version: 66.04
glider: 167
mission: 2
dive: 441
start: 8 2 109 9 33 26
data:
$ID,167
$MISSION,2
$DIVE,441
$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,-14413.917
$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,77
$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
$GPS1,092534,2443.857,12410.844,11,2.2,30,-3.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-63.8
$GPS2,093306,2443.828,12410.801,17,2.0,33,-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,261.4,19876,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.34,-121.7,0.0,0.0,0,58,0.00,0.00,-40.58,0.000,2,0.000,0.000,142,2509,2282
$GC,63,-1.34,-121.7,3.0,-1.8,7,134,8.18,1.90,-54.53,0.000,4,0.240,0.054,2096,3746,3989
$GC,387,-0.90,-121.7,58.1,-17.2,63,394,0.55,1.80,0.00,0.000,6,0.170,0.020,2250,2450,3990
$GC,733,-1.28,-121.7,96.9,-10.4,124,739,0.30,1.98,0.00,0.000,4,0.054,0.040,2114,3746,3991
$GC,759,-1.28,-121.7,100.0,-12.5,128,765,0.00,1.73,0.00,0.000,6,0.000,0.020,2114,2493,3991
$GC,1104,-1.10,-121.7,146.9,-12.9,189,1111,0.22,0.00,0.00,0.000,6,0.163,0.000,2180,2492,3992
$GC,1449,-1.31,-121.7,181.0,-9.9,250,1455,0.17,0.00,0.00,0.000,6,0.068,0.000,2099,2492,3994
$GC,1795,-1.16,-121.7,224.8,-12.6,311,1803,0.22,1.90,0.00,0.000,4,0.162,0.039,2158,3741,3994
$GC,1890,-1.16,-121.7,235.7,-11.1,327,1896,0.00,1.70,0.00,0.000,6,0.000,0.021,2158,2504,3994
$GC,2234,-1.35,-121.7,268.7,-9.5,388,2241,0.15,1.98,0.00,0.000,4,0.071,0.021,2093,1101,3994
$GC,2254,-1.41,-121.7,271.0,-11.0,391,2260,0.00,2.05,0.00,0.000,6,0.000,0.028,2093,2498,3994
$GC,2593,-1.27,-121.7,314.7,-13.0,442,2598,0.15,1.90,0.00,0.000,4,0.166,0.039,2124,3765,3994
$GC,2722,-1.15,-121.7,329.9,-11.9,453,2726,0.17,1.73,0.00,0.000,6,0.161,0.021,2170,2520,3994
$GC,3053,-1.40,-121.7,357.1,-8.1,484,3057,0.20,2.00,0.00,0.000,4,0.064,0.022,2082,1122,3994
$GC,3116,-1.22,-121.7,363.9,-11.6,489,3124,0.25,2.05,0.00,0.000,6,0.155,0.028,2150,2499,3994
$GC,3442,-1.41,-121.7,397.0,-10.1,520,3446,0.17,2.03,0.00,0.000,4,0.071,0.022,2078,1106,3994
$GC,3489,-1.25,-121.7,402.2,-11.2,524,3494,0.25,2.03,0.00,0.000,6,0.162,0.028,2140,2468,3994
$GC,3815,-1.42,-121.7,433.4,-8.4,554,3819,0.15,1.95,0.00,0.000,4,0.074,0.041,2072,3758,3993
$GC,3878,-1.15,-121.7,440.4,-12.1,559,3885,0.35,1.80,0.00,0.000,6,0.162,0.021,2170,2473,3993
$GC,4204,-1.38,-121.7,471.0,-10.5,590,4206,0.20,0.00,0.00,0.000,6,0.064,0.000,2092,2473,3992
$GC,4522,-1.28,-121.7,511.9,-13.5,616,4526,0.15,1.98,0.00,0.000,4,0.166,0.042,2124,3754,3990
$GC,4636,-1.23,-121.7,526.4,-13.0,621,4640,0.00,1.77,0.00,0.000,6,0.000,0.024,2124,2493,3990
$GC,4971,-1.36,-121.7,556.6,-8.1,637,4974,0.00,2.00,0.00,0.000,4,0.000,0.025,2124,1093,3988
$GC,5017,-1.44,-121.7,560.7,-8.9,639,5022,0.12,2.10,0.00,0.000,6,0.079,0.031,2073,2499,3988
$GC,5347,-1.32,-121.7,593.5,-10.4,655,5351,0.17,1.92,0.00,0.000,4,0.180,0.044,2115,3760,3986
$GC,5403,-1.27,-121.7,599.6,-9.9,657,5408,0.00,1.83,0.00,0.000,6,0.000,0.024,2115,2494,3986
$GC,5726,-1.41,-121.7,630.4,-9.8,673,5730,0.00,2.00,0.00,0.000,4,0.000,0.025,2115,1100,3983
$STATE,5734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5734,begin apogee
$GC,5743,-0.24,0.0,631.7,9.7,673,5837,1.12,0.00,90.25,1.086,6,0.153,0.000,2457,2412,3532
$STATE,5838,end apogee,CONTROL_FINISHED_OK
