version: 66.04
glider: 167
mission: 2
dive: 438
start: 8 1 109 23 0 59
data:
$ID,167
$MISSION,2
$DIVE,438
$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,-14350.614
$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,71
$R_STBD_OVSHOOT,71
$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
$GPS1,225336,2444.529,12411.884,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-65.0
$GPS2,230038,2444.506,12411.823,9,1.6,9,-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,262.1,21977,-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,-121.7,0.0,0.0,0,60,0.00,0.00,-42.12,0.000,2,0.000,0.000,143,2522,2315
$GC,64,-1.34,-121.7,3.2,-2.5,7,131,8.15,2.17,-52.67,0.000,4,0.237,0.035,2110,1069,3989
$GC,267,-0.98,-121.7,33.7,-18.5,42,274,0.43,2.08,0.00,0.000,6,0.162,0.028,2221,2467,3990
$GC,614,-1.22,-121.7,78.5,-12.5,103,620,0.17,0.00,0.00,0.000,6,0.062,0.000,2142,2470,3991
$GC,959,-1.14,-121.7,121.1,-13.0,164,965,0.15,2.00,0.00,0.000,4,0.160,0.022,2180,1077,3992
$GC,1000,-1.14,-121.7,126.4,-12.8,171,1006,0.00,2.08,0.00,0.000,6,0.000,0.035,2178,2481,3992
$GC,1345,-1.33,-121.7,164.9,-10.5,232,1352,0.17,2.03,0.00,0.000,4,0.066,0.021,2093,1065,3994
$GC,1439,-1.09,-121.7,177.7,-14.2,248,1445,0.38,2.05,0.00,0.000,6,0.152,0.035,2192,2463,3994
$GC,1785,-1.39,-121.7,211.4,-9.5,309,1793,0.25,2.00,0.00,0.000,4,0.059,0.021,2082,1067,3995
$GC,1823,-1.18,-121.7,215.9,-12.5,315,1829,0.30,2.03,0.00,0.000,6,0.155,0.026,2161,2456,3995
$GC,2171,-1.38,-121.7,251.8,-10.3,376,2178,0.17,2.00,0.00,0.000,4,0.067,0.022,2080,1068,3995
$GC,2202,-1.27,-121.7,255.9,-12.4,381,2210,0.22,2.00,0.00,0.000,6,0.160,0.026,2132,2440,3995
$GC,2550,-1.38,-121.7,295.1,-10.8,442,2556,0.00,1.95,0.00,0.000,4,0.000,0.022,2133,1072,3995
$GC,2587,-1.38,-121.7,299.5,-12.2,448,2594,0.00,2.00,0.00,0.000,6,0.000,0.025,2125,2442,3995
$GC,2913,-1.43,-121.7,338.1,-11.2,479,2917,0.12,1.98,0.00,0.000,4,0.077,0.022,2071,1074,3995
$GC,2942,-1.28,-121.7,342.0,-13.2,481,2950,0.22,2.00,0.00,0.000,6,0.159,0.028,2132,2426,3995
$GC,3267,-1.38,-121.7,376.8,-10.0,512,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2426,3996
$GC,3590,-1.53,-121.7,408.1,-10.6,542,3594,0.20,1.95,0.00,0.000,4,0.066,0.025,2044,1078,3995
$GC,3624,-1.27,-121.7,412.6,-12.9,545,3629,0.32,1.98,0.00,0.000,6,0.165,0.030,2131,2412,3994
$GC,3950,-1.40,-121.7,447.2,-9.4,575,3954,0.12,1.92,0.00,0.000,4,0.078,0.023,2080,1077,3994
$GC,3985,-1.29,-121.7,450.7,-10.1,578,3989,0.20,1.95,0.00,0.000,6,0.159,0.028,2128,2401,3993
$GC,4316,-1.43,-121.7,478.4,-8.6,609,4320,0.12,2.08,0.00,0.000,4,0.078,0.043,2071,3761,3992
