version: 66.04
glider: 167
mission: 2
dive: 450
start: 8 3 109 14 20 50
data:
$ID,167
$MISSION,2
$DIVE,450
$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,-14610.954
$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,73
$R_STBD_OVSHOOT,56
$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
$GPS1,141336,2441.613,12405.753,40,1.3,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.3
$GPS2,142028,2441.590,12405.724,14,99.0,33,-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,276.8,9339,-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,-1.45,-121.7,0.0,0.0,0,59,0.00,0.00,-41.28,0.000,2,0.000,0.000,142,2503,2147
$GC,62,-1.45,-121.7,3.0,-1.4,7,142,7.90,2.10,-63.58,0.000,4,0.234,0.037,2075,1084,3989
$GC,198,-0.99,-121.7,17.8,-19.3,29,205,0.55,2.05,0.00,0.000,6,0.163,0.027,2223,2473,3990
$GC,545,-1.22,-121.7,64.1,-11.7,90,552,0.20,1.92,0.00,0.000,4,0.061,0.041,2125,3753,3991
$GC,576,-1.04,-121.7,68.0,-13.4,95,582,0.30,1.83,0.00,0.000,6,0.166,0.021,2206,2437,3991
$GC,923,-1.30,-121.7,106.4,-9.4,156,931,0.20,1.88,0.00,0.000,4,0.061,0.021,2115,1103,3992
$GC,978,-1.09,-121.7,112.9,-12.1,165,985,0.30,1.98,0.00,0.000,6,0.157,0.025,2194,2460,3991
$GC,1325,-1.34,-121.7,150.2,-11.4,226,1331,0.20,0.00,0.00,0.000,6,0.061,0.000,2105,2461,3993
$GC,1670,-1.17,-121.7,194.4,-12.2,287,1677,0.17,1.95,0.00,0.000,4,0.159,0.039,2150,3759,3993
$GC,1702,-1.06,-121.7,198.0,-11.6,292,1710,0.20,1.80,0.00,0.000,6,0.156,0.021,2204,2459,3994
$GC,2053,-1.37,-121.7,228.2,-9.8,353,2059,0.25,1.92,0.00,0.000,4,0.056,0.021,2093,1092,3994
$GC,2105,-1.17,-121.7,235.2,-14.5,362,2112,0.30,2.00,0.00,0.000,6,0.153,0.026,2170,2467,3994
$GC,2452,-1.36,-121.7,269.4,-9.6,423,2458,0.17,0.00,0.00,0.000,6,0.064,0.000,2090,2469,3994
$GC,2792,-1.19,-121.7,312.1,-14.1,476,2796,0.22,1.98,0.00,0.000,4,0.158,0.022,2156,1107,3994
$GC,2837,-1.19,-121.7,318.3,-12.8,480,2841,0.00,2.00,0.00,0.000,6,0.000,0.026,2152,2457,3994
$GC,3169,-1.36,-121.7,355.2,-9.6,511,3173,0.12,1.95,0.00,0.000,4,0.077,0.041,2094,3762,3994
$GC,3215,-1.16,-121.7,360.4,-11.9,515,3219,0.28,1.83,0.00,0.000,6,0.158,0.021,2170,2447,3994
$GC,3546,-1.39,-121.7,391.7,-8.8,546,3550,0.20,1.90,0.00,0.000,4,0.062,0.022,2082,1105,3994
$GC,3592,-1.27,-121.7,396.7,-11.5,550,3596,0.20,2.00,0.00,0.000,6,0.156,0.028,2135,2465,3994
$GC,3918,-1.43,-121.7,427.0,-9.5,580,3922,0.15,1.95,0.00,0.000,4,0.068,0.042,2072,3755,3994
$GC,3952,-1.25,-121.7,430.9,-11.8,583,3957,0.25,1.80,0.00,0.000,6,0.163,0.021,2140,2467,3994
$GC,4284,-1.42,-121.7,464.3,-9.7,614,4288,0.15,1.95,0.00,0.000,4,0.071,0.023,2078,1097,3992
$GC,4334,-1.26,-121.7,470.1,-11.7,618,4341,0.25,2.03,0.00,0.000,6,0.156,0.029,2141,2461,3992
