version: 66.04
glider: 167
mission: 2
dive: 446
start: 8 3 109 1 11 20
data:
$ID,167
$MISSION,2
$DIVE,446
$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,-14527.796
$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,68
$R_STBD_OVSHOOT,54
$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
$GPS1,010407,2442.093,12407.899,39,1.4,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-65.2
$GPS2,011058,2442.047,12407.860,13,3.2,32,-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,287.3,13009,-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,-1.41,-121.7,0.0,0.0,0,57,0.00,0.00,-39.70,0.000,2,0.000,0.000,141,2487,2325
$GC,61,-1.41,-121.7,3.1,-2.1,7,128,8.02,2.08,-51.35,0.000,4,0.235,0.037,2082,1065,3989
$GC,222,-0.98,-121.7,26.4,-18.0,34,229,0.55,2.10,0.00,0.000,6,0.165,0.026,2229,2488,3990
$GC,568,-1.17,-121.7,70.2,-12.8,95,576,0.17,1.90,0.00,0.000,4,0.066,0.040,2141,3757,3991
$GC,584,-1.29,-121.7,72.2,-12.3,97,589,0.00,1.83,0.00,0.000,6,0.000,0.020,2142,2423,3991
$GC,928,-1.29,-121.7,113.9,-10.8,158,934,0.00,2.03,0.00,0.000,4,0.000,0.041,2138,3755,3992
$GC,953,-1.22,-121.7,116.8,-11.9,162,959,0.00,1.83,0.00,0.000,6,0.000,0.020,2138,2425,3992
$GC,1301,-1.22,-121.7,159.4,-12.4,223,1308,0.00,2.03,0.00,0.000,4,0.000,0.040,2137,3760,3994
$GC,1366,-1.07,-121.7,167.5,-11.8,234,1373,0.22,1.77,0.00,0.000,6,0.156,0.021,2198,2475,3994
$GC,1714,-1.37,-121.7,200.3,-9.2,295,1721,0.22,0.00,0.00,0.000,6,0.058,0.000,2096,2474,3994
$GC,2061,-1.31,-121.7,241.1,-12.6,356,2067,0.00,1.92,0.00,0.000,4,0.000,0.039,2088,3753,3995
$GC,2097,-1.06,-121.7,246.1,-14.6,362,2104,0.40,1.73,0.00,0.000,6,0.161,0.021,2201,2498,3995
$GC,2446,-1.41,-121.7,279.7,-8.4,423,2454,0.28,1.98,0.00,0.000,4,0.057,0.021,2083,1094,3995
$GC,2479,-1.36,-121.7,283.3,-11.2,428,2486,0.12,2.10,0.00,0.000,6,0.176,0.027,2107,2532,3995
$GC,2819,-1.36,-121.7,318.5,-10.1,473,2823,0.00,2.05,0.00,0.000,4,0.000,0.022,2107,1094,3995
$GC,2882,-1.24,-121.7,325.6,-11.7,478,2889,0.17,2.05,0.00,0.000,6,0.156,0.026,2146,2497,3995
$GC,3208,-1.39,-121.7,357.4,-9.6,509,3212,0.15,2.00,0.00,0.000,4,0.072,0.022,2084,1113,3994
$GC,3243,-1.28,-121.7,361.2,-11.0,512,3248,0.17,2.05,0.00,0.000,6,0.166,0.028,2129,2493,3995
$GC,3569,-1.41,-121.7,396.7,-11.8,542,3573,0.12,2.00,0.00,0.000,4,0.077,0.022,2077,1107,3994
$GC,3631,-1.23,-121.7,404.6,-12.1,547,3638,0.28,2.03,0.00,0.000,6,0.159,0.027,2148,2479,3994
$GC,3956,-1.42,-121.7,434.9,-8.6,578,3958,0.17,0.00,0.00,0.000,6,0.068,0.000,2076,2480,3993
$GC,4278,-1.32,-121.7,470.5,-11.4,608,4282,0.15,1.92,0.00,0.000,4,0.166,0.041,2110,3751,3993
$GC,4306,-1.23,-121.7,474.1,-11.4,610,4312,0.15,1.80,0.00,0.000,6,0.161,0.021,2148,2465,3992
$GC,4631,-1.48,-121.7,503.6,-8.3,639,4636,0.20,1.95,0.00,0.000,4,0.064,0.023,2060,1098,3992
$GC,4688,-1.27,-121.7,509.6,-10.6,641,4693,0.28,2.03,0.00,0.000,6,0.159,0.030,2134,2459,3991
$GC,5007,-1.48,-121.7,537.8,-9.0,656,5009,0.17,0.00,0.00,0.000,6,0.070,0.000,2063,2461,3990
$GC,5315,-1.38,-121.7,571.3,-10.7,671,5319,0.15,1.98,0.00,0.000,4,0.173,0.043,2097,3756,3988
$GC,5365,-1.26,-121.7,577.0,-10.8,673,5370,0.10,1.88,0.00,0.000,6,0.146,0.023,2140,2460,3988
$GC,5696,-1.47,-121.7,605.2,-8.8,689,5697,0.20,0.00,0.00,0.000,6,0.067,0.000,2060,2459,3985
$STATE,5853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5853,begin apogee
