version: 66.04
glider: 167
mission: 2
dive: 451
start: 8 3 109 18 21 14
data:
$ID,167
$MISSION,2
$DIVE,451
$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,-14648.122
$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,18.5
$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,65
$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
$GPS1,181336,2441.591,12405.129,31,1.2,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.4
$GPS2,182052,2441.568,12405.076,14,2.1,33,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2441.100,12400.200
$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,274.2,8251,-24.8,-13.043
$D_GRID,770
$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,-1.49,-121.7,0.0,0.0,0,59,0.00,0.00,-41.45,0.000,2,0.000,0.000,140,2513,2369
$GC,63,-1.49,-121.7,3.3,-3.0,7,127,7.93,2.12,-48.38,0.000,4,0.234,0.036,2060,1081,3989
$GC,321,-1.02,-121.7,48.5,-18.6,52,328,0.57,2.05,0.00,0.000,6,0.166,0.028,2214,2464,3990
$GC,668,-1.28,-121.7,89.0,-10.8,113,674,0.20,1.95,0.00,0.000,4,0.061,0.042,2124,3754,3992
$GC,694,-1.28,-121.7,92.2,-12.7,117,700,0.00,1.83,0.00,0.000,6,0.000,0.020,2124,2427,3992
$GC,1039,-1.16,-121.7,139.1,-12.2,178,1046,0.17,1.92,0.00,0.000,4,0.158,0.022,2176,1067,3993
$GC,1077,-1.16,-121.7,143.8,-12.2,184,1083,0.00,2.10,0.00,0.000,6,0.000,0.026,2169,2502,3993
$GC,1424,-1.30,-121.7,178.9,-7.7,245,1430,0.12,2.05,0.00,0.000,4,0.073,0.021,2110,1068,3994
$GC,1466,-1.18,-121.7,183.1,-10.8,252,1472,0.22,2.05,0.00,0.000,6,0.155,0.027,2164,2472,3994
$GC,1811,-1.35,-121.7,222.2,-11.8,313,1818,0.15,1.92,0.00,0.000,4,0.073,0.041,2098,3750,3995
$GC,1837,-1.29,-121.7,225.5,-12.4,317,1844,0.12,1.85,0.00,0.000,6,0.170,0.020,2128,2417,3994
$GC,2184,-1.29,-121.7,265.4,-10.6,378,2191,0.00,1.90,0.00,0.000,4,0.000,0.022,2128,1066,3995
$GC,2220,-1.29,-121.7,269.7,-11.8,384,2226,0.00,2.05,0.00,0.000,6,0.000,0.027,2124,2463,3995
$GC,2563,-1.35,-121.7,306.0,-10.1,440,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2463,3995
$GC,2884,-1.42,-121.7,339.4,-11.2,470,2889,0.10,2.00,0.00,0.000,4,0.083,0.021,2078,1072,3995
$GC,2919,-1.24,-121.7,344.1,-12.9,473,2924,0.25,2.03,0.00,0.000,6,0.155,0.028,2141,2444,3995
$GC,3245,-1.38,-121.7,377.4,-9.4,503,3249,0.12,2.00,0.00,0.000,4,0.080,0.042,2085,3764,3995
$GC,3269,-1.33,-121.7,380.0,-10.6,505,3274,0.12,1.92,0.00,0.000,6,0.170,0.021,2116,2387,3995
$GC,3601,-1.43,-121.7,411.8,-9.2,536,3604,0.00,1.85,0.00,0.000,4,0.000,0.024,2116,1078,3994
$GC,3640,-1.43,-121.7,415.9,-10.0,539,3646,0.00,2.00,0.00,0.000,6,0.000,0.028,2113,2436,3994
$GC,3966,-1.51,-121.7,451.4,-11.4,570,3968,0.15,0.00,0.00,0.000,6,0.074,0.000,2050,2437,3993
