version: 66.04
glider: 167
mission: 2
dive: 440
start: 8 2 109 6 14 23
data:
$ID,167
$MISSION,2
$DIVE,440
$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,-14379.839
$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,75
$R_STBD_OVSHOOT,43
$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
$GPS1,060730,2444.134,12411.176,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-65.5
$GPS2,061402,2444.126,12411.186,12,1.3,12,-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,256.5,20701,-24.8,-13.043
$D_GRID,631
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.34,-121.7,0.0,0.0,0,59,0.00,0.00,-39.10,0.000,2,0.000,0.000,140,2485,2448
$GC,62,-1.34,-121.7,3.3,-2.5,6,123,8.07,1.95,-44.55,0.000,4,0.234,0.054,2101,3757,3988
$GC,377,-0.92,-121.7,61.1,-18.3,61,384,0.50,1.83,0.00,0.000,6,0.163,0.021,2242,2450,3989
$GC,725,-1.28,-121.7,95.6,-9.1,122,731,0.28,1.90,0.00,0.000,4,0.054,0.021,2122,1104,3991
$GC,800,-1.07,-121.7,105.6,-14.4,135,808,0.30,2.00,0.00,0.000,6,0.157,0.027,2196,2468,3991
$GC,1148,-1.31,-121.7,141.6,-10.4,196,1154,0.17,1.92,0.00,0.000,4,0.065,0.041,2110,3749,3992
$GC,1207,-1.05,-121.7,149.6,-14.5,206,1214,0.35,1.80,0.00,0.000,6,0.161,0.021,2208,2444,3993
$GC,1554,-1.35,-121.7,184.5,-10.6,267,1562,0.25,1.90,0.00,0.000,4,0.058,0.022,2096,1097,3994
$GC,1592,-1.19,-121.7,189.6,-14.2,273,1598,0.25,1.95,0.00,0.000,6,0.156,0.026,2158,2439,3994
$GC,1940,-1.37,-121.7,228.0,-9.9,334,1947,0.17,1.90,0.00,0.000,4,0.067,0.021,2077,1107,3994
$GC,1965,-1.37,-121.7,230.8,-10.2,338,1972,0.12,1.90,0.00,0.000,6,0.175,0.026,2100,2420,3994
$GC,2314,-1.23,-121.7,272.1,-11.6,399,2321,0.17,2.03,0.00,0.000,4,0.163,0.041,2152,3760,3994
$GC,2437,-1.23,-121.7,286.0,-11.1,420,2443,0.00,1.88,0.00,0.000,6,0.000,0.021,2152,2404,3994
$GC,2771,-1.40,-121.7,318.8,-10.1,463,2775,0.17,1.83,0.00,0.000,4,0.067,0.022,2077,1109,3994
$GC,2810,-1.20,-121.7,323.6,-12.9,466,2816,0.30,1.90,0.00,0.000,6,0.160,0.026,2154,2415,3994
$GC,3135,-1.42,-121.7,351.2,-7.9,497,3140,0.17,2.03,0.00,0.000,4,0.065,0.041,2071,3752,3994
$GC,3159,-1.42,-121.7,353.5,-9.7,499,3163,0.00,1.88,0.00,0.000,6,0.000,0.021,2071,2397,3994
$GC,3494,-1.31,-121.7,389.1,-11.0,530,3498,0.17,2.08,0.00,0.000,4,0.159,0.039,2123,3754,3994
$GC,3572,-1.20,-121.7,397.9,-11.2,536,3579,0.12,1.85,0.00,0.000,6,0.169,0.021,2154,2432,3994
$GC,3898,-1.42,-121.7,428.9,-9.0,567,3902,0.17,2.03,0.00,0.000,4,0.065,0.042,2071,3748,3993
$GC,3926,-1.32,-121.7,431.8,-11.1,569,3932,0.17,1.83,0.00,0.000,6,0.170,0.021,2117,2442,3993
$GC,4252,-1.37,-121.7,464.9,-11.2,600,4256,0.00,1.90,0.00,0.000,4,0.000,0.024,2117,1106,3992
$GC,4320,-1.37,-121.7,472.4,-10.4,606,4324,0.00,1.92,0.00,0.000,6,0.000,0.028,2113,2417,3992
$GC,4663,-1.46,-121.7,508.9,-10.7,634,4668,0.10,1.88,0.00,0.000,4,0.088,0.024,2069,1097,3991
$GC,4710,-1.29,-121.7,514.5,-11.7,636,4715,0.22,1.92,0.00,0.000,6,0.161,0.029,2124,2382,3990
$GC,5047,-1.44,-121.7,545.0,-8.3,652,5052,0.12,1.85,0.00,0.000,4,0.079,0.024,2074,1101,3989
$GC,5098,-1.30,-121.7,550.8,-11.3,654,5103,0.20,1.88,0.00,0.000,6,0.163,0.029,2124,2367,3988
$GC,5428,-1.44,-121.7,584.7,-10.8,670,5433,0.12,1.83,0.00,0.000,4,0.080,0.023,2074,1106,3986
$GC,5457,-1.44,-121.7,588.5,-12.9,671,5461,0.00,1.85,0.00,0.000,6,0.000,0.029,2070,2356,3986
$GC,5786,-1.44,-121.7,625.2,-10.2,687,5789,0.00,2.12,0.00,0.000,4,0.000,0.046,2070,3750,3983
$STATE,5834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5835,begin apogee
