version: 66.04
glider: 167
mission: 2
dive: 433
start: 8 1 109 2 15 32
data:
$ID,167
$MISSION,2
$DIVE,433
$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,-14276.983
$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,81
$R_STBD_OVSHOOT,49
$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
$GPS1,020654,2446.169,12414.420,38,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.3
$GPS2,021512,2446.115,12414.355,15,2.0,31,-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,269.4,27139,-24.8,-13.043
$D_GRID,893
$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,17,-1.34,-121.7,0.0,0.0,0,58,0.00,0.00,-39.50,0.000,2,0.000,0.000,140,2497,2266
$GC,62,-1.34,-121.7,3.1,-2.2,7,133,8.18,2.00,-55.33,0.000,4,0.238,0.054,2096,3756,3989
$GC,387,-0.89,-121.7,60.1,-19.5,63,394,0.55,1.83,0.00,0.000,6,0.166,0.021,2250,2450,3991
$GC,732,-1.22,-121.7,96.8,-9.1,124,739,0.25,2.00,0.00,0.000,4,0.056,0.042,2137,3750,3992
$GC,809,-1.02,-121.7,106.5,-13.0,137,817,0.28,1.75,0.00,0.000,6,0.159,0.021,2213,2491,3992
$GC,1157,-1.32,-121.7,143.1,-10.2,198,1162,0.22,0.00,0.00,0.000,6,0.059,0.000,2113,2491,3993
$GC,1502,-1.14,-121.7,182.0,-12.5,259,1508,0.20,1.92,0.00,0.000,4,0.160,0.040,2166,3752,3994
$GC,1669,-1.14,-121.7,201.6,-11.5,288,1674,0.00,1.77,0.00,0.000,6,0.000,0.021,2165,2477,3993
$GC,2014,-1.33,-121.7,239.4,-10.2,349,2022,0.15,1.95,0.00,0.000,4,0.074,0.021,2100,1093,3994
$GC,2058,-1.20,-121.7,244.7,-12.7,356,2065,0.22,2.05,0.00,0.000,6,0.161,0.027,2158,2490,3994
$GC,2406,-1.29,-121.7,284.2,-10.4,417,2413,0.00,1.90,0.00,0.000,4,0.000,0.043,2153,3752,3994
$GC,2431,-1.36,-121.7,287.2,-10.4,421,2439,0.12,1.75,0.00,0.000,6,0.077,0.022,2098,2488,3994
$GC,2766,-1.31,-121.7,323.5,-9.6,461,2770,0.00,1.92,0.00,0.000,4,0.000,0.042,2098,3750,3994
$GC,2818,-1.10,-121.7,329.4,-11.5,465,2826,0.32,1.73,0.00,0.000,6,0.157,0.022,2189,2509,3994
$GC,3143,-1.43,-121.7,359.3,-9.5,496,3145,0.30,0.00,0.00,0.000,6,0.057,0.000,2071,2509,3994
$GC,3465,-1.24,-121.7,394.2,-11.4,526,3471,0.25,0.00,0.00,0.000,6,0.164,0.000,2143,2509,3994
$GC,3797,-1.43,-121.7,425.7,-9.8,557,3803,0.17,0.00,0.00,0.000,6,0.068,0.000,2066,2509,3993
$GC,4127,-1.27,-121.7,464.3,-10.9,588,4131,0.22,1.92,0.00,0.000,4,0.170,0.041,2124,3758,3992
$GC,4173,-1.20,-121.7,469.9,-11.6,592,4177,0.12,1.75,0.00,0.000,6,0.166,0.024,2154,2519,3992
$GC,4505,-1.42,-121.7,500.3,-9.2,623,4510,0.20,2.05,0.00,0.000,4,0.067,0.023,2069,1086,3991
$GC,4613,-1.23,-121.7,513.6,-13.6,628,4618,0.30,2.12,0.00,0.000,6,0.163,0.031,2144,2509,3991
$GC,4943,-1.45,-121.7,544.4,-9.2,644,4945,0.20,0.00,0.00,0.000,6,0.067,0.000,2065,2512,3989
$GC,5250,-1.45,-121.7,577.1,-10.9,659,5254,0.00,2.05,0.00,0.000,4,0.000,0.025,2065,1089,3987
$GC,5289,-1.29,-121.7,581.9,-11.4,660,5296,0.25,2.12,0.00,0.000,6,0.166,0.030,2125,2513,3986