$GC,4350,-1.24,-121.7,482.0,-10.4,612,4355,0.28,2.00,0.00,0.000,6,0.159,0.021,2148,2341,3992
$GC,4686,-1.47,-121.7,515.3,-10.4,636,4690,0.17,2.20,0.00,0.000,4,0.067,0.044,2068,3762,3991
$GC,4714,-1.36,-121.7,519.1,-12.8,637,4718,0.15,2.00,0.00,0.000,6,0.166,0.021,2107,2344,3991
$GC,5040,-1.46,-121.7,550.4,-8.9,653,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2342,3990
$GC,5345,-1.57,-121.7,578.3,-9.7,668,5350,0.20,2.20,0.00,0.000,4,0.068,0.044,2015,3760,3987
$GC,5373,-1.30,-121.7,581.7,-12.7,669,5377,0.40,2.00,0.00,0.000,6,0.176,0.023,2126,2355,3986
$GC,5690,-1.47,-121.7,615.9,-10.9,684,5692,0.17,0.00,0.00,0.000,6,0.073,0.000,2057,2355,3985
$GC,5998,-1.36,-121.7,649.7,-10.5,699,6004,0.17,2.17,0.00,0.000,4,0.164,0.045,2098,3747,3982
$GC,6034,-1.30,-121.7,653.3,-9.9,700,6037,0.00,2.00,0.00,0.000,6,0.000,0.024,2098,2342,3982
$GC,6355,-1.30,-121.7,681.6,-8.8,716,6359,0.00,2.20,0.00,0.000,4,0.000,0.047,2097,3750,3980
$GC,6424,-1.21,-121.7,688.2,-9.6,719,6429,0.20,1.98,0.00,0.000,6,0.160,0.024,2151,2374,3979
$GC,6761,-1.50,-121.7,716.8,-8.7,735,6765,0.22,1.88,0.00,0.000,4,0.067,0.025,2058,1073,3976
$GC,6784,-1.50,-121.7,719.6,-10.6,736,6787,0.00,2.03,0.00,0.000,6,0.000,0.033,2057,2417,3976
$STATE,7052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7052,begin apogee
$GC,7060,-0.24,0.0,751.1,11.1,749,7162,1.40,0.00,92.55,1.188,6,0.167,0.000,2463,2419,3532
$STATE,7162,end apogee,CONTROL_FINISHED_OK
$STATE,7162,begin climb
$GC,7165,1.34,121.7,756.4,0.0,754,7274,1.42,2.22,99.10,1.169,4,0.065,0.028,2983,997,3034
$GC,7311,0.83,192.0,756.8,8.0,760,7374,0.65,2.17,56.45,1.145,6,0.205,0.031,2818,2399,2749
$GC,7697,0.82,242.5,720.8,9.4,779,7742,0.00,2.17,41.03,1.140,4,0.000,0.048,2818,3760,2541
$GC,7814,0.71,256.2,708.0,12.1,784,7833,0.20,2.03,11.95,1.032,6,0.179,0.023,2775,2391,2487
$GC,8158,1.02,322.5,679.4,8.3,801,8222,0.25,2.30,54.30,1.135,4,0.067,0.047,2880,3761,2215
$GC,8299,0.83,322.5,661.7,13.2,807,8303,0.28,1.95,0.00,0.000,6,0.182,0.024,2817,2438,2212
$GC,8620,1.08,372.5,629.6,9.5,823,8667,0.20,2.12,41.20,1.112,4,0.071,0.047,2897,3754,2011
$GC,8760,0.93,372.5,609.5,15.6,829,8765,0.22,1.85,0.00,0.000,6,0.181,0.023,2848,2488,2006
$GC,9082,1.19,391.1,569.4,11.7,845,9106,0.20,2.03,15.45,1.037,4,0.073,0.048,2931,3758,1936
$GC,9131,0.99,391.1,562.2,15.9,847,9135,0.28,1.80,0.00,0.000,6,0.184,0.024,2866,2525,1935
$GC,9464,1.21,414.5,520.9,11.4,863,9489,0.17,1.98,20.30,1.034,4,0.077,0.048,2941,3758,1843
$GC,9588,0.98,414.5,501.8,16.0,868,9595,0.32,1.88,0.00,0.000,6,0.183,0.024,2863,2471,1838
