version: 66.04
glider: 167
mission: 2
dive: 436
start: 8 1 109 15 11 55
data:
$ID,167
$MISSION,2
$DIVE,436
$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,-14322.479
$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,52
$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
$GPS1,150454,2445.508,12412.806,27,1.0,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-64.6
$GPS2,151132,2445.441,12412.796,12,1.2,12,-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,260.5,24237,-24.8,-13.043
$D_GRID,750
$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,-121.7,0.0,0.0,0,62,0.00,0.00,-43.92,0.000,2,0.000,0.000,143,2487,2341
$GC,65,-1.34,-121.7,3.1,-1.4,7,132,8.02,1.95,-50.72,0.000,4,0.233,0.054,2098,3754,3989
$GC,381,-0.91,-121.7,60.2,-17.1,62,387,0.52,1.83,0.00,0.000,6,0.166,0.020,2245,2447,3991
$GC,727,-1.27,-121.7,98.5,-9.9,123,733,0.28,1.90,0.00,0.000,4,0.056,0.022,2128,1105,3992
$GC,763,-1.17,-121.7,103.1,-13.4,129,770,0.17,2.03,0.00,0.000,6,0.166,0.027,2168,2486,3992
$GC,1109,-1.33,-121.7,142.6,-11.2,190,1115,0.15,0.00,0.00,0.000,6,0.068,0.000,2106,2488,3993
$GC,1454,-1.24,-121.7,184.9,-11.9,251,1461,0.15,1.98,0.00,0.000,4,0.161,0.023,2145,1113,3994
$GC,1521,-1.18,-121.7,192.7,-11.6,262,1526,0.00,1.98,0.00,0.000,6,0.000,0.026,2141,2465,3994
$GC,1866,-1.24,-121.7,231.3,-11.7,323,1872,0.00,1.95,0.00,0.000,4,0.000,0.042,2139,3764,3995
$GC,1895,-1.24,-121.7,235.1,-12.1,328,1903,0.00,1.83,0.00,0.000,6,0.000,0.021,2139,2430,3995
$GC,2242,-1.36,-121.7,273.7,-10.4,389,2248,0.00,1.88,0.00,0.000,4,0.000,0.024,2139,1099,3995
$GC,2322,-1.36,-121.7,282.6,-10.4,403,2328,0.00,1.98,0.00,0.000,6,0.000,0.027,2137,2443,3995
$GC,2662,-1.45,-121.7,315.7,-9.5,450,2667,0.17,1.98,0.00,0.000,4,0.064,0.041,2053,3753,3995
$GC,2698,-1.13,-121.7,319.9,-12.7,453,2703,0.43,1.85,0.00,0.000,6,0.165,0.021,2174,2425,3995
$GC,3025,-1.37,-121.7,353.2,-9.7,483,3029,0.17,1.88,0.00,0.000,4,0.065,0.022,2094,1097,3995
$GC,3072,-1.25,-121.7,358.5,-11.7,487,3076,0.20,1.98,0.00,0.000,6,0.157,0.028,2142,2441,3995
$GC,3402,-1.43,-121.7,388.9,-8.6,518,3407,0.17,2.00,0.00,0.000,4,0.071,0.044,2070,3757,3995
$GC,3431,-1.29,-121.7,392.1,-11.6,520,3439,0.22,1.88,0.00,0.000,6,0.165,0.021,2131,2417,3994
$GC,3757,-1.42,-121.7,425.7,-10.5,551,3761,0.12,2.05,0.00,0.000,4,0.075,0.041,2071,3750,3994
$GC,3782,-1.34,-121.7,428.5,-11.6,553,3786,0.17,1.88,0.00,0.000,6,0.173,0.022,2116,2410,3994
$GC,4113,-1.43,-121.7,463.6,-9.9,584,4116,0.00,2.08,0.00,0.000,4,0.000,0.043,2111,3761,3993
