version: 66.04
glider: 167
mission: 2
dive: 435
start: 8 1 109 11 30 40
data:
$ID,167
$MISSION,2
$DIVE,435
$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,-14309.005
$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,79
$R_STBD_OVSHOOT,57
$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
$GPS1,112324,2445.766,12413.149,38,2.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-64.2
$GPS2,113018,2445.731,12413.111,12,1.5,16,-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,260.6,24962,-24.8,-13.043
$D_GRID,707
$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,15,-1.34,-121.7,0.0,0.0,0,59,0.00,0.00,-41.83,0.000,2,0.000,0.000,141,2504,2318
$GC,63,-1.34,-121.7,3.2,-2.6,7,130,8.23,1.98,-53.70,0.000,4,0.239,0.054,2099,3754,3988
$GC,385,-0.90,-121.7,61.2,-18.3,63,391,0.55,1.83,0.00,0.000,6,0.171,0.021,2252,2445,3990
$GC,730,-1.27,-121.7,98.3,-9.5,124,737,0.30,1.90,0.00,0.000,4,0.053,0.023,2124,1106,3992
$GC,768,-1.09,-121.7,102.4,-12.2,130,775,0.28,2.00,0.00,0.000,6,0.162,0.026,2189,2475,3992
$GC,1114,-1.31,-121.7,140.7,-12.1,191,1120,0.17,0.00,0.00,0.000,6,0.064,0.000,2110,2477,3993
$GC,1458,-1.17,-121.7,183.6,-10.5,252,1464,0.17,1.92,0.00,0.000,4,0.162,0.040,2153,3756,3994
$GC,1552,-1.08,-121.7,194.6,-12.0,268,1559,0.17,1.77,0.00,0.000,6,0.161,0.021,2199,2474,3995
$GC,1901,-1.37,-121.7,227.2,-8.3,329,1908,0.22,1.95,0.00,0.000,4,0.059,0.022,2097,1093,3995
$GC,1926,-1.37,-121.7,230.2,-10.1,333,1934,0.00,2.03,0.00,0.000,6,0.000,0.028,2097,2472,3995
$GC,2273,-1.23,-121.7,271.5,-11.8,394,2280,0.17,1.92,0.00,0.000,4,0.163,0.041,2141,3754,3995
$GC,2403,-1.13,-121.7,285.9,-11.4,416,2410,0.10,1.80,0.00,0.000,6,0.157,0.022,2172,2490,3995
$GC,2745,-1.38,-121.7,317.2,-9.4,461,2749,0.17,1.98,0.00,0.000,4,0.063,0.023,2093,1107,3995
$GC,2784,-1.27,-121.7,321.9,-12.3,464,2791,0.17,2.03,0.00,0.000,6,0.163,0.027,2130,2480,3995
$GC,3111,-1.40,-121.7,356.2,-9.9,495,3113,0.12,0.00,0.00,0.000,6,0.078,0.000,2077,2481,3995
$GC,3430,-1.20,-121.7,391.5,-12.5,525,3435,0.25,2.00,0.00,0.000,4,0.168,0.022,2151,1097,3995
$GC,3482,-1.20,-121.7,397.0,-9.2,529,3486,0.00,2.03,0.00,0.000,6,0.000,0.028,2149,2465,3995
$GC,3815,-1.38,-121.7,429.5,-10.2,560,3819,0.15,1.98,0.00,0.000,4,0.072,0.044,2081,3763,3994
$GC,3965,-1.15,-121.7,449.4,-12.7,573,3971,0.32,1.80,0.00,0.000,6,0.163,0.023,2171,2488,3993
$GC,4297,-1.50,-121.7,480.0,-8.6,604,4301,0.28,2.00,0.00,0.000,4,0.058,0.024,2055,1090,3992
$GC,4327,-1.39,-121.7,483.0,-10.7,606,4332,0.17,2.08,0.00,0.000,6,0.174,0.031,2093,2486,3992
$GC,4660,-1.35,-121.7,521.9,-11.2,628,4664,0.00,1.92,0.00,0.000,4,0.000,0.044,2086,3754,3991
$GC,4691,-1.22,-121.7,525.6,-12.2,629,4695,0.22,1.77,0.00,0.000,6,0.160,0.023,2147,2501,3991
$GC,5020,-1.47,-121.7,557.3,-8.9,645,5024,0.20,2.03,0.00,0.000,4,0.063,0.025,2059,1108,3989
$GC,5077,-1.30,-121.7,563.7,-11.5,647,5082,0.25,2.08,0.00,0.000,6,0.165,0.031,2125,2477,3989
$GC,5401,-1.49,-121.7,593.3,-8.7,663,5405,0.17,2.03,0.00,0.000,4,0.072,0.025,2049,1089,3986
$GC,5480,-1.29,-121.7,602.8,-12.0,666,5485,0.30,2.05,0.00,0.000,6,0.173,0.031,2125,2456,3986
$GC,5797,-1.49,-121.7,634.0,-9.8,681,5798,0.17,0.00,0.00,0.000,6,0.072,0.000,2057,2458,3984
$GC,6106,-1.49,-121.7,667.8,-11.4,696,6109,0.00,2.00,0.00,0.000,4,0.000,0.025,2057,1087,3982
$GC,6146,-1.34,-121.7,673.0,-12.2,697,6154,0.20,2.03,0.00,0.000,6,0.170,0.031,2108,2439,3981
$STATE,6459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6459,begin apogee
$GC,6466,-0.24,0.0,707.9,10.8,713,6563,1.17,0.00,90.78,1.154,6,0.149,0.000,2466,2440,3532
$STATE,6564,end apogee,CONTROL_FINISHED_OK
$STATE,6564,begin climb