$GC,9916,1.29,417.4,462.4,12.8,898,9920,0.22,2.03,0.00,0.000,4,0.071,0.048,2959,3755,1836
$GC,9987,1.04,417.4,451.1,16.7,904,9991,0.32,1.95,0.00,0.000,6,0.184,0.025,2881,2430,1836
$GC,10314,1.30,439.3,409.8,11.5,934,10341,0.20,2.10,21.25,0.969,4,0.072,0.047,2966,3751,1740
$GC,10367,1.13,439.3,402.3,14.9,938,10371,0.25,1.98,0.00,0.000,6,0.185,0.023,2912,2405,1738
$GC,10694,1.31,441.8,361.7,12.9,968,10698,0.15,2.05,0.00,0.000,4,0.081,0.029,2978,1024,1735
$GC,10711,1.41,450.7,359.2,12.4,969,10729,0.00,2.15,10.52,0.874,6,0.000,0.031,2978,2437,1694
$GC,11048,1.28,450.7,306.2,15.6,1001,11052,0.00,2.12,0.00,0.000,4,0.000,0.028,2985,1011,1690
$GC,11180,1.15,450.7,285.6,16.0,1020,11187,0.25,2.10,0.00,0.000,6,0.185,0.029,2921,2416,1690
$GC,11528,1.33,478.7,242.4,11.0,1081,11560,0.15,2.10,23.70,0.833,4,0.071,0.046,2980,3761,1579
$GC,11595,1.17,478.7,232.6,14.3,1092,11602,0.25,2.00,0.00,0.000,6,0.179,0.024,2926,2397,1577
$GC,11941,1.47,478.7,191.0,13.3,1153,11949,0.22,2.12,0.00,0.000,4,0.064,0.045,3019,3755,1574
$GC,12024,1.18,478.7,177.0,17.4,1167,12031,0.38,2.08,0.00,0.000,6,0.178,0.023,2928,2323,1574
$GC,12370,1.55,507.4,136.5,11.0,1228,12401,0.28,2.30,24.42,0.733,4,0.062,0.043,3045,3752,1463
$GC,12495,1.27,507.4,117.0,16.5,1249,12503,0.38,2.00,0.00,0.000,6,0.178,0.021,2955,2379,1459
$GC,12843,1.63,548.0,76.3,10.1,1310,12884,0.28,2.17,33.70,0.680,4,0.063,0.043,3074,3755,1295
$GC,13015,1.43,548.0,49.5,16.3,1340,13022,0.28,2.08,0.00,0.000,6,0.179,0.021,3011,2328,1292
$GC,13361,1.77,578.1,10.6,10.9,1401,13393,0.25,2.30,25.38,0.607,4,0.064,0.042,3114,3760,1174
$STATE,13415,end climb,SURFACE_DEPTH_REACHED
$STATE,13415,begin surface coast
$FINISH,1.7,1.008468
$STATE,13432,end surface coast,CONTROL_FINISHED_OK
$STATE,13432,begin surface
$SM_CCo,13515,0.00,0.000,0,0,1169,579.64
$SM_GC,2.57,8.02,0.00,0.00,0.056,0.000,0.000,141,2486,1169,-7.50,0.08,579.64
$IRIDIUM_FIX,2437.06,12413.65,261098,191903
$TT8_MAMPS,0.028379
$HUMID,1721
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,23.6,74.945
$10V_AH,10.7,40.519
$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,31.175,122.925,571.300,0.000,0.000,23.052,36.211,202.934,6.500,0.000,0.000,11.770,2474.110,7742.706,661.223,2364.200,683.355,0.000,1904.236,0.000,2318.834,0.000,39.437,0.000
$DEVICE_MAMPS,237.003,48.321,1188.083,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,948.972,1009.166,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75764,1413
$CAP_FILE_SIZE,156955,0
$CFSIZE,260165632,191119360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,101.3,1
$GPS,020809,024730,2444.268,12411.312,40,1.0,41,-3.7