version: 66.04
glider: 167
mission: 2
dive: 437
start: 8 1 109 19 8 35
data:
$ID,167
$MISSION,2
$DIVE,437
$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,-14338.215
$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,73
$R_STBD_OVSHOOT,31
$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
$GPS1,185736,2445.042,12412.373,26,1.2,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-63.6
$GPS2,190813,2444.972,12412.319,9,1.2,14,-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,264.4,23117,-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,15,-1.34,-121.7,0.0,0.0,0,63,0.00,0.00,-45.90,0.000,2,0.000,0.000,141,2475,2457
$GC,67,-1.34,-121.7,3.3,-2.8,8,126,8.18,2.00,-44.28,0.000,4,0.238,0.054,2098,3774,3988
$GC,347,-0.90,-121.7,56.0,-19.5,57,354,0.52,1.88,0.00,0.000,6,0.162,0.030,2246,2445,3988
$GC,693,-1.30,-121.7,93.9,-8.7,118,700,0.30,1.90,0.00,0.000,4,0.052,0.022,2118,1104,3990
$GC,720,-1.38,-121.7,96.7,-11.0,122,726,0.00,2.08,0.00,0.000,6,0.000,0.027,2109,2513,3989
$GC,1067,-1.23,-121.7,143.6,-12.5,183,1075,0.15,0.00,0.00,0.000,6,0.168,0.000,2148,2513,3991
$GC,1415,-1.23,-121.7,184.8,-12.4,244,1421,0.00,2.03,0.00,0.000,4,0.000,0.023,2148,1097,3991
$GC,1474,-1.16,-121.7,192.7,-12.8,254,1480,0.00,2.08,0.00,0.000,6,0.000,0.028,2147,2511,3991
$GC,1819,-1.25,-121.7,232.5,-9.6,315,1826,0.00,2.03,0.00,0.000,4,0.000,0.023,2146,1095,3991
$GC,1874,-1.25,-121.7,237.9,-10.1,324,1880,0.00,2.03,0.00,0.000,6,0.000,0.028,2145,2473,3991
$GC,2219,-1.39,-121.7,273.0,-10.1,385,2226,0.15,1.98,0.00,0.000,4,0.071,0.022,2080,1096,3992
$GC,2289,-1.16,-121.7,280.8,-11.5,397,2296,0.35,1.98,0.00,0.000,6,0.154,0.028,2171,2445,3992
$GC,2628,-1.40,-121.7,311.0,-9.4,447,2632,0.20,1.92,0.00,0.000,4,0.062,0.023,2082,1108,3992
$GC,2656,-1.35,-121.7,314.3,-12.2,449,2663,0.12,1.98,0.00,0.000,6,0.173,0.028,2106,2454,3992
$GC,2982,-1.31,-121.7,352.7,-12.6,480,2986,0.00,1.95,0.00,0.000,4,0.000,0.024,2106,1095,3992
$GC,3017,-1.21,-121.7,357.3,-12.6,483,3022,0.20,1.95,0.00,0.000,6,0.154,0.027,2153,2432,3992
$GC,3349,-1.41,-121.7,389.6,-8.5,514,3351,0.17,0.00,0.00,0.000,6,0.067,0.000,2081,2433,3992
$GC,3667,-1.29,-121.7,426.3,-12.2,544,3672,0.17,2.03,0.00,0.000,4,0.163,0.043,2124,3760,3992
$GC,3719,-1.20,-121.7,432.5,-11.0,548,3726,0.12,1.90,0.00,0.000,6,0.156,0.022,2155,2403,3991
$GC,4046,-1.43,-121.7,465.4,-10.2,579,4051,0.20,2.10,0.00,0.000,4,0.065,0.044,2068,3762,3991
$GC,4113,-1.19,-121.7,474.2,-13.2,584,4120,0.32,1.88,0.00,0.000,6,0.158,0.022,2159,2426,3990