$GC,5860,-0.25,0.0,622.1,10.5,697,5956,1.35,0.00,90.35,1.085,6,0.160,0.000,2459,2459,3532
$STATE,5957,end apogee,CONTROL_FINISHED_OK
$STATE,5957,begin climb
$GC,5960,1.41,121.7,627.8,0.0,702,6064,1.52,2.15,96.68,1.056,4,0.063,0.042,3005,3755,3034
$GC,6102,0.70,223.7,631.1,5.7,708,6190,0.95,2.00,80.57,1.042,6,0.212,0.020,2775,2383,2618
$GC,6507,0.97,282.0,595.4,8.9,728,6558,0.20,2.05,45.53,1.028,4,0.071,0.027,2869,1031,2381
$GC,6694,0.94,297.3,574.2,11.9,736,6714,0.00,2.15,13.45,0.947,6,0.000,0.029,2869,2448,2318
$GC,7033,0.92,328.8,536.7,10.8,753,7063,0.00,2.17,25.58,1.000,4,0.000,0.029,2869,1024,2191
$GC,7131,0.95,351.9,525.4,11.4,757,7158,0.00,2.15,19.85,0.970,6,0.000,0.029,2869,2439,2096
$GC,7474,1.15,396.4,488.4,9.9,779,7518,0.12,2.12,36.30,0.987,4,0.084,0.047,2919,3753,1914
$GC,7589,0.99,396.4,474.1,14.6,789,7594,0.22,1.85,0.00,0.000,6,0.176,0.022,2869,2474,1911
$GC,7921,1.29,420.5,437.2,11.3,820,7947,0.22,2.05,20.12,0.943,4,0.068,0.046,2965,3758,1816
$GC,8036,1.02,420.5,420.1,16.5,830,8040,0.38,1.92,0.00,0.000,6,0.182,0.023,2874,2427,1812
$GC,8362,1.36,449.0,382.3,11.0,860,8394,0.28,2.15,24.20,0.920,4,0.063,0.029,2996,1018,1700
$GC,8489,1.18,449.0,363.7,15.0,871,8494,0.28,2.10,0.00,0.000,6,0.186,0.030,2927,2410,1696
$GC,8820,1.41,462.4,322.1,12.1,902,8836,0.20,2.08,11.50,0.834,4,0.064,0.027,3019,1023,1646
$GC,8855,1.27,462.4,317.0,15.2,904,8861,0.25,1.98,0.00,0.000,6,0.180,0.031,2955,2331,1644
$GC,9192,1.28,473.2,271.5,12.3,954,9207,0.00,2.25,9.85,0.785,4,0.000,0.045,2955,3748,1601
$GC,9304,1.20,473.2,256.7,13.2,973,9310,0.12,2.08,0.00,0.000,6,0.186,0.022,2934,2324,1600
$GC,9649,1.42,473.2,212.9,13.3,1034,9655,0.17,2.22,0.00,0.000,4,0.071,0.042,3009,3757,1598
$GC,9702,1.17,473.2,204.7,15.8,1043,9710,0.35,2.03,0.00,0.000,6,0.179,0.021,2925,2353,1598
$GC,10051,1.48,483.4,164.5,12.3,1104,10069,0.22,2.22,9.57,0.700,4,0.064,0.044,3020,3750,1560
$GC,10164,1.26,483.4,147.5,15.9,1123,10171,0.30,2.12,0.00,0.000,6,0.176,0.021,2949,2285,1559
$GC,10512,1.53,513.9,106.5,10.9,1184,10548,0.22,2.33,26.20,0.700,4,0.068,0.041,3040,3744,1436
$GC,10653,1.36,513.9,84.8,17.1,1208,10660,0.25,2.05,0.00,0.000,6,0.179,0.022,2980,2328,1434
$GC,10999,1.73,560.2,46.8,9.7,1269,11042,0.30,2.00,37.80,0.645,4,0.060,0.027,3113,1005,1247
$GC,11073,1.60,560.2,37.3,13.8,1281,11080,0.20,2.03,0.00,0.000,6,0.185,0.027,3062,2364,1245
$STATE,11320,end climb,SURFACE_DEPTH_REACHED
$STATE,11320,begin surface coast
$FINISH,1.7,1.021381
$STATE,11344,end surface coast,CONTROL_FINISHED_OK
$STATE,11344,begin surface
$SM_CCo,11424,0.00,0.000,0,0,1240,562.47
$SM_GC,2.53,7.82,0.00,0.00,0.054,0.000,0.000,142,2500,1240,-7.49,0.48,562.47
$IRIDIUM_FIX,2432.32,12407.06,271098,222235
$TT8_MAMPS,0.028379
$HUMID,1742
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.7,76.226
$10V_AH,10.8,41.145
$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,28.425,97.400,547.550,0.000,0.000,24.782,34.943,184.651,4.500,0.000,0.000,33.528,2291.628,6076.437,630.208,2212.221,618.367,0.000,1770.882,0.000,2149.577,0.000,29.405,0.000
$DEVICE_MAMPS,235.469,60.593,1084.538,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,890.415,973.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69519,1329
$CAP_FILE_SIZE,137324,0
$CFSIZE,260165632,190566400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,117.4,1
$GPS,030809,042300,2441.975,12407.531,41,0.9,41,-3.6