version: 66.04
glider: 167
mission: 2
dive: 434
start: 8 1 109 6 53 41
data:
$ID,167
$MISSION,2
$DIVE,434
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14292.045
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.75
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,45
$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
$GPS1,064606,2446.026,12413.858,38,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-65.1
$GPS2,065320,2446.043,12413.761,14,1.5,14,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2439.100,12400.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,261.5,26198,-24.8,-13.043
$D_GRID,893
$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,-1.34,-121.7,0.0,0.0,0,52,0.00,0.00,-33.97,0.000,2,0.000,0.000,142,2495,2180
$GC,56,-1.34,-121.7,3.0,-1.5,6,131,8.35,1.92,-59.17,0.000,4,0.242,0.054,2095,3759,3985
$GC,385,-0.81,-121.7,60.6,-20.6,63,392,0.65,1.85,0.00,0.000,6,0.170,0.021,2278,2439,3986
$GC,732,-1.31,-121.7,96.9,-10.3,124,737,0.40,0.00,0.00,0.000,6,0.049,0.000,2108,2439,3988
$GC,1076,-1.14,-121.7,144.5,-12.7,185,1083,0.20,2.03,0.00,0.000,4,0.163,0.038,2160,3767,3989
$GC,1192,-1.03,-121.7,159.4,-13.5,205,1199,0.20,1.80,0.00,0.000,6,0.156,0.021,2214,2467,3990
$GC,1537,-1.36,-121.7,196.1,-9.8,266,1544,0.28,0.00,0.00,0.000,6,0.055,0.000,2093,2466,3991
$GC,1885,-1.19,-121.7,236.2,-11.8,327,1891,0.20,1.95,0.00,0.000,4,0.160,0.039,2146,3758,3991
$GC,1956,-1.10,-121.7,244.7,-12.1,339,1962,0.15,1.80,0.00,0.000,6,0.161,0.021,2184,2462,3991
$GC,2304,-1.39,-121.7,278.8,-9.0,400,2310,0.22,1.92,0.00,0.000,4,0.059,0.022,2086,1098,3991
$GC,2340,-1.23,-121.7,283.1,-12.4,406,2348,0.22,2.00,0.00,0.000,6,0.163,0.028,2145,2459,3991
$GC,2676,-1.36,-121.7,319.6,-10.8,450,2680,0.12,1.95,0.00,0.000,4,0.077,0.041,2086,3753,3991
$GC,2820,-1.11,-121.7,338.8,-12.9,462,2828,0.35,1.83,0.00,0.000,6,0.159,0.021,2184,2446,3991
$GC,3146,-1.42,-121.7,368.4,-9.1,493,3150,0.25,1.90,0.00,0.000,4,0.059,0.023,2078,1124,3991
$GC,3181,-1.29,-121.7,372.1,-11.2,496,3186,0.20,1.98,0.00,0.000,6,0.166,0.028,2124,2448,3991
$GC,3513,-1.39,-121.7,405.8,-10.0,527,3516,0.00,1.98,0.00,0.000,4,0.000,0.044,2124,3754,3990
$GC,3576,-1.30,-121.7,412.8,-11.0,532,3582,0.00,1.83,0.00,0.000,6,0.000,0.022,2123,2453,3990
$GC,3903,-1.40,-121.7,447.5,-8.4,563,3906,0.00,2.00,0.00,0.000,4,0.000,0.044,2123,3754,3990
$GC,3977,-1.33,-121.7,454.4,-9.6,569,3983,0.00,1.80,0.00,0.000,6,0.000,0.024,2123,2476,3989
$GC,4304,-1.43,-121.7,488.5,-10.2,600,4308,0.12,1.98,0.00,0.000,4,0.076,0.024,2068,1098,3989
$GC,4328,-1.43,-121.7,491.2,-10.9,602,4332,0.00,2.03,0.00,0.000,6,0.000,0.030,2067,2456,3989
$GC,4654,-1.28,-121.7,528.5,-11.2,621,4658,0.20,2.00,0.00,0.000,4,0.166,0.043,2124,3764,3986
$GC,4723,-1.23,-121.7,535.8,-10.6,624,4727,0.00,1.90,0.00,0.000,6,0.000,0.023,2124,2442,3986
$GC,5057,-1.38,-121.7,566.0,-8.6,640,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2441,3985