$GC,5607,-1.46,-121.7,612.5,-9.6,676,5611,0.15,2.08,0.00,0.000,4,0.077,0.024,2066,1109,3984
$GC,5663,-1.30,-121.7,618.9,-12.1,678,5667,0.25,2.10,0.00,0.000,6,0.166,0.031,2126,2494,3984
$GC,5986,-1.48,-121.7,649.6,-9.8,694,5991,0.17,2.05,0.00,0.000,4,0.074,0.025,2051,1092,3981
$GC,6032,-1.28,-121.7,655.6,-13.0,696,6037,0.32,2.08,0.00,0.000,6,0.171,0.031,2133,2472,3981
$GC,6362,-1.48,-121.7,688.7,-9.5,712,6366,0.17,2.03,0.00,0.000,4,0.074,0.025,2058,1102,3979
$GC,6446,-1.33,-121.7,698.7,-11.8,715,6452,0.22,2.03,0.00,0.000,6,0.170,0.033,2116,2440,3978
$GC,6765,-1.50,-121.7,728.4,-9.2,731,6767,0.15,0.00,0.00,0.000,6,0.079,0.000,2058,2441,3975
$GC,7072,-1.41,-121.7,762.1,-10.9,746,7076,0.12,2.05,0.00,0.000,4,0.179,0.046,2085,3764,3973
$GC,7118,-1.28,-121.7,767.5,-12.4,748,7122,0.17,1.95,0.00,0.000,6,0.170,0.023,2129,2406,3973
$GC,7454,-1.50,-121.7,797.9,-8.9,764,7456,0.20,0.00,0.00,0.000,6,0.073,0.000,2054,2406,3971
$GC,7760,-1.34,-121.7,829.5,-10.3,779,7764,0.20,2.12,0.00,0.000,4,0.173,0.045,2103,3757,3969
$GC,7794,-1.28,-121.7,832.9,-9.8,780,7801,0.12,1.95,0.00,0.000,6,0.177,0.024,2133,2402,3968
$GC,8111,-1.51,-121.7,857.6,-7.9,796,8115,0.17,1.90,0.00,0.000,4,0.074,0.025,2058,1092,3967
$GC,8168,-1.37,-121.7,863.9,-12.2,798,8173,0.17,2.00,0.00,0.000,6,0.174,0.035,2101,2412,3966
$STATE,8465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8472,-0.24,0.0,895.3,10.6,813,8574,1.23,0.00,93.18,1.309,6,0.163,0.000,2459,2412,3532
$STATE,8574,end apogee,CONTROL_FINISHED_OK
$STATE,8575,begin climb
$GC,8577,1.34,121.7,901.9,0.0,818,8687,1.45,2.28,102.22,1.295,4,0.067,0.028,2982,1022,3035
$GC,8941,0.84,198.3,892.4,7.5,834,9012,0.65,2.15,62.88,1.277,6,0.213,0.035,2818,2413,2723
$GC,9329,0.79,239.9,855.8,10.1,853,9372,0.00,2.20,34.88,1.251,4,0.000,0.050,2818,3745,2552
$GC,9401,0.64,243.1,847.3,12.8,856,9410,0.28,1.98,3.95,0.765,6,0.183,0.024,2755,2420,2540
$GC,9730,0.88,303.5,816.9,8.7,872,9788,0.17,2.22,51.30,1.249,4,0.078,0.049,2828,3761,2294
$GC,9874,0.78,303.5,798.6,14.5,878,9878,0.15,1.95,0.00,0.000,6,0.192,0.025,2801,2447,2288
$GC,10196,0.95,346.8,765.4,9.9,894,10239,0.15,2.20,36.05,1.222,4,0.081,0.031,2863,1020,2117
$GC,10308,0.95,346.8,750.9,13.4,899,10313,0.00,2.22,0.00,0.000,6,0.000,0.034,2863,2444,2113
$GC,10635,0.95,346.8,705.6,14.8,915,10639,0.00,2.17,0.00,0.000,4,0.000,0.030,2871,1011,2109
$GC,10704,0.95,346.8,695.6,15.0,918,10708,0.00,2.17,0.00,0.000,6,0.000,0.032,2871,2433,2109
$GC,11037,0.95,346.9,649.9,13.0,934,11041,0.00,2.08,0.00,0.000,4,0.000,0.051,2871,3765,2107
$GC,11089,0.81,346.9,642.5,15.2,936,11094,0.28,1.95,0.00,0.000,6,0.185,0.025,2808,2426,2107
$GC,11414,1.17,387.7,608.0,10.1,952,11457,0.28,2.20,33.47,1.143,4,0.067,0.051,2921,3751,1950
$GC,11539,0.95,387.7,589.1,14.9,957,11543,0.28,1.90,0.00,0.000,6,0.189,0.025,2854,2481,1946
$GC,11862,1.16,412.1,551.5,11.3,973,11889,0.17,2.22,21.70,1.081,4,0.079,0.030,2936,1017,1851