$GC,4288,-1.38,-121.7,485.4,-9.1,600,4292,0.17,2.03,0.00,0.000,4,0.161,0.044,2097,3760,3992
$GC,4328,-1.25,-121.7,489.5,-9.3,603,4335,0.15,1.95,0.00,0.000,6,0.164,0.022,2136,2378,3992
$GC,4661,-1.45,-121.7,516.4,-8.7,626,4665,0.17,1.85,0.00,0.000,4,0.067,0.024,2066,1081,3991
$GC,4708,-1.27,-121.7,521.5,-11.4,628,4713,0.28,1.98,0.00,0.000,6,0.158,0.029,2134,2412,3991
$GC,5037,-1.47,-121.7,552.9,-9.8,644,5042,0.17,2.05,0.00,0.000,4,0.071,0.044,2057,3756,3989
$GC,5078,-1.24,-121.7,557.9,-12.2,645,5085,0.32,1.95,0.00,0.000,6,0.163,0.022,2147,2377,3989
$GC,5395,-1.48,-121.7,588.7,-9.5,661,5400,0.20,2.15,0.00,0.000,4,0.066,0.045,2057,3754,3987
$GC,5418,-1.48,-121.7,591.2,-10.6,662,5422,0.00,1.95,0.00,0.000,6,0.000,0.023,2057,2378,3986
$GC,5747,-1.31,-121.7,628.1,-11.2,678,5752,0.20,2.15,0.00,0.000,4,0.165,0.044,2110,3754,3985
$GC,5820,-1.24,-121.7,635.8,-9.5,681,5825,0.12,1.95,0.00,0.000,6,0.165,0.023,2141,2385,3984
$GC,6144,-1.48,-121.7,664.0,-8.9,697,6148,0.17,1.88,0.00,0.000,4,0.072,0.025,2064,1081,3982
$GC,6200,-1.31,-121.7,670.2,-11.7,699,6204,0.22,1.98,0.00,0.000,6,0.161,0.031,2118,2406,3981
$GC,6519,-1.48,-121.7,701.3,-9.9,714,6521,0.15,0.00,0.00,0.000,6,0.075,0.000,2059,2408,3979
$GC,6825,-1.43,-121.7,734.8,-10.4,729,6829,0.00,1.95,0.00,0.000,4,0.000,0.026,2059,1074,3977
$GC,6874,-1.27,-121.7,739.9,-11.4,731,6878,0.28,2.00,0.00,0.000,6,0.162,0.034,2132,2396,3977
$STATE,7198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7198,begin apogee
$GC,7205,-0.27,0.0,771.5,9.8,747,7301,1.02,0.00,91.07,1.216,6,0.137,0.000,2452,2397,3532
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7305,1.49,121.7,778.7,0.0,752,7414,1.60,2.17,99.78,1.185,4,0.065,0.027,3034,1006,3033
$GC,7538,0.87,191.2,775.6,8.1,762,7600,0.80,2.15,55.72,1.167,6,0.210,0.031,2831,2413,2751
$GC,7923,0.81,238.9,741.1,9.6,781,7968,0.00,2.17,39.10,1.156,4,0.000,0.048,2831,3740,2557
$GC,8025,0.67,258.9,729.2,11.6,785,8052,0.28,2.00,17.15,1.093,6,0.186,0.023,2767,2381,2475
$GC,8365,1.03,325.6,698.8,8.3,802,8429,0.28,2.15,54.90,1.151,4,0.068,0.031,2882,1021,2202
$GC,8590,1.00,339.5,671.9,12.0,812,8611,0.00,2.20,12.20,1.042,6,0.000,0.031,2882,2453,2146
$GC,8921,0.94,339.5,626.4,13.4,828,8926,0.12,2.17,0.00,0.000,4,0.183,0.028,2860,1011,2141
$GC,9055,1.04,360.1,610.4,11.6,834,9078,0.00,2.12,17.77,1.071,6,0.000,0.031,2860,2411,2063
$GC,9387,1.20,388.6,572.0,11.0,850,9417,0.17,2.17,24.25,1.071,4,0.079,0.030,2941,1020,1946
$GC,9552,1.05,389.8,549.1,13.0,857,9557,0.22,2.22,0.00,0.000,6,0.182,0.031,2883,2474,1942
$GC,9869,1.21,398.4,509.7,12.4,872,9883,0.15,2.20,9.10,0.946,4,0.081,0.028,2947,1022,1907