$GC,5370,-1.55,-121.7,590.7,-8.1,655,5374,0.17,2.05,0.00,0.000,4,0.067,0.044,2041,3757,3981
$GC,5387,-1.55,-121.7,592.8,-8.2,655,5393,0.00,1.85,0.00,0.000,6,0.000,0.023,2041,2445,3981
$GC,5704,-1.39,-121.7,629.2,-12.4,671,5708,0.17,2.05,0.00,0.000,4,0.176,0.044,2085,3763,3979
$GC,5738,-1.24,-121.7,633.6,-12.3,672,5745,0.20,1.85,0.00,0.000,6,0.165,0.023,2138,2462,3979
$GC,6055,-1.48,-121.7,666.7,-10.5,688,6059,0.20,1.98,0.00,0.000,4,0.068,0.025,2056,1099,3977
$GC,6135,-1.31,-121.7,676.6,-12.9,691,6139,0.25,2.03,0.00,0.000,6,0.167,0.031,2118,2443,3976
$GC,6451,-1.45,-121.7,709.5,-9.9,706,6455,0.12,1.98,0.00,0.000,4,0.081,0.025,2070,1096,3974
$GC,6507,-1.32,-121.7,715.4,-10.9,708,6512,0.20,2.00,0.00,0.000,6,0.164,0.032,2117,2428,3973
$GC,6825,-1.47,-121.7,742.3,-7.9,723,6830,0.15,1.92,0.00,0.000,4,0.076,0.025,2059,1103,3971
$GC,6928,-1.33,-121.7,752.1,-9.6,727,6932,0.22,1.90,0.00,0.000,6,0.167,0.032,2117,2367,3970
$GC,7252,-1.50,-121.7,778.7,-8.8,743,7257,0.17,2.17,0.00,0.000,4,0.075,0.048,2041,3764,3968
$GC,7292,-1.20,-121.7,783.3,-12.6,745,7297,0.43,2.03,0.00,0.000,6,0.175,0.023,2157,2361,3968
$GC,7623,-1.49,-121.7,810.6,-7.8,761,7627,0.22,1.83,0.00,0.000,4,0.069,0.026,2063,1102,3967
$GC,7662,-1.36,-121.7,815.0,-11.1,762,7670,0.17,1.88,0.00,0.000,6,0.171,0.032,2102,2347,3966
$GC,7979,-1.36,-121.7,846.1,-9.6,778,7983,0.00,2.20,0.00,0.000,4,0.000,0.048,2097,3761,3964
$GC,8187,-1.26,-121.7,869.2,-11.5,787,8192,0.15,2.03,0.00,0.000,6,0.167,0.025,2135,2365,3963
$STATE,8449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8450,begin apogee
$GC,8457,-0.24,0.0,894.2,9.6,800,8553,1.05,0.00,90.40,1.327,6,0.138,0.000,2461,2365,3532
$STATE,8553,end apogee,CONTROL_FINISHED_OK
$STATE,8554,begin climb
$GC,8556,1.34,121.7,900.6,0.0,805,8668,1.45,2.35,102.40,1.289,4,0.067,0.047,2976,3748,3034
$GC,8748,0.62,173.3,900.4,9.3,814,8799,0.95,2.00,43.45,1.262,6,0.216,0.023,2746,2401,2825
$GC,9122,0.86,260.9,875.3,6.8,832,9199,0.17,2.28,71.90,1.272,4,0.079,0.051,2818,3761,2467
$GC,9267,0.73,260.9,859.2,13.2,838,9275,0.17,1.98,0.00,0.000,6,0.185,0.025,2784,2435,2463
$GC,9583,0.89,307.5,827.6,9.7,854,9628,0.12,2.25,39.12,1.243,4,0.087,0.030,2839,1013,2278
$GC,9693,0.90,314.6,814.5,12.5,858,9705,0.00,2.22,7.15,1.020,6,0.000,0.034,2839,2440,2249
$GC,10029,0.91,323.0,772.7,12.4,875,10039,0.00,0.00,8.15,1.066,6,0.000,0.000,2839,2440,2215
$GC,10337,0.92,336.5,733.3,12.1,890,10360,0.00,2.22,12.85,1.144,4,0.000,0.031,2846,1012,2160
$GC,10433,0.97,340.0,720.9,12.8,894,10443,0.00,2.17,4.53,0.842,6,0.000,0.034,2846,2427,2145
$GC,10761,1.00,361.8,681.6,11.5,910,10783,0.00,0.00,19.92,1.161,6,0.000,0.000,2846,2427,2056
$GC,11089,1.06,361.8,639.3,13.5,926,11094,0.12,2.15,0.00,0.000,4,0.084,0.031,2894,1014,2052
$GC,11191,1.01,361.8,624.4,14.9,930,11198,0.00,2.10,0.00,0.000,6,0.000,0.033,2894,2391,2051
$GC,11507,0.94,361.8,576.0,15.1,946,11511,0.17,2.08,0.00,0.000,4,0.183,0.029,2857,1020,2049