$GC,4141,-1.43,-121.7,466.9,-11.5,586,4146,0.00,1.88,0.00,0.000,6,0.000,0.022,2111,2422,3993
$GC,4471,-1.48,-121.7,500.4,-10.7,617,4475,0.12,1.88,0.00,0.000,4,0.077,0.023,2057,1104,3992
$GC,4504,-1.32,-121.7,505.1,-12.1,618,4509,0.22,1.95,0.00,0.000,6,0.164,0.030,2118,2423,3993
$GC,4828,-1.44,-121.7,537.0,-9.3,634,4832,0.12,1.90,0.00,0.000,4,0.077,0.023,2068,1109,3991
$GC,4890,-1.27,-121.7,543.6,-10.9,636,4898,0.25,1.92,0.00,0.000,6,0.160,0.030,2131,2410,3991
$GC,5210,-1.45,-121.7,575.1,-10.4,652,5215,0.15,1.88,0.00,0.000,4,0.077,0.023,2072,1109,3989
$GC,5236,-1.45,-121.7,578.2,-11.1,653,5239,0.00,1.90,0.00,0.000,6,0.000,0.030,2070,2387,3989
$GC,5569,-1.45,-121.7,617.7,-11.3,669,5573,0.00,2.10,0.00,0.000,4,0.000,0.046,2070,3755,3986
$GC,5627,-1.24,-121.7,624.7,-12.7,671,5632,0.28,1.95,0.00,0.000,6,0.163,0.023,2146,2373,3985
$GC,5951,-1.51,-121.7,651.8,-8.4,687,5953,0.25,0.00,0.00,0.000,6,0.064,0.000,2049,2373,3983
$GC,6259,-1.42,-121.7,684.9,-11.0,702,6264,0.15,2.15,0.00,0.000,4,0.172,0.045,2085,3748,3981
$GC,6323,-1.29,-121.7,692.1,-11.6,705,6327,0.17,1.95,0.00,0.000,6,0.166,0.022,2130,2378,3980
$GC,6660,-1.52,-121.7,723.1,-9.2,721,6661,0.20,0.00,0.00,0.000,6,0.070,0.000,2053,2377,3978
$STATE,6921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6921,begin apogee
$GC,6928,-0.24,0.0,751.4,10.6,734,7024,1.38,0.00,91.03,1.197,6,0.161,0.000,2458,2377,3532
$STATE,7024,end apogee,CONTROL_FINISHED_OK
$STATE,7024,begin climb
$GC,7027,1.34,121.7,757.2,0.0,739,7134,1.45,2.28,99.75,1.164,4,0.067,0.046,2976,3758,3033
$GC,7208,0.64,178.1,756.3,9.0,747,7262,0.90,1.98,45.55,1.140,6,0.213,0.023,2757,2417,2806
$GC,7590,0.87,274.5,731.9,6.1,766,7675,0.20,2.22,76.82,1.152,4,0.075,0.048,2838,3741,2412
$GC,7794,0.74,276.9,709.3,12.9,775,7798,0.25,1.92,0.00,0.000,6,0.181,0.023,2784,2422,2408
$GC,8122,1.02,323.7,677.6,9.7,791,8169,0.22,2.17,40.05,1.125,4,0.070,0.029,2885,1025,2211
$GC,8351,0.97,339.5,648.4,11.9,801,8370,0.00,2.25,14.25,1.049,6,0.000,0.032,2885,2491,2146
$GC,8699,0.89,339.5,602.7,13.1,818,8701,0.20,0.00,0.00,0.000,6,0.177,0.000,2833,2493,2140
$GC,9010,1.16,377.7,569.7,10.3,833,9047,0.20,2.00,31.40,1.078,4,0.067,0.048,2915,3749,1991
$GC,9145,0.93,377.7,550.5,14.5,838,9149,0.30,1.88,0.00,0.000,6,0.179,0.025,2845,2470,1986
$GC,9473,1.25,419.3,516.4,10.1,854,9516,0.25,2.08,34.78,1.044,4,0.070,0.049,2949,3744,1821
$GC,9591,0.99,419.3,498.0,16.4,859,9598,0.35,1.98,0.00,0.000,6,0.180,0.024,2865,2410,1817
