version: 66.04
glider: 167
mission: 2
dive: 448
start: 8 3 109 7 46 29
data:
$ID,167
$MISSION,2
$DIVE,448
$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,-14560.047
$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
$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,68
$R_STBD_OVSHOOT,47
$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
$GPS1,073536,2441.846,12407.453,27,1.6,27,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-67.8
$GPS2,074607,2441.823,12407.395,14,1.4,14,-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,280.2,12181,-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,15,-1.45,-121.7,0.0,0.0,0,57,0.00,0.00,-39.42,0.000,2,0.000,0.000,143,2501,2253
$GC,61,-1.45,-121.7,3.1,-1.9,7,130,8.00,2.15,-55.22,0.000,4,0.235,0.035,2070,1061,3989
$GC,369,-1.03,-121.7,55.0,-16.5,60,376,0.52,2.10,0.00,0.000,6,0.163,0.026,2211,2490,3990
$GC,715,-1.25,-121.7,96.3,-10.0,121,722,0.17,1.90,0.00,0.000,4,0.064,0.041,2124,3753,3991
$GC,751,-1.04,-121.7,100.9,-13.2,127,759,0.30,1.80,0.00,0.000,6,0.161,0.021,2206,2453,3991
$GC,1099,-1.30,-121.7,140.6,-9.7,188,1105,0.20,1.90,0.00,0.000,4,0.063,0.021,2118,1102,3992
$GC,1159,-1.12,-121.7,147.8,-13.0,198,1166,0.28,2.03,0.00,0.000,6,0.157,0.026,2187,2490,3992
$GC,1506,-1.34,-121.7,186.1,-11.1,259,1514,0.17,1.98,0.00,0.000,4,0.061,0.021,2108,1106,3993
$GC,1545,-1.22,-121.7,190.8,-13.3,265,1551,0.20,2.00,0.00,0.000,6,0.157,0.026,2152,2482,3993
$GC,1894,-1.37,-121.7,227.7,-9.3,326,1900,0.15,1.98,0.00,0.000,4,0.070,0.021,2089,1098,3994
$GC,1931,-1.21,-121.7,232.1,-11.6,332,1937,0.25,1.98,0.00,0.000,6,0.160,0.026,2153,2452,3994
$GC,2277,-1.38,-121.7,270.5,-11.3,393,2284,0.15,1.98,0.00,0.000,4,0.069,0.041,2085,3764,3994
$GC,2314,-1.18,-121.7,275.1,-13.0,399,2322,0.28,1.83,0.00,0.000,6,0.163,0.021,2161,2445,3994
$GC,2663,-1.40,-121.7,311.3,-8.9,450,2667,0.20,1.88,0.00,0.000,4,0.063,0.021,2072,1113,3994
$GC,2681,-1.46,-121.7,312.9,-8.9,451,2688,0.00,2.00,0.00,0.000,6,0.000,0.028,2069,2472,3994
$GC,3006,-1.26,-121.7,352.6,-12.6,482,3010,0.20,1.92,0.00,0.000,4,0.163,0.040,2123,3753,3993
$GC,3088,-1.15,-121.7,362.8,-13.0,489,3092,0.17,1.83,0.00,0.000,6,0.160,0.021,2170,2445,3994
$GC,3419,-1.40,-121.7,395.6,-9.0,520,3421,0.22,0.00,0.00,0.000,6,0.061,0.000,2080,2445,3993
$GC,3736,-1.26,-121.7,431.2,-11.6,550,3740,0.20,2.03,0.00,0.000,4,0.160,0.043,2137,3757,3992
$GC,3771,-1.26,-121.7,435.1,-10.9,553,3775,0.00,1.83,0.00,0.000,6,0.000,0.022,2137,2460,3992
$GC,4103,-1.42,-121.7,464.6,-9.9,584,4107,0.15,1.92,0.00,0.000,4,0.070,0.023,2073,1106,3990
$GC,4164,-1.25,-121.7,472.1,-11.6,589,4171,0.25,1.98,0.00,0.000,6,0.160,0.029,2140,2441,3991
$GC,4499,-1.42,-121.7,506.6,-9.8,618,4503,0.15,2.00,0.00,0.000,4,0.074,0.044,2072,3753,3989
$GC,4522,-1.42,-121.7,509.1,-10.6,619,4525,0.00,1.88,0.00,0.000,6,0.000,0.022,2072,2426,3989
$GC,4856,-1.30,-121.7,545.2,-11.3,635,4861,0.20,1.90,0.00,0.000,4,0.158,0.025,2132,1099,3986
$GC,4884,-1.30,-121.7,548.4,-11.0,636,4888,0.00,1.98,0.00,0.000,6,0.000,0.028,2126,2433,3986
$GC,5214,-1.45,-121.7,581.3,-9.9,652,5218,0.15,1.92,0.00,0.000,4,0.076,0.023,2063,1104,3984
$GC,5266,-1.28,-121.7,587.1,-11.5,654,5270,0.28,1.95,0.00,0.000,6,0.160,0.030,2134,2418,3984
$GC,5589,-1.48,-121.7,616.7,-8.6,670,5594,0.17,1.90,0.00,0.000,4,0.071,0.023,2057,1106,3981
$GC,5625,-1.31,-121.7,620.3,-10.0,671,5629,0.22,1.92,0.00,0.000,6,0.165,0.031,2117,2399,3980