$GC,4450,-1.45,-121.7,508.4,-9.7,612,4452,0.22,0.00,0.00,0.000,6,0.062,0.000,2069,2426,3989
$GC,4756,-1.39,-121.7,543.0,-10.8,627,4760,0.00,1.90,0.00,0.000,4,0.000,0.026,2069,1117,3986
$GC,4820,-1.20,-121.7,550.2,-11.4,629,4826,0.32,1.95,0.00,0.000,6,0.157,0.030,2152,2432,3986
$GC,5137,-1.47,-121.7,581.4,-10.1,645,5141,0.20,1.92,0.00,0.000,4,0.068,0.024,2065,1110,3984
$GC,5166,-1.42,-121.7,584.9,-12.4,646,5170,0.12,1.95,0.00,0.000,6,0.176,0.029,2088,2423,3984
$GC,5494,-1.42,-121.7,619.4,-9.7,662,5497,0.00,1.90,0.00,0.000,4,0.000,0.025,2088,1112,3981
$GC,5573,-1.34,-121.7,627.3,-9.6,665,5577,0.12,1.88,0.00,0.000,6,0.170,0.030,2115,2377,3981
$GC,5896,-1.50,-121.7,655.7,-9.3,681,5898,0.15,0.00,0.00,0.000,6,0.077,0.000,2057,2379,3978
$GC,6205,-1.50,-121.7,688.3,-10.6,696,6208,0.00,2.12,0.00,0.000,4,0.000,0.048,2048,3755,3976
$GC,6240,-1.27,-121.7,692.7,-12.8,697,6245,0.30,1.98,0.00,0.000,6,0.167,0.024,2131,2373,3975
$GC,6558,-1.50,-121.7,724.0,-9.4,712,6562,0.17,1.83,0.00,0.000,4,0.071,0.025,2056,1105,3973
$GC,6605,-1.34,-121.7,729.1,-10.9,714,6609,0.20,1.90,0.00,0.000,6,0.169,0.034,2109,2364,3973
$STATE,6832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6832,begin apogee
$GC,6840,-0.24,0.0,751.3,9.5,725,6935,1.15,0.00,90.12,1.197,6,0.143,0.000,2463,2365,3532
$STATE,6935,end apogee,CONTROL_FINISHED_OK
$STATE,6935,begin climb
$GC,6938,1.34,121.7,757.6,0.0,730,7045,1.45,2.25,99.28,1.164,4,0.061,0.044,2982,3755,3034
$GC,7216,0.63,180.6,749.2,8.8,743,7270,0.93,1.95,47.33,1.145,6,0.212,0.023,2753,2418,2795
$GC,7587,0.89,261.0,721.9,7.3,761,7657,0.20,2.17,64.50,1.150,4,0.074,0.047,2835,3751,2465
$GC,7786,0.78,288.2,700.6,11.1,770,7816,0.17,1.92,22.92,1.095,6,0.184,0.024,2801,2431,2356
$GC,8136,1.03,343.7,668.7,9.1,787,8189,0.17,2.17,45.22,1.121,4,0.074,0.047,2878,3740,2130
$GC,8296,0.89,343.7,646.5,14.2,794,8300,0.12,1.83,0.00,0.000,6,0.176,0.023,2833,2512,2125
$GC,8624,1.13,367.0,609.4,11.4,810,8649,0.17,2.00,19.83,1.068,4,0.071,0.049,2909,3755,2034
$GC,8700,0.90,367.0,597.6,16.5,813,8704,0.25,1.80,0.00,0.000,6,0.179,0.024,2835,2536,2031
$GC,9022,1.21,391.8,559.9,11.3,829,9049,0.25,1.95,21.17,1.052,4,0.067,0.048,2937,3751,1933
$GC,9108,0.96,391.8,546.5,17.1,833,9112,0.35,1.88,0.00,0.000,6,0.184,0.024,2852,2473,1930
$GC,9442,1.23,420.7,506.3,11.0,849,9472,0.20,2.20,24.35,1.029,4,0.076,0.030,2944,1021,1816
$GC,9489,1.12,420.7,499.7,14.0,851,9494,0.15,2.17,0.00,0.000,6,0.188,0.032,2909,2431,1814