$GC,9917,1.31,446.0,458.4,11.1,890,9950,0.25,2.20,22.75,0.989,4,0.067,0.047,2969,3746,1712
$GC,10033,1.07,446.0,441.2,16.1,900,10037,0.32,1.90,0.00,0.000,6,0.184,0.024,2893,2463,1709
$GC,10363,1.30,465.5,401.9,11.6,931,10388,0.17,2.25,16.80,0.934,4,0.080,0.029,2976,997,1633
$GC,10427,1.20,465.5,392.3,15.7,936,10435,0.17,2.25,0.00,0.000,6,0.186,0.032,2933,2461,1630
$GC,10752,1.20,465.5,343.1,14.1,967,10756,0.00,2.17,0.00,0.000,4,0.000,0.028,2941,1012,1628
$GC,10814,1.20,465.5,334.0,14.4,972,10821,0.00,2.15,0.00,0.000,6,0.000,0.030,2941,2437,1627
$GC,11143,1.20,465.5,288.9,13.5,1010,11149,0.00,2.12,0.00,0.000,4,0.000,0.028,2950,1009,1626
$GC,11252,1.20,465.5,274.6,13.5,1029,11258,0.00,2.10,0.00,0.000,6,0.000,0.029,2950,2413,1626
$GC,11596,1.20,465.5,227.0,13.1,1090,11602,0.00,2.10,0.00,0.000,4,0.000,0.030,2950,1006,1626
$GC,11643,1.20,465.5,220.8,13.6,1098,11649,0.00,2.05,0.00,0.000,6,0.000,0.028,2949,2385,1626
$GC,11988,1.29,477.6,176.2,12.2,1159,12001,0.00,0.00,10.23,0.726,6,0.000,0.000,2950,2386,1584
$GC,12341,1.53,496.2,134.4,11.7,1221,12366,0.20,2.10,17.15,0.718,4,0.069,0.044,3033,3748,1507
$GC,12410,1.31,496.2,124.6,15.3,1232,12418,0.28,2.05,0.00,0.000,6,0.179,0.021,2971,2336,1507
$GC,12758,1.63,543.0,85.3,9.7,1293,12805,0.25,1.98,38.53,0.684,4,0.065,0.028,3088,994,1318
$GC,12935,1.50,543.0,59.1,15.7,1324,12943,0.22,1.98,0.00,0.000,6,0.189,0.028,3030,2318,1314
$GC,13284,1.60,548.5,14.6,12.6,1385,13296,0.00,1.95,5.75,0.502,4,0.000,0.028,3037,1009,1294
$STATE,13373,end climb,SURFACE_DEPTH_REACHED
$STATE,13374,begin surface coast
$FINISH,1.7,1.021206
$STATE,13399,end surface coast,CONTROL_FINISHED_OK
$STATE,13400,begin surface
$SM_CCo,13480,0.00,0.000,0,0,1290,549.96
$SM_GC,2.53,7.75,0.00,0.00,0.054,0.000,0.000,141,2474,1290,-7.49,-0.25,549.96
$IRIDIUM_FIX,2437.06,12411.69,261098,111147
$TT8_MAMPS,0.028379
$HUMID,1716
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,23.6,74.573
$10V_AH,10.7,40.346
$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,28.225,112.650,544.825,0.000,0.000,31.725,35.151,180.862,6.000,0.000,0.000,12.845,2457.067,7729.344,648.256,2405.748,628.326,0.000,1886.829,0.000,2348.534,0.000,39.426,0.000
$DEVICE_MAMPS,233.168,53.690,1196.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,944.109,998.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75801,1405
$CAP_FILE_SIZE,150820,0
$CFSIZE,260165632,191287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,110.6,1
$GPS,010809,185736,2445.042,12412.373,26,1.2,26,-3.7