-1.27,-121.7,774.9,-16.6,495,4947,0.17,1.77,0.00,0.000,6,0.178,0.027,2168,2548,3982
$GC,5269,-1.37,-121.7,818.6,-12.7,511,5272,0.00,1.95,0.00,0.000,4,0.000,0.052,2165,3750,3980
$GC,5383,-1.42,-121.7,835.5,-13.8,516,5387,0.12,1.73,0.00,0.000,6,0.087,0.028,2120,2577,3979
$GC,5720,-1.35,-121.7,891.8,-17.0,532,5724,0.00,1.90,0.00,0.000,4,0.000,0.052,2110,3750,3977
$GC,5805,-1.18,-121.7,907.9,-18.4,535,5812,0.32,1.70,0.00,0.000,6,0.185,0.028,2194,2593,3976
$GC,6123,-1.41,-121.7,945.4,-11.5,551,6127,0.17,1.88,0.00,0.000,4,0.078,0.053,2124,3760,3975
$GC,6299,-1.31,-121.7,975.0,-17.0,558,6306,0.12,1.70,0.00,0.000,6,0.186,0.028,2153,2610,3974
$STATE,6406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6406,begin apogee
$GC,6416,-0.27,0.0,991.4,14.3,564,6522,1.15,0.00,97.15,1.383,6,0.160,0.000,2486,2382,3532
$STATE,6522,end apogee,CONTROL_FINISHED_OK
$STATE,6522,begin climb
$GC,6526,1.50,121.7,996.2,0.0,569,6641,1.60,2.30,105.88,1.366,4,0.054,0.028,3073,961,3034
$GC,6897,0.70,121.7,967.9,16.6,585,6902,1.08,2.17,0.00,0.000,6,0.225,0.034,2809,2375,3030
$GC,7214,0.52,153.9,933.1,10.9,600,7248,0.20,2.25,27.15,1.309,4,0.200,0.028,2760,961,2904
$GC,7284,0.62,189.7,926.4,10.6,603,7322,0.00,2.20,31.35,1.295,6,0.000,0.035,2760,2366,2757
$GC,7635,0.70,193.6,882.0,12.9,620,7644,0.12,2.22,4.12,0.848,4,0.087,0.051,2808,3759,2742
$GC,7797,0.49,193.6,854.7,16.5,627,7802,0.30,2.08,0.00,0.000,6,0.193,0.027,2739,2365,2741
$GC,8119,0.64,217.1,817.8,11.5,643,8146,0.15,2.28,21.45,1.252,4,0.089,0.051,2794,3760,2646
$GC,8299,0.53,217.1,788.0,17.4,651,8304,0.20,2.05,0.00,0.000,6,0.191,0.028,2752,2391,2644
$GC,8623,0.68,224.0,745.9,12.7,667,8637,0.12,2.20,7.10,1.058,4,0.091,0.031,2802,969,2618
$GC,8684,0.74,224.0,736.9,14.1,669,8691,0.00,2.22,0.00,0.000,6,0.000,0.035,2802,2409,2617
$GC,9000,0.74,224.0,690.3,14.7,685,9004,0.00,2.17,0.00,0.000,4,0.000,0.032,2802,979,2616
$GC,9070,0.81,224.0,680.7,14.3,688,9075,0.12,2.20,0.00,0.000,6,0.087,0.035,2852,2401,2616
$GC,9403,0.68,224.0,626.1,15.8,704,9408,0.17,2.15,0.00,0.000,4,0.189,0.051,2803,3751,2615
$GC,9589,0.55,224.0,596.3,15.1,712,9594,0.20,2.00,0.00,0.000,6,0.190,0.028,2762,2391,2614
$GC,9911,0.72,243.6,557.8,11.8,728,9934,0.15,2.28,16.77,1.100,4,0.084,0.051,2818,3760,2538
$GC,10058,0.59,243.6,533.5,17.4,734,10063,0.22,2.00,0.00,0.000,6,0.187,0.028,2771,2409,2536
$GC,10385,0.74,243.6,489.5,13.6,753,10389,0.15,2.17,0.00,0.000,4,0.083,0.051,2827,3758,2534