$GC,6568,1.34,121.7,714.8,0.0,718,6675,1.40,0.00,98.43,1.126,6,0.061,0.000,2974,2441,3035
$GC,6985,0.86,210.6,701.0,6.7,738,7062,0.55,2.15,70.53,1.118,4,0.203,0.048,2827,3764,2672
$GC,7124,0.71,257.1,690.1,9.7,743,7169,0.22,2.03,37.97,1.087,6,0.186,0.022,2777,2394,2482
$GC,7488,0.99,318.3,658.4,8.7,761,7545,0.22,2.30,49.55,1.095,4,0.071,0.047,2872,3765,2233
$GC,7657,0.81,318.3,635.3,14.2,768,7664,0.28,1.92,0.00,0.000,6,0.180,0.022,2810,2450,2227
$GC,7975,1.06,356.0,601.8,10.3,784,8011,0.17,2.10,30.92,1.066,4,0.077,0.046,2886,3755,2079
$GC,8115,0.90,356.0,581.7,14.3,789,8119,0.22,1.98,0.00,0.000,6,0.184,0.024,2837,2415,2075
$GC,8437,1.15,388.7,546.1,10.7,805,8470,0.17,2.15,27.02,1.039,4,0.074,0.045,2914,3757,1946
$GC,8522,0.97,388.7,534.0,14.4,809,8527,0.25,1.95,0.00,0.000,6,0.186,0.024,2858,2419,1942
$GC,8851,1.16,408.5,494.2,11.6,826,8874,0.17,2.17,17.27,0.989,4,0.075,0.031,2931,1010,1866
$GC,8943,1.07,408.5,480.7,14.4,834,8948,0.17,2.17,0.00,0.000,6,0.183,0.030,2887,2440,1863
$GC,9269,1.13,411.1,437.6,12.9,864,9272,0.00,2.12,0.00,0.000,4,0.000,0.028,2896,1017,1859
$GC,9342,1.18,411.1,428.1,13.4,870,9348,0.00,2.12,0.00,0.000,6,0.000,0.031,2896,2424,1859
$GC,9671,1.25,425.1,388.4,12.0,901,9694,0.15,2.15,13.80,0.914,4,0.084,0.049,2957,3761,1798
$GC,9711,1.07,425.1,382.2,15.0,904,9718,0.30,1.92,0.00,0.000,6,0.186,0.024,2888,2446,1797
$GC,10038,1.28,453.0,345.4,11.0,935,10070,0.17,0.00,24.65,0.908,6,0.075,0.000,2965,2446,1684
$GC,10390,1.20,453.0,294.9,14.3,971,10396,0.15,2.15,0.00,0.000,4,0.182,0.029,2937,997,1679
$GC,10461,1.21,464.2,286.4,12.2,983,10479,0.00,2.25,10.12,0.801,6,0.000,0.030,2937,2480,1638
$GC,10818,1.21,464.2,241.7,13.1,1046,10824,0.00,1.95,0.00,0.000,4,0.000,0.046,2937,3752,1635
$GC,10924,1.15,464.2,226.6,14.7,1064,10930,0.12,1.95,0.00,0.000,6,0.185,0.023,2916,2397,1634
$GC,11271,1.51,495.0,185.3,10.8,1125,11304,0.28,2.20,26.20,0.771,4,0.061,0.045,3029,3754,1512
$GC,11335,1.24,495.0,176.1,17.7,1135,11341,0.35,2.03,0.00,0.000,6,0.182,0.021,2947,2351,1510
$GC,11683,1.53,517.9,134.5,11.4,1196,11708,0.22,2.28,19.67,0.713,4,0.069,0.043,3043,3764,1419
$GC,11844,1.30,517.9,107.1,15.9,1224,11851,0.32,1.95,0.00,0.000,6,0.183,0.021,2967,2420,1416
$GC,12190,1.64,536.7,64.1,11.7,1285,12215,0.28,2.10,16.10,0.646,4,0.064,0.027,3091,1012,1343
$GC,12240,1.50,536.7,57.0,14.1,1293,12248,0.25,2.08,0.00,0.000,6,0.190,0.028,3028,2407,1342
$GC,12588,1.66,560.1,15.5,11.4,1354,12614,0.15,2.12,20.23,0.609,4,0.071,0.043,3088,3752,1247
$GC,12643,1.49,560.1,7.2,16.6,1363,12650,0.28,2.08,0.00,0.000,6,0.187,0.021,3025,2320,1246
$STATE,12670,end climb,SURFACE_DEPTH_REACHED
$STATE,12671,begin surface coast
$FINISH,1.6,1.008645
$STATE,12694,end surface coast,CONTROL_FINISHED_OK
$STATE,12695,begin surface
$SM_CCo,12774,0.00,0.000,0,0,1243,561.49
$SM_GC,2.58,7.75,0.00,0.00,0.054,0.000,0.000,142,2486,1243,-7.49,0.08,561.49
$IRIDIUM_FIX,2439.44,12414.98,261098,060634
$TT8_MAMPS,0.029146
$HUMID,1708
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.7,74.394
$10V_AH,10.7,40.261
$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,29.350,105.475,553.250,0.000,0.000,31.097,32.359,188.130,5.250,0.000,0.000,16.333,2391.788,7186.686,641.802,2308.506,646.589,0.000,1843.905,0.000,2257.321,0.000,38.161,0.000
$DEVICE_MAMPS,238.537,53.690,1154.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,920.893,981.590,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72713,1372
$CAP_FILE_SIZE,147943,0
$CFSIZE,260165632,191369216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,107.6,1
$GPS,010809,150454,2445.508,12412.806,27,1.0,44,-3.7