$GC,4660,-1.44,-121.7,499.0,-9.0,649,4665,0.17,1.95,0.00,0.000,4,0.070,0.023,2062,1103,3992
$GC,4694,-1.28,-121.7,502.8,-11.2,651,4699,0.28,1.98,0.00,0.000,6,0.159,0.028,2134,2441,3991
$GC,5017,-1.46,-121.7,532.5,-7.9,667,5021,0.17,2.00,0.00,0.000,4,0.069,0.044,2057,3762,3990
$GC,5045,-1.33,-121.7,535.2,-9.0,668,5049,0.22,1.88,0.00,0.000,6,0.169,0.022,2117,2435,3989
$GC,5375,-1.46,-121.7,564.3,-9.5,684,5380,0.12,1.90,0.00,0.000,4,0.076,0.024,2065,1093,3988
$GC,5448,-1.28,-121.7,573.1,-11.9,687,5453,0.25,2.03,0.00,0.000,6,0.161,0.031,2126,2451,3987
$GC,5773,-1.46,-121.7,604.3,-9.7,703,5778,0.15,1.95,0.00,0.000,4,0.076,0.025,2066,1103,3985
$GC,5824,-1.31,-121.7,610.6,-12.4,705,5829,0.22,1.98,0.00,0.000,6,0.161,0.031,2118,2433,3984
$GC,6155,-1.46,-121.7,643.7,-9.8,721,6157,0.12,0.00,0.00,0.000,6,0.080,0.000,2070,2433,3982
$GC,6460,-1.46,-121.7,674.7,-9.2,736,6465,0.00,1.95,0.00,0.000,4,0.000,0.026,2070,1092,3980
$GC,6484,-1.38,-121.7,676.9,-9.4,737,6489,0.15,2.00,0.00,0.000,6,0.170,0.032,2101,2429,3979
$GC,6821,-1.49,-121.7,705.7,-8.7,753,6824,0.00,1.95,0.00,0.000,4,0.000,0.025,2101,1089,3978
$GC,6845,-1.56,-121.7,708.3,-9.3,754,6849,0.15,1.95,0.00,0.000,6,0.077,0.031,2041,2400,3977
$GC,7179,-1.35,-121.7,747.3,-11.8,770,7183,0.22,2.10,0.00,0.000,4,0.179,0.044,2098,3757,3975
$GC,7279,-1.23,-121.7,759.5,-12.2,774,7286,0.20,1.95,0.00,0.000,6,0.163,0.023,2150,2394,3974
$STATE,7386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7386,begin apogee
$GC,7393,-0.26,0.0,770.1,9.5,780,7494,0.98,0.00,92.70,1.196,6,0.133,0.000,2459,2394,3532
$STATE,7495,end apogee,CONTROL_FINISHED_OK
$STATE,7495,begin climb
$GC,7499,1.45,121.7,777.1,0.0,785,7608,1.58,2.28,99.38,1.183,4,0.061,0.044,3022,3751,3034
$GC,7625,0.79,245.8,782.5,4.1,791,7734,0.90,2.00,99.93,1.167,6,0.215,0.021,2807,2398,2529
$GC,8050,0.86,300.9,746.9,9.1,812,8101,0.00,2.25,45.12,1.151,4,0.000,0.048,2807,3753,2304
$GC,8207,0.88,316.6,729.1,11.9,819,8229,0.00,1.98,13.82,1.064,6,0.000,0.024,2815,2405,2240
$GC,8540,1.00,335.3,690.6,11.7,835,8562,0.15,2.08,16.10,1.091,4,0.078,0.029,2882,1023,2164
$GC,8619,0.95,335.3,679.6,13.2,838,8624,0.12,2.15,0.00,0.000,6,0.182,0.031,2852,2435,2162
$GC,8941,1.01,383.2,645.4,9.6,854,8986,0.00,2.20,39.95,1.127,4,0.000,0.031,2859,1022,1968
$GC,9007,1.14,422.0,638.5,10.3,857,9049,0.15,2.17,33.85,1.098,6,0.082,0.031,2915,2423,1810
$GC,9362,1.09,422.0,591.7,14.4,874,9365,0.00,2.12,0.00,0.000,4,0.000,0.029,2924,1014,1800
$GC,9433,1.09,422.0,580.6,15.1,877,9437,0.00,2.15,0.00,0.000,6,0.000,0.032,2924,2424,1799
$GC,9767,1.03,422.0,529.7,15.1,893,9771,0.17,2.10,0.00,0.000,4,0.170,0.028,2885,1023,1798