$GC,11940,1.06,412.1,540.0,14.3,976,11944,0.20,2.22,0.00,0.000,6,0.186,0.033,2886,2460,1847
$GC,12261,1.06,412.1,496.3,13.5,993,12265,0.00,2.17,0.00,0.000,4,0.000,0.029,2894,1009,1843
$GC,12320,1.15,415.9,488.9,12.8,998,12324,0.00,2.20,0.00,0.000,6,0.000,0.031,2894,2445,1844
$GC,12650,1.15,418.3,442.3,12.9,1029,12661,0.00,0.00,5.50,0.818,6,0.000,0.000,2894,2446,1826
$GC,12982,1.15,418.3,403.3,13.4,1060,12985,0.00,2.15,0.00,0.000,4,0.000,0.029,2902,1013,1824
$GC,13061,1.24,418.3,392.5,13.7,1067,13066,0.12,2.15,0.00,0.000,6,0.090,0.031,2950,2433,1824
$GC,13387,1.13,418.3,344.2,13.6,1097,13389,0.15,0.00,0.00,0.000,6,0.184,0.000,2914,2435,1823
$GC,13708,1.21,442.0,306.5,11.3,1127,13735,0.00,2.15,21.35,0.897,4,0.000,0.028,2922,1013,1728
$GC,13787,1.32,458.8,296.9,11.8,1135,13812,0.15,2.12,15.48,0.858,6,0.077,0.031,2979,2405,1660
$GC,14154,1.23,458.8,241.7,15.4,1199,14160,0.15,2.10,0.00,0.000,4,0.183,0.028,2951,1006,1655
$GC,14202,1.23,458.8,234.5,13.9,1207,14208,0.00,2.03,0.00,0.000,6,0.000,0.028,2951,2353,1655
$GC,14549,1.36,472.5,190.1,12.1,1268,14567,0.00,2.05,11.73,0.754,4,0.000,0.028,2955,1014,1604
$GC,14593,1.42,473.5,184.4,13.0,1275,14599,0.12,1.98,0.00,0.000,6,0.085,0.028,3001,2324,1603
$GC,14938,1.32,473.5,134.1,13.8,1336,14944,0.12,2.20,0.00,0.000,4,0.193,0.044,2973,3752,1603
$GC,14957,1.23,473.5,131.3,13.9,1339,14964,0.15,2.05,0.00,0.000,6,0.179,0.021,2943,2336,1602
$GC,15303,1.57,509.5,92.7,10.5,1400,15340,0.28,2.30,31.33,0.702,4,0.061,0.044,3062,3756,1454
$GC,15376,1.32,509.5,82.3,15.8,1412,15382,0.38,2.03,0.00,0.000,6,0.186,0.021,2974,2375,1452
$GC,15721,1.68,538.8,45.5,10.9,1473,15753,0.28,2.25,24.42,0.643,4,0.064,0.045,3088,3764,1334
$GC,15859,1.46,538.8,25.6,15.3,1496,15867,0.30,2.12,0.00,0.000,6,0.186,0.021,3019,2308,1332
$STATE,16052,end climb,SURFACE_DEPTH_REACHED
$STATE,16052,begin surface coast
$FINISH,1.8,1.021055
$STATE,16081,end surface coast,CONTROL_FINISHED_OK
$STATE,16081,begin surface
$SM_CCo,16160,0.00,0.000,0,0,1329,540.64
$SM_GC,2.61,7.78,0.00,0.00,0.058,0.000,0.000,142,2494,1329,-7.49,0.31,540.64
$IRIDIUM_FIX,2439.44,12414.98,251098,212120
$TT8_MAMPS,0.028379
$HUMID,1707
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.4,74.023
$10V_AH,10.7,40.083
$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,30.400,127.375,549.425,0.000,0.000,31.259,35.129,247.600,7.000,0.000,0.000,31.885,2726.322,9814.503,659.642,2692.136,749.773,0.000,2039.000,0.000,2607.584,0.000,49.787,0.000
$DEVICE_MAMPS,237.770,54.457,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.404,1073.699,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82166,1535
$CAP_FILE_SIZE,174343,0
$CFSIZE,260165632,191512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,100.8,1
$GPS,010809,064606,2446.026,12413.858,38,1.2,39,-3.7