$GC,9820,1.12,420.7,454.1,14.2,882,9824,0.00,2.08,0.00,0.000,4,0.000,0.048,2909,3765,1810
$GC,9956,1.00,420.7,433.5,14.4,894,9960,0.17,1.98,0.00,0.000,6,0.180,0.025,2872,2401,1809
$GC,10287,1.33,441.2,394.4,11.6,925,10310,0.25,2.22,17.55,0.943,4,0.067,0.047,2975,3767,1732
$GC,10419,1.09,441.2,373.2,16.6,936,10426,0.32,1.92,0.00,0.000,6,0.186,0.023,2900,2438,1729
$GC,10745,1.37,464.7,334.7,11.4,967,10773,0.22,2.15,20.48,0.901,4,0.069,0.029,3000,1025,1636
$GC,10860,1.20,464.7,317.7,16.3,977,10865,0.28,2.10,0.00,0.000,6,0.188,0.030,2931,2414,1632
$GC,11198,1.35,466.3,270.4,12.9,1026,11204,0.15,2.08,0.00,0.000,4,0.074,0.028,2998,1011,1630
$GC,11252,1.19,466.3,262.5,15.7,1035,11260,0.28,2.10,0.00,0.000,6,0.188,0.030,2928,2409,1629
$GC,11601,1.45,485.5,219.1,11.7,1096,11626,0.20,2.15,17.62,0.797,4,0.064,0.047,3012,3752,1550
$GC,11667,1.18,485.5,208.4,17.1,1107,11675,0.35,1.98,0.00,0.000,6,0.187,0.021,2930,2394,1549
$GC,12018,1.53,507.9,165.4,11.4,1168,12043,0.28,2.20,19.70,0.752,4,0.064,0.044,3045,3757,1460
$GC,12119,1.29,507.9,148.9,17.7,1185,12126,0.35,1.92,0.00,0.000,6,0.183,0.021,2962,2411,1458
$GC,12467,1.58,513.4,105.0,12.6,1246,12481,0.22,2.10,5.80,0.583,4,0.071,0.044,3060,3752,1437
$GC,12506,1.35,513.4,98.3,17.3,1252,12512,0.32,1.88,0.00,0.000,6,0.182,0.021,2982,2431,1437
$GC,12852,1.66,555.8,57.8,10.0,1313,12896,0.22,2.10,35.30,0.663,4,0.067,0.044,3081,3759,1265
$GC,12973,1.47,555.8,41.7,13.7,1333,12980,0.28,1.98,0.00,0.000,6,0.186,0.021,3018,2403,1262
$STATE,13315,end climb,SURFACE_DEPTH_REACHED
$STATE,13315,begin surface coast
$FINISH,1.7,1.002468
$STATE,13345,end surface coast,CONTROL_FINISHED_OK
$STATE,13345,begin surface
$SM_CCo,13425,0.00,0.000,0,0,1259,557.32
$SM_GC,2.58,7.62,0.00,0.00,0.051,0.000,0.000,144,2521,1259,-7.49,1.07,557.32
$IRIDIUM_FIX,2437.06,12410.35,261098,191955
$TT8_MAMPS,0.028379
$HUMID,1714
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.10
$XPDR_PINGS,3
$24V_AH,22.7,74.761
$10V_AH,10.7,40.434
$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,30.100,112.325,551.175,0.000,0.000,54.446,74.701,283.735,6.500,0.000,0.000,15.106,2474.437,7718.211,626.505,2423.873,809.102,0.000,1880.016,0.000,2363.356,0.000,39.419,0.000
$DEVICE_MAMPS,237.770,63.661,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,940.047,992.675,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75750,1399
$CAP_FILE_SIZE,157625,0
$CFSIZE,260165632,191197184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,117.4,1
$GPS,010809,225336,2444.529,12411.884,41,1.1,41,-3.7