$GC,10038,1.07,398.4,485.4,14.5,883,10043,0.22,2.12,0.00,0.000,6,0.181,0.032,2889,2420,1904
$GC,10363,1.28,429.5,446.3,10.8,913,10398,0.17,2.20,26.80,1.004,4,0.076,0.028,2972,1013,1779
$GC,10540,1.13,429.5,420.7,15.4,928,10546,0.25,2.25,0.00,0.000,6,0.183,0.031,2909,2482,1775
$GC,10865,1.37,460.6,383.4,10.8,959,10899,0.17,2.03,26.48,0.954,4,0.072,0.048,2983,3761,1653
$GC,10982,1.12,460.6,366.4,15.6,969,10986,0.32,1.98,0.00,0.000,6,0.186,0.024,2907,2426,1650
$GC,11307,1.39,460.6,323.9,13.4,999,11312,0.20,2.12,0.00,0.000,4,0.069,0.031,2993,1000,1647
$GC,11462,1.24,460.6,299.4,16.5,1012,11469,0.20,2.05,0.00,0.000,6,0.186,0.030,2943,2367,1646
$GC,11811,1.41,493.0,254.8,10.7,1073,11846,0.17,2.20,26.83,0.850,4,0.069,0.046,3017,3745,1521
$GC,11947,1.18,493.0,235.2,15.0,1096,11954,0.38,2.00,0.00,0.000,6,0.178,0.022,2927,2384,1517
$GC,12295,1.54,514.2,194.1,11.5,1157,12321,0.28,2.15,18.55,0.778,4,0.063,0.044,3042,3748,1434
$GC,12416,1.29,514.2,175.8,15.4,1177,12422,0.35,2.08,0.00,0.000,6,0.183,0.022,2959,2315,1432
$GC,12762,1.60,526.2,132.2,12.2,1238,12782,0.25,1.98,10.85,0.690,4,0.067,0.028,3073,997,1387
$GC,12801,1.47,526.2,126.6,15.1,1244,12807,0.20,2.03,0.00,0.000,6,0.192,0.028,3023,2353,1385
$GC,13147,1.47,527.3,78.8,13.0,1305,13153,0.00,2.00,0.00,0.000,4,0.000,0.027,3031,995,1385
$GC,13210,1.47,527.3,70.1,13.2,1316,13216,0.00,2.00,0.00,0.000,6,0.000,0.027,3031,2343,1384
$GC,13556,1.68,555.5,32.3,11.0,1377,13588,0.15,2.17,25.10,0.630,4,0.072,0.042,3094,3755,1265
$GC,13666,1.50,555.5,16.8,15.9,1395,13673,0.28,2.05,0.00,0.000,6,0.186,0.020,3030,2316,1264
$STATE,13767,end climb,SURFACE_DEPTH_REACHED
$STATE,13767,begin surface coast
$FINISH,1.7,0.999578
$STATE,13799,end surface coast,CONTROL_FINISHED_OK
$STATE,13799,begin surface
$SM_CCo,13878,0.00,0.000,0,0,1261,556.83
$SM_GC,2.62,7.82,0.00,0.00,0.058,0.000,0.000,141,2493,1261,-7.49,0.28,556.83
$IRIDIUM_FIX,2434.69,12520.12,281098,141453
$TT8_MAMPS,0.028379
$HUMID,1734
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,22.7,77.099
$10V_AH,10.7,41.559
$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,28.950,122.800,555.650,0.000,0.000,29.054,35.309,191.350,6.000,0.000,0.000,36.539,2512.484,7945.833,647.379,2505.438,692.625,0.000,1938.253,0.000,2434.213,0.000,39.420,0.000
$DEVICE_MAMPS,233.935,48.321,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,952.660,1005.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75698,1418
$CAP_FILE_SIZE,160062,0
$CFSIZE,260165632,190152704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,108.2,1
$GPS,030809,221337,2441.410,12404.500,27,1.3,28,-3.6