$STATE,5838,begin climb
$GC,5841,1.34,121.7,638.2,0.0,678,5952,1.45,2.17,96.70,1.059,4,0.064,0.043,2978,3744,3034
$GC,5979,0.77,257.0,643.8,3.3,684,6093,0.75,1.98,105.80,1.050,6,0.210,0.020,2798,2381,2482
$GC,6417,0.96,290.6,602.2,10.6,705,6452,0.15,2.08,27.38,1.012,4,0.081,0.029,2864,1036,2346
$GC,6574,0.97,302.1,582.1,12.2,712,6591,0.00,2.15,10.43,0.917,6,0.000,0.031,2863,2448,2299
$GC,6901,1.03,351.3,548.8,9.5,728,6947,0.00,2.10,39.95,1.017,4,0.000,0.048,2864,3744,2098
$GC,6999,0.98,357.8,537.3,12.6,732,7011,0.00,1.85,6.50,0.812,6,0.000,0.023,2872,2492,2073
$GC,7322,1.03,357.8,498.1,13.0,748,7325,0.00,1.98,0.00,0.000,4,0.000,0.048,2872,3751,2068
$GC,7428,1.07,395.3,483.5,10.4,757,7469,0.00,1.90,31.02,0.986,6,0.000,0.022,2872,2440,1919
$GC,7788,1.22,397.6,437.9,12.9,791,7793,0.17,2.12,0.00,0.000,4,0.074,0.029,2941,1005,1913
$GC,7867,1.12,399.6,427.2,12.9,797,7877,0.15,2.15,4.00,0.634,6,0.181,0.030,2904,2436,1903
$GC,8202,1.12,399.6,382.2,14.2,829,8206,0.00,2.03,0.00,0.000,4,0.000,0.046,2904,3755,1900
$GC,8226,1.12,399.6,378.8,15.4,831,8229,0.00,1.98,0.00,0.000,6,0.000,0.024,2912,2397,1900
$GC,8561,1.12,399.6,332.8,13.6,862,8565,0.00,2.03,0.00,0.000,4,0.000,0.028,2921,1004,1898
$GC,8674,1.15,416.3,317.5,11.8,872,8696,0.00,2.05,14.65,0.861,6,0.000,0.028,2922,2379,1833
$GC,9027,1.27,434.7,277.0,11.7,922,9048,0.00,2.12,16.12,0.832,4,0.000,0.029,2921,1008,1758
$GC,9084,1.37,448.4,269.9,12.1,931,9103,0.17,1.98,12.80,0.798,6,0.072,0.028,2988,2326,1703
$GC,9442,1.25,448.4,217.6,13.2,994,9450,0.15,2.20,0.00,0.000,4,0.181,0.044,2952,3755,1698
$GC,9485,1.16,448.4,211.8,13.3,1001,9491,0.17,2.08,0.00,0.000,6,0.182,0.022,2916,2316,1698
$GC,9831,1.50,483.3,174.3,10.5,1062,9868,0.28,2.30,28.48,0.763,4,0.064,0.044,3029,3750,1560
$GC,9953,1.23,483.3,156.2,16.3,1082,9961,0.35,2.03,0.00,0.000,6,0.180,0.021,2946,2344,1557
$GC,10302,1.56,504.9,114.8,11.5,1143,10327,0.25,2.28,18.50,0.694,4,0.067,0.043,3057,3762,1472
$GC,10340,1.42,504.9,108.9,15.4,1149,10347,0.25,2.00,0.00,0.000,6,0.186,0.022,3003,2389,1472
$GC,10688,1.61,560.0,63.7,9.1,1210,10744,0.17,2.12,44.65,0.663,4,0.074,0.026,3089,996,1248
$GC,10875,1.52,560.0,39.5,13.9,1242,10883,0.20,2.05,0.00,0.000,6,0.186,0.028,3038,2369,1243
$STATE,11174,end climb,SURFACE_DEPTH_REACHED
$STATE,11175,begin surface coast
$FINISH,1.7,1.008467
$STATE,11199,end surface coast,CONTROL_FINISHED_OK
$STATE,11199,begin surface
$SM_CCo,11278,0.00,0.000,0,0,1240,562.47
$SM_GC,2.51,7.70,0.00,0.00,0.051,0.000,0.000,138,2502,1240,-7.51,0.54,562.47
$IRIDIUM_FIX,2434.69,12410.35,271098,060645
$TT8_MAMPS,0.028379
$HUMID,1724
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.9,75.431
$10V_AH,10.8,40.757
$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,25.650,95.925,547.225,0.000,0.000,24.167,32.341,224.162,4.750,0.000,0.000,33.448,2239.011,6013.961,617.197,2210.972,639.019,0.000,1765.436,0.000,2147.921,0.000,31.093,0.000
$DEVICE_MAMPS,240.071,62.894,1086.072,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,870.689,949.599,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69430,1299
$CAP_FILE_SIZE,134372,0
$CFSIZE,260165632,190918656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,143.8,1
$GPS,020809,124236,2443.602,12409.937,37,1.3,37,-3.7