$GC,9824,1.12,422.0,521.5,13.7,895,9830,0.00,2.08,0.00,0.000,6,0.000,0.031,2885,2402,1798
$GC,10147,1.32,445.4,482.4,11.4,918,10173,0.20,2.12,18.90,1.013,4,0.071,0.029,2980,1024,1715
$GC,10284,1.17,445.4,462.8,14.3,930,10288,0.22,2.20,0.00,0.000,6,0.186,0.032,2923,2460,1712
$GC,10610,1.32,456.9,421.2,12.2,960,10627,0.15,2.20,10.75,0.925,4,0.072,0.028,2990,1025,1668
$GC,10754,1.17,456.9,400.6,14.9,972,10761,0.25,2.12,0.00,0.000,6,0.182,0.030,2926,2434,1665
$GC,11079,1.39,466.4,360.6,12.4,1003,11094,0.17,2.15,8.98,0.861,4,0.068,0.028,3003,1025,1629
$GC,11237,1.22,466.4,335.3,16.8,1017,11241,0.25,2.00,0.00,0.000,6,0.181,0.031,2939,2366,1627
$GC,11567,1.38,470.7,289.6,12.7,1054,11579,0.15,2.05,4.55,0.653,4,0.071,0.028,3003,1018,1612
$GC,11661,1.24,470.7,275.7,15.4,1070,11667,0.22,2.12,0.00,0.000,6,0.183,0.029,2945,2436,1612
$GC,12006,1.41,483.3,232.8,12.1,1131,12026,0.15,2.12,12.60,0.795,4,0.074,0.026,3014,1009,1560
$GC,12067,1.26,483.3,223.3,16.6,1141,12074,0.22,2.03,0.00,0.000,6,0.177,0.028,2956,2359,1558
$GC,12413,1.47,494.3,174.4,12.2,1202,12433,0.17,2.00,10.65,0.730,4,0.067,0.028,3029,1016,1515
$GC,12529,1.34,494.3,158.9,14.3,1221,12535,0.20,2.00,0.00,0.000,6,0.171,0.029,2979,2353,1513
$GC,12877,1.56,509.8,116.0,11.9,1282,12897,0.20,2.05,14.12,0.700,4,0.071,0.027,3074,1013,1453
$GC,12996,1.36,509.8,97.2,14.8,1302,13003,0.35,1.95,0.00,0.000,6,0.187,0.028,2982,2321,1450
$GC,13343,1.69,541.3,57.5,10.8,1363,13379,0.25,2.25,26.58,0.661,4,0.063,0.044,3087,3746,1324
$GC,13475,1.49,541.3,39.2,14.0,1385,13481,0.28,2.03,0.00,0.000,6,0.189,0.021,3026,2351,1322
$STATE,13788,end climb,SURFACE_DEPTH_REACHED
$STATE,13789,begin surface coast
$FINISH,1.7,1.019998
$STATE,13821,end surface coast,CONTROL_FINISHED_OK
$STATE,13821,begin surface
$SM_CCo,13900,0.00,0.000,0,0,1319,542.85
$SM_GC,2.59,7.70,0.00,0.00,0.052,0.000,0.000,140,2512,1319,-7.50,0.85,542.85
$IRIDIUM_FIX,2432.32,12409.02,281098,111152
$TT8_MAMPS,0.029146
$HUMID,1745
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,22.5,76.915
$10V_AH,10.7,41.471
$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,30.225,125.500,547.975,0.000,0.000,28.870,37.197,173.555,5.750,0.000,0.000,34.691,2554.134,7930.390,660.571,2495.006,663.008,0.000,1950.636,0.000,2416.826,0.000,39.428,0.000
$DEVICE_MAMPS,233.935,47.554,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,971.692,1030.438,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78852,1446
$CAP_FILE_SIZE,161805,0
$CFSIZE,260165632,190234624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,108.6,1
$GPS,030809,181336,2441.591,12405.129,31,1.2,31,-3.6