$GC,10438,0.57,243.6,480.1,19.0,757,10442,0.25,1.98,0.00,0.000,6,0.189,0.028,2770,2408,2534
$GC,10769,0.75,253.0,436.1,12.5,788,10784,0.15,2.20,8.68,0.953,4,0.081,0.051,2826,3750,2499
$GC,10861,0.63,253.0,420.9,18.5,796,10865,0.20,1.95,0.00,0.000,6,0.191,0.027,2785,2415,2498
$GC,11193,0.79,272.4,381.1,11.8,827,11216,0.15,2.22,17.38,0.979,4,0.078,0.051,2841,3752,2421
$GC,11276,0.68,272.4,367.2,20.0,834,11281,0.17,1.95,0.00,0.000,6,0.193,0.025,2802,2434,2419
$GC,11609,0.79,272.4,318.4,14.0,865,11613,0.00,2.12,0.00,0.000,4,0.000,0.049,2802,3761,2417
$GC,11723,0.79,272.4,298.8,18.8,875,11729,0.00,1.92,0.00,0.000,6,0.000,0.027,2811,2445,2416
$GC,12069,0.90,272.4,247.4,14.1,936,12076,0.17,2.10,0.00,0.000,4,0.077,0.050,2881,3757,2416
$GC,12174,0.68,272.4,228.1,19.4,954,12181,0.32,1.90,0.00,0.000,6,0.190,0.025,2804,2443,2416
$GC,12522,0.85,276.5,179.8,12.9,1015,12534,0.15,2.15,4.75,0.641,4,0.082,0.051,2862,3776,2404
$GC,12641,0.71,276.5,159.8,18.0,1035,12648,0.22,1.92,0.00,0.000,6,0.187,0.024,2814,2441,2404
$GC,12989,0.96,327.2,117.6,9.5,1096,13036,0.17,2.12,41.10,0.767,4,0.076,0.049,2891,3761,2199
$GC,13293,0.92,327.2,69.2,15.9,1149,13300,0.00,1.88,0.00,0.000,6,0.000,0.025,2902,2464,2194
$GC,13642,1.11,411.8,30.9,7.1,1210,13718,0.10,2.28,66.93,0.667,4,0.091,0.028,2951,994,1851
$GC,13768,1.34,445.8,20.4,10.7,1231,13804,0.17,2.22,27.73,0.630,6,0.071,0.033,3018,2434,1712
$STATE,13875,end climb,SURFACE_DEPTH_REACHED
$STATE,13875,begin surface coast
$FINISH,1.8,1.007274
$STATE,13895,end surface coast,CONTROL_FINISHED_OK
$STATE,13895,begin surface
$SM_CCo,13915,22.73,0.535,2,0,1594,475.15
$SM_GC,2.98,0.00,0.00,22.73,0.000,0.000,0.535,135,2437,1594,-7.64,1.53,475.15
$IRIDIUM_FIX,2453.69,12239.40,221198,161629
$TT8_MAMPS,0.029146
$HUMID,1815
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.0,102.537
$10V_AH,10.5,53.651
$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,29.350,122.150,477.525,22.725,0.000,23.214,37.471,185.712,8.250,0.000,0.000,14.413,2297.020,8264.220,598.868,2447.618,754.650,0.000,1846.835,0.000,2385.690,0.000,57.135,0.000
$DEVICE_MAMPS,233.168,52.923,1382.901,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.825,861.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66355,1253
$CAP_FILE_SIZE,154839,0
$CFSIZE,260165632,179408896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.079, 76.2,1
$GPS,290809,002136,2502.755,12240.725,37,1.0,37,-3.6