version: 66.04
glider: 167
mission: 2
dive: 447
start: 8 3 109 4 30 7
data:
$ID,167
$MISSION,2
$DIVE,447
$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,-14545.306
$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,19.700001
$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,57
$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
$GPS1,042300,2441.975,12407.531,41,0.9,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.3
$GPS2,042944,2441.963,12407.534,16,1.0,16,-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,279.2,12445,-24.8,-13.043
$D_GRID,621
$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,-1.41,-121.7,0.0,0.0,0,64,0.00,0.00,-46.70,0.000,2,0.000,0.000,142,2500,2418
$GC,68,-1.41,-121.7,3.5,-3.6,8,128,8.10,1.98,-46.85,0.000,4,0.239,0.054,2078,3755,3989
$GC,383,-0.89,-121.7,62.9,-19.6,63,390,0.62,1.83,0.00,0.000,6,0.165,0.021,2256,2442,3991
$GC,730,-1.25,-121.7,99.0,-10.8,124,737,0.28,2.00,0.00,0.000,4,0.054,0.041,2136,3744,3992
$GC,791,-1.04,-121.7,106.7,-14.2,134,799,0.28,1.73,0.00,0.000,6,0.160,0.031,2211,2501,3992
$GC,1139,-1.32,-121.7,145.7,-10.2,195,1146,0.22,1.90,0.00,0.000,4,0.060,0.041,2110,3749,3993
$GC,1159,-1.44,-121.7,147.9,-10.1,198,1166,0.00,1.73,0.00,0.000,6,0.000,0.020,2110,2481,3994
$GC,1509,-1.31,-121.7,193.9,-12.4,259,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2481,3995
$GC,1853,-1.21,-121.7,233.9,-11.0,320,1859,0.15,0.00,0.00,0.000,6,0.163,0.000,2148,2481,3995
$GC,2198,-1.33,-121.7,267.3,-10.5,381,2204,0.00,1.92,0.00,0.000,4,0.000,0.023,2149,1110,3995
$GC,2234,-1.41,-121.7,271.2,-10.4,387,2241,0.17,2.05,0.00,0.000,6,0.064,0.028,2075,2510,3995
$GC,2580,-1.18,-121.7,317.4,-13.1,437,2584,0.28,1.88,0.00,0.000,4,0.168,0.040,2147,3759,3995
$GC,2686,-1.14,-121.7,330.6,-11.7,446,2694,0.12,1.70,0.00,0.000,6,0.163,0.022,2178,2540,3995
$GC,3012,-1.41,-121.7,362.4,-9.7,477,3016,0.22,2.03,0.00,0.000,4,0.061,0.022,2082,1134,3995
$GC,3051,-1.27,-121.7,367.1,-12.1,480,3058,0.20,2.08,0.00,0.000,6,0.161,0.029,2135,2515,3995
$GC,3377,-1.40,-121.7,403.2,-10.5,511,3382,0.12,2.03,0.00,0.000,4,0.078,0.023,2081,1126,3995
$GC,3446,-1.23,-121.7,411.2,-11.8,517,3451,0.22,2.05,0.00,0.000,6,0.160,0.029,2142,2494,3995
$GC,3773,-1.41,-121.7,441.2,-8.3,547,3777,0.15,2.00,0.00,0.000,4,0.074,0.023,2080,1117,3994
$GC,3808,-1.33,-121.7,444.5,-9.8,550,3812,0.17,2.03,0.00,0.000,6,0.160,0.028,2118,2479,3994
$GC,4138,-1.45,-121.7,478.6,-11.9,581,4143,0.12,1.98,0.00,0.000,4,0.077,0.022,2066,1112,3993
$GC,4213,-1.27,-121.7,488.4,-13.5,587,4220,0.28,1.95,0.00,0.000,6,0.161,0.028,2134,2433,3992
$GC,4535,-1.45,-121.7,520.6,-9.4,608,4539,0.17,1.90,0.00,0.000,4,0.070,0.023,2057,1115,3992
$GC,4609,-1.25,-121.7,529.2,-11.5,611,4613,0.30,1.92,0.00,0.000,6,0.163,0.031,2139,2414,3991
$GC,4933,-1.46,-121.7,559.6,-9.4,627,4937,0.17,1.88,0.00,0.000,4,0.070,0.022,2062,1115,3990
$GC,4966,-1.33,-121.7,563.7,-11.6,628,4970,0.22,1.90,0.00,0.000,6,0.164,0.028,2118,2404,3990
$GC,5290,-1.48,-121.7,599.4,-11.4,644,5298,0.15,1.85,0.00,0.000,4,0.072,0.024,2058,1123,3987
$GC,5327,-1.32,-121.7,604.2,-12.3,645,5331,0.22,1.90,0.00,0.000,6,0.164,0.031,2118,2401,3987
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5488,-0.25,0.0,621.8,11.1,653,5583,1.08,0.00,90.45,1.079,6,0.137,0.000,2455,2402,3532