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5641,-0.26,0.0,621.6,10.0,672,5737,1.12,0.00,89.62,1.078,6,0.153,0.000,2457,2399,3532
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5740,1.45,121.7,627.3,0.0,677,5848,1.52,2.17,96.47,1.052,4,0.061,0.025,3019,1021,3034
$GC,6101,0.92,215.4,616.6,6.3,693,6182,0.68,2.10,73.12,1.047,6,0.205,0.031,2845,2416,2652
$GC,6491,0.88,261.6,584.4,9.7,712,6534,0.00,2.10,35.80,1.024,4,0.000,0.046,2845,3747,2467
$GC,6574,0.77,283.6,575.3,11.5,715,6603,0.22,1.92,19.60,0.980,6,0.179,0.023,2795,2424,2375
$GC,6916,1.10,333.3,543.4,9.5,732,6958,0.25,0.00,39.80,1.010,6,0.066,0.000,2898,2423,2173
$GC,7271,1.02,345.2,499.8,12.2,749,7283,0.00,0.00,10.43,0.905,6,0.000,0.000,2898,2423,2124
$GC,7604,0.98,365.6,462.7,11.6,780,7628,0.15,2.15,17.58,0.948,4,0.179,0.029,2868,1021,2040
$GC,7680,1.10,384.1,453.5,11.7,786,7701,0.00,2.15,15.98,0.928,6,0.000,0.029,2868,2438,1966
$GC,8029,1.39,422.8,415.4,10.3,819,8066,0.30,2.15,32.28,0.946,4,0.062,0.027,3000,1024,1806
$GC,8197,1.15,422.8,390.5,15.8,833,8203,0.32,2.08,0.00,0.000,6,0.186,0.030,2916,2398,1801
$GC,8524,1.31,441.4,349.9,11.7,864,8542,0.15,0.00,15.68,0.874,6,0.074,0.000,2977,2398,1732
$GC,8861,1.17,441.4,299.3,15.5,896,8867,0.22,2.05,0.00,0.000,4,0.179,0.027,2921,1015,1726
$GC,8886,1.17,441.4,295.5,15.1,900,8892,0.00,2.08,0.00,0.000,6,0.000,0.029,2921,2401,1726
$GC,9232,1.40,475.6,254.9,10.6,961,9267,0.17,2.08,28.10,0.835,4,0.068,0.028,3006,1026,1592
$GC,9420,1.27,475.6,228.9,14.5,994,9427,0.20,2.00,0.00,0.000,6,0.176,0.029,2956,2362,1587
$GC,9766,1.43,485.1,184.5,12.4,1055,9781,0.15,2.05,8.52,0.700,4,0.071,0.027,3022,1022,1554
$GC,9862,1.28,485.1,171.6,14.3,1071,9870,0.25,1.92,0.00,0.000,6,0.170,0.029,2957,2318,1551
$GC,10211,1.57,517.2,132.8,10.7,1132,10246,0.22,2.22,27.75,0.726,4,0.065,0.044,3058,3748,1422
$GC,10359,1.30,517.2,109.2,17.0,1158,10366,0.38,2.00,0.00,0.000,6,0.183,0.021,2968,2368,1419
$GC,10706,1.70,566.8,69.0,9.5,1219,10754,0.30,2.17,40.53,0.667,4,0.058,0.041,3095,3754,1219
$GC,10785,1.46,566.8,58.9,14.8,1232,10792,0.35,2.15,0.00,0.000,6,0.191,0.020,3013,2275,1217
$GC,11131,1.81,591.2,17.6,11.3,1293,11162,0.28,2.33,20.95,0.602,4,0.061,0.041,3128,3742,1120
$GC,11220,1.62,591.2,4.3,15.7,1308,11226,0.28,2.17,0.00,0.000,6,0.185,0.021,3064,2232,1118
$STATE,11230,end climb,SURFACE_DEPTH_REACHED
$STATE,11230,begin surface coast
$FINISH,1.6,1.008288
$STATE,11249,end surface coast,CONTROL_FINISHED_OK
$STATE,11249,begin surface
$SM_CCo,11329,0.00,0.000,0,0,1116,592.64
$SM_GC,2.52,7.85,0.00,0.00,0.054,0.000,0.000,143,2493,1116,-7.49,0.28,592.64
$IRIDIUM_FIX,2432.32,12410.35,281098,070754
$TT8_MAMPS,0.029146
$HUMID,1730
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,5
$24V_AH,23.7,76.564
$10V_AH,10.8,41.303
$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,28.625,96.850,572.200,0.000,0.000,58.034,81.615,268.607,5.500,0.000,0.000,14.112,2258.000,6089.061,648.647,2173.004,784.012,0.000,1783.516,0.000,2129.353,0.000,31.488,0.000
$DEVICE_MAMPS,235.469,46.020,1078.402,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,879.201,956.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69549,1313
$CAP_FILE_SIZE,139837,0
$CFSIZE,260165632,190414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,136.2,1
$GPS,030809,105636,2441.665,12406.773,38,1.4,43,-3.6