$GC,5844,-0.24,0.0,631.0,11.2,689,5941,1.30,0.00,90.18,1.088,6,0.163,0.000,2458,2386,3532
$STATE,5942,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5945,1.34,121.7,637.7,0.0,694,6053,1.42,2.10,97.00,1.058,4,0.064,0.026,2981,1036,3034
$GC,6084,0.92,231.5,641.6,5.2,700,6177,0.55,2.10,86.43,1.045,6,0.201,0.030,2842,2405,2588
$GC,6494,0.86,247.4,597.0,11.9,720,6515,0.00,2.12,12.77,0.950,4,0.000,0.028,2849,1028,2523
$GC,6659,0.90,278.1,578.8,10.8,727,6690,0.00,2.12,25.85,1.006,6,0.000,0.029,2849,2440,2398
$GC,7008,0.95,325.1,543.9,9.7,744,7050,0.00,2.08,38.10,1.012,4,0.000,0.044,2849,3752,2206
$GC,7081,1.00,359.4,536.4,10.6,747,7115,0.00,1.92,29.05,0.987,6,0.000,0.023,2855,2454,2066
$GC,7428,1.22,380.7,498.4,11.5,764,7452,0.22,2.12,17.50,0.956,4,0.068,0.044,2949,3762,1978
$GC,7538,0.91,380.7,480.7,16.6,773,7544,0.43,1.85,0.00,0.000,6,0.181,0.024,2843,2484,1975
$GC,7864,1.27,415.8,443.5,10.5,804,7900,0.28,2.20,29.23,0.960,4,0.064,0.028,2967,1044,1835
$GC,8013,1.11,415.8,423.1,13.7,817,8020,0.25,2.12,0.00,0.000,6,0.183,0.031,2903,2443,1830
$GC,8339,1.28,444.1,384.2,11.0,848,8372,0.15,2.17,23.50,0.918,4,0.078,0.029,2970,1039,1719
$GC,8397,1.17,444.1,376.6,14.3,853,8402,0.20,2.15,0.00,0.000,6,0.182,0.030,2920,2444,1717
$GC,8723,1.35,444.1,333.1,13.9,883,8727,0.17,2.03,0.00,0.000,4,0.069,0.047,2995,3754,1713
$GC,8770,1.07,444.1,325.5,17.4,887,8774,0.43,1.83,0.00,0.000,6,0.184,0.023,2890,2477,1713
$GC,9102,1.39,454.8,284.5,12.3,928,9119,0.25,2.05,9.57,0.789,4,0.064,0.047,2995,3758,1676
$GC,9155,1.12,454.8,276.5,16.0,937,9162,0.38,1.92,0.00,0.000,6,0.184,0.023,2904,2424,1675
$GC,9501,1.49,492.2,236.4,10.4,998,9539,0.30,2.17,31.12,0.817,4,0.061,0.045,3028,3758,1524
$GC,9609,1.23,492.2,219.6,16.6,1016,9615,0.35,2.08,0.00,0.000,6,0.180,0.022,2944,2340,1521
$GC,9955,1.52,497.7,174.7,12.6,1077,9967,0.22,2.22,5.38,0.607,4,0.067,0.044,3034,3762,1502
$GC,10070,1.27,497.7,155.9,18.3,1096,10076,0.32,1.98,0.00,0.000,6,0.180,0.021,2956,2393,1501
$GC,10418,1.58,523.0,112.5,11.2,1157,10448,0.22,2.17,22.10,0.702,4,0.070,0.044,3056,3759,1399
$GC,10489,1.35,523.0,102.4,15.8,1169,10496,0.32,2.08,0.00,0.000,6,0.179,0.021,2978,2322,1397
$GC,10835,1.66,553.6,60.4,10.8,1230,10866,0.25,2.33,25.55,0.655,4,0.065,0.042,3085,3767,1273
$GC,10979,1.41,553.6,39.2,17.6,1254,10986,0.35,2.17,0.00,0.000,6,0.182,0.020,3001,2250,1270
$STATE,11293,end climb,SURFACE_DEPTH_REACHED
$STATE,11293,begin surface coast
$FINISH,1.7,1.008885
$STATE,11322,end surface coast,CONTROL_FINISHED_OK
$STATE,11326,begin surface
$SM_CCo,11405,0.00,0.000,0,0,1267,555.60
$SM_GC,2.41,7.70,0.00,0.00,0.059,0.000,0.000,142,2509,1267,-7.50,0.74,555.60
$IRIDIUM_FIX,2437.06,12410.35,271098,020255
$TT8_MAMPS,0.028379
$HUMID,1734
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,22.7,75.266
$10V_AH,10.8,40.678
$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,28.800,107.900,543.325,0.000,0.000,25.502,36.749,175.266,4.750,0.000,0.000,12.593,2282.544,6078.655,625.109,2187.517,613.298,0.000,1765.719,0.000,2145.387,0.000,31.076,0.000
$DEVICE_MAMPS,233.935,53.690,1088.373,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,881.585,959.002,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69692,1315
$CAP_FILE_SIZE,137814,0
$CFSIZE,260165632,190984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,110.1,1
$GPS,020809,092534,2443.857,12410.844,11,2.2,30,-3.7