$GC,11530,0.94,361.8,572.8,14.1,947,11534,0.00,2.08,0.00,0.000,6,0.000,0.031,2857,2378,2050
$GC,11865,1.01,369.9,531.6,12.5,963,11879,0.00,2.22,7.28,0.952,4,0.000,0.050,2858,3757,2023
$GC,11909,0.95,369.9,525.4,14.9,965,11913,0.00,2.08,0.00,0.000,6,0.000,0.024,2867,2345,2022
$GC,12235,0.96,377.3,484.0,12.5,986,12248,0.00,2.05,7.85,0.937,4,0.000,0.032,2868,1012,1992
$GC,12297,1.05,386.7,476.2,12.4,991,12311,0.00,2.03,9.40,0.954,6,0.000,0.031,2868,2356,1955
$GC,12639,1.24,422.7,436.9,10.5,1023,12676,0.20,2.08,31.55,1.010,4,0.074,0.032,2957,1015,1807
$GC,12723,1.12,422.7,426.1,14.1,1030,12727,0.20,2.15,0.00,0.000,6,0.183,0.033,2908,2410,1803
$GC,13053,1.20,428.5,383.7,12.6,1061,13065,0.00,2.12,5.20,0.752,4,0.000,0.028,2916,1007,1784
$GC,13116,1.25,436.9,375.4,12.4,1066,13134,0.00,2.12,9.07,0.867,6,0.000,0.031,2916,2406,1749
$GC,13453,1.31,438.2,330.2,13.0,1098,13458,0.15,2.10,0.00,0.000,4,0.075,0.029,2980,1012,1746
$GC,13596,1.18,438.2,309.9,13.2,1110,13601,0.20,2.20,0.00,0.000,6,0.187,0.031,2931,2459,1746
$GC,13936,1.26,438.2,267.0,13.6,1163,13941,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2459,1745
$GC,14282,1.36,458.7,220.8,11.6,1224,14308,0.15,2.25,19.52,0.810,4,0.075,0.028,2998,1003,1660
$GC,14420,1.23,458.7,202.1,13.1,1247,14426,0.22,2.15,0.00,0.000,6,0.183,0.030,2942,2429,1657
$GC,14768,1.40,479.4,158.2,11.6,1308,14793,0.15,2.12,17.60,0.746,4,0.070,0.028,3010,1012,1577
$GC,14861,1.32,479.4,144.5,14.1,1324,14868,0.15,2.08,0.00,0.000,6,0.178,0.029,2974,2392,1574
$GC,15209,1.45,507.7,101.5,11.0,1385,15240,0.12,2.12,24.20,0.701,4,0.079,0.027,3029,1012,1461
$GC,15365,1.45,507.7,80.3,13.9,1412,15371,0.00,2.00,0.00,0.000,6,0.000,0.027,3029,2344,1457
$GC,15710,1.49,537.5,38.3,10.9,1473,15740,0.00,2.05,24.75,0.638,4,0.000,0.026,3035,1010,1339
$GC,15775,1.58,555.3,30.9,11.8,1484,15799,0.00,1.98,15.45,0.606,6,0.000,0.025,3035,2336,1269
$STATE,16000,end climb,SURFACE_DEPTH_REACHED
$STATE,16000,begin surface coast
$FINISH,1.7,1.009170
$STATE,16030,end surface coast,CONTROL_FINISHED_OK
$STATE,16030,begin surface
$SM_CCo,16109,0.00,0.000,0,0,1263,556.59
$SM_GC,2.58,7.82,0.00,0.00,0.055,0.000,0.000,141,2504,1263,-7.50,0.59,556.59
$IRIDIUM_FIX,2437.06,12414.98,261098,020223
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,74.220
$10V_AH,10.7,40.178
$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,28.575,134.125,571.750,0.000,0.000,30.689,32.692,202.018,7.000,0.000,0.000,14.432,2720.583,9731.328,678.958,2690.932,706.798,0.000,2064.125,0.000,2627.329,0.000,47.756,0.000
$DEVICE_MAMPS,242.372,53.690,1326.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.770,1063.353,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81923,1529
$CAP_FILE_SIZE,175238,0
$CFSIZE,260165632,191422464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,102.5,1
$GPS,010809,112324,2445.766,12413.149,38,2.0,39,-3.7