$STATE,5584,end apogee,CONTROL_FINISHED_OK
$STATE,5584,begin climb
$GC,5587,1.41,121.7,629.3,0.0,658,5691,1.52,2.20,96.82,1.054,4,0.064,0.044,2997,3749,3034
$GC,5806,0.72,203.0,629.6,7.2,668,5877,0.88,1.95,63.55,1.042,6,0.208,0.021,2781,2420,2704
$GC,6195,0.95,278.1,602.2,7.7,687,6261,0.20,2.17,58.90,1.041,4,0.072,0.028,2868,1025,2397
$GC,6424,0.92,303.0,576.2,11.3,697,6450,0.00,2.15,21.00,0.989,6,0.000,0.030,2869,2444,2295
$GC,6763,0.89,324.7,536.9,11.5,713,6786,0.15,2.10,17.60,0.974,4,0.178,0.046,2831,3754,2207
$GC,6805,0.98,351.9,532.2,11.1,714,6834,0.00,1.88,23.50,0.978,6,0.000,0.023,2831,2468,2097
$GC,7146,1.34,385.8,496.7,10.6,732,7181,0.35,2.12,27.38,0.983,4,0.058,0.047,2976,3763,1958
$GC,7276,0.96,385.8,477.0,16.9,743,7281,0.47,1.98,0.00,0.000,6,0.184,0.024,2859,2427,1954
$GC,7608,1.29,426.9,441.2,10.1,774,7652,0.25,2.17,34.00,0.963,4,0.063,0.030,2972,1021,1789
$GC,7714,1.15,426.9,427.2,14.3,783,7721,0.22,2.12,0.00,0.000,6,0.182,0.029,2916,2420,1786
$GC,8039,1.32,435.4,387.0,12.4,814,8053,0.15,2.12,7.40,0.804,4,0.074,0.048,2976,3751,1755
$GC,8145,1.06,435.4,369.3,17.2,823,8150,0.35,2.03,0.00,0.000,6,0.181,0.023,2891,2363,1754
$GC,8471,1.37,443.1,327.9,12.5,853,8484,0.22,2.08,7.62,0.784,4,0.067,0.028,2995,993,1724
$GC,8542,1.17,443.1,317.4,15.2,859,8547,0.28,2.03,0.00,0.000,6,0.185,0.030,2925,2340,1723
$GC,8881,1.29,444.8,274.5,12.9,907,8887,0.00,2.00,0.00,0.000,4,0.000,0.030,2925,995,1722
$GC,9002,1.36,449.8,259.1,12.7,928,9015,0.17,2.10,6.97,0.727,6,0.071,0.028,2993,2402,1697
$GC,9354,1.22,449.8,204.3,16.1,990,9361,0.17,0.00,0.00,0.000,6,0.179,0.000,2943,2403,1696
$GC,9700,1.45,491.4,163.3,10.1,1051,9741,0.20,2.10,34.58,0.766,4,0.067,0.028,3033,1005,1526
$GC,9878,1.32,491.4,139.6,14.5,1082,9886,0.22,2.03,0.00,0.000,6,0.172,0.028,2975,2358,1522
$GC,10227,1.61,525.4,95.8,10.6,1143,10262,0.20,2.05,28.15,0.696,4,0.069,0.028,3074,993,1388
$GC,10451,1.46,525.4,67.0,14.3,1182,10459,0.22,1.98,0.00,0.000,6,0.186,0.028,3016,2326,1384
$GC,10799,1.70,554.4,24.4,11.0,1243,10829,0.17,1.98,23.83,0.622,4,0.068,0.026,3103,994,1270
$GC,10883,1.57,554.4,13.1,14.4,1257,10889,0.20,1.92,0.00,0.000,6,0.182,0.028,3051,2291,1268
$STATE,10961,end climb,SURFACE_DEPTH_REACHED
$STATE,10961,begin surface coast
$FINISH,1.6,1.021495
$STATE,10988,end surface coast,CONTROL_FINISHED_OK
$STATE,10988,begin surface
$SM_CCo,11067,0.00,0.000,0,0,1265,556.10
$SM_GC,2.49,7.80,0.00,0.00,0.055,0.000,0.000,143,2501,1265,-7.49,0.51,556.10
$IRIDIUM_FIX,2429.95,12407.06,281098,010112
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,23.8,76.389
$10V_AH,10.8,41.222
$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,28.475,91.700,541.750,0.000,0.000,25.018,33.059,191.759,5.000,0.000,0.000,16.879,2209.815,5873.911,626.131,2141.896,610.977,0.000,1735.692,0.000,2102.480,0.000,29.413,0.000
$DEVICE_MAMPS,239.304,53.690,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.570,932.485,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69439,1275
$CAP_FILE_SIZE,133699,0
$CFSIZE,260165632,190496768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,109.0,1
$GPS,030809,073536,2441.846,12407.453,27,1.6,27,-3.6