version: 66.04
glider: 167
mission: 2
dive: 444
start: 8 2 109 19 16 58
data:
$ID,167
$MISSION,2
$DIVE,444
$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,-14479.779
$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,92
$R_STBD_OVSHOOT,37
$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
$GPS1,191024,2442.838,12409.230,45,1.1,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-64.1
$GPS2,191637,2442.831,12409.191,10,1.2,16,-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,262.9,16637,-24.8,-13.043
$D_GRID,518
$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,14,begin dive
$GC,18,-1.34,-121.7,0.0,0.0,0,65,0.00,0.00,-45.22,0.000,2,0.000,0.000,141,2480,2342
$GC,69,-1.34,-121.7,3.2,-2.1,8,136,8.18,2.00,-51.53,0.000,4,0.239,0.037,2105,1089,3987
$GC,246,-0.98,-121.7,29.6,-18.9,38,253,0.45,2.08,0.00,0.000,6,0.165,0.027,2224,2497,3988
$GC,592,-1.21,-121.7,69.8,-10.0,99,598,0.17,2.03,0.00,0.000,4,0.065,0.021,2144,1087,3989
$GC,622,-1.21,-121.7,73.5,-12.1,104,630,0.00,2.05,0.00,0.000,6,0.000,0.026,2137,2488,3989
$GC,969,-1.21,-121.7,120.2,-13.1,165,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2489,3990
$GC,1313,-1.26,-121.7,159.9,-11.7,226,1319,0.00,2.00,0.00,0.000,4,0.000,0.022,2137,1083,3991
$GC,1362,-1.17,-121.7,166.0,-11.8,234,1368,0.15,2.03,0.00,0.000,6,0.162,0.025,2170,2476,3991
$GC,1710,-1.35,-121.7,201.0,-9.6,295,1716,0.17,1.92,0.00,0.000,4,0.063,0.040,2085,3761,3993
$GC,1752,-1.03,-121.7,206.2,-12.7,302,1758,0.43,1.83,0.00,0.000,6,0.160,0.020,2205,2432,3992
$GC,2098,-1.39,-121.7,240.6,-10.3,363,2104,0.28,2.03,0.00,0.000,4,0.056,0.040,2085,3762,3993
$GC,2119,-1.53,-121.7,243.1,-11.3,366,2124,0.00,1.83,0.00,0.000,6,0.000,0.021,2085,2430,3992
$GC,2463,-1.34,-121.7,289.1,-13.3,427,2469,0.12,2.00,0.00,0.000,4,0.170,0.038,2110,3749,3992
$GC,2511,-1.13,-121.7,295.2,-12.8,435,2517,0.25,1.80,0.00,0.000,6,0.159,0.020,2179,2443,3992
$GC,2845,-1.41,-121.7,327.9,-9.8,470,2849,0.22,1.88,0.00,0.000,4,0.060,0.021,2082,1109,3993
$GC,2881,-1.26,-121.7,332.0,-12.4,473,2885,0.20,2.00,0.00,0.000,6,0.161,0.027,2135,2474,3993
$GC,3212,-1.39,-121.7,366.5,-10.7,504,3216,0.12,1.92,0.00,0.000,4,0.077,0.041,2081,3751,3992
$GC,3239,-1.28,-121.7,370.2,-13.2,506,3246,0.17,1.77,0.00,0.000,6,0.168,0.021,2126,2479,3992
$GC,3565,-1.37,-121.7,408.0,-10.5,537,3569,0.00,1.95,0.00,0.000,4,0.000,0.025,2127,1101,3992
$GC,3605,-1.37,-121.7,412.3,-10.6,540,3612,0.00,2.03,0.00,0.000,6,0.000,0.028,2126,2476,3992
$GC,3934,-1.50,-121.7,439.8,-9.1,571,3938,0.17,2.00,0.00,0.000,4,0.070,0.022,2044,1103,3992
$GC,3962,-1.33,-121.7,443.2,-11.3,573,3969,0.28,2.03,0.00,0.000,6,0.170,0.028,2116,2457,3992
$GC,4288,-1.44,-121.7,472.2,-9.3,604,4292,0.10,1.95,0.00,0.000,4,0.085,0.023,2074,1094,3991
$GC,4323,-1.31,-121.7,475.8,-10.8,607,4327,0.17,2.00,0.00,0.000,6,0.163,0.028,2117,2452,3990
$GC,4662,-1.41,-121.7,508.9,-9.8,635,4666,0.00,1.95,0.00,0.000,4,0.000,0.024,2117,1097,3990
$GC,4696,-1.46,-121.7,512.3,-9.8,636,4700,0.12,2.00,0.00,0.000,6,0.081,0.029,2062,2451,3989
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4773,-0.24,0.0,520.1,10.9,640,4870,1.35,0.00,89.15,0.985,6,0.162,0.000,2460,2451,3532
$STATE,4871,end apogee,CONTROL_FINISHED_OK
$STATE,4871,begin climb
$GC,4875,1.34,121.7,526.3,0.0,645,4974,1.42,0.00,95.00,0.963,6,0.064,0.000,2978,2453,3034
$GC,5271,0.87,200.7,512.7,7.4,664,5339,0.52,2.10,60.17,0.956,4,0.196,0.047,2834,3747,2712
$GC,5416,0.73,250.8,501.1,9.5,670,5462,0.22,1.95,39.38,0.934,6,0.183,0.021,2784,2389,2508
$GC,5778,1.10,323.8,474.2,7.8,704,5841,0.32,2.10,56.92,0.940,4,0.058,0.028,2919,1035,2212
$GC,5875,0.97,323.8,462.9,13.1,713,5880,0.22,2.08,0.00,0.000,6,0.171,0.028,2860,2399,2209
$GC,6201,1.12,358.2,425.0,10.6,743,6236,0.12,2.17,27.67,0.904,4,0.081,0.044,2910,3754,2070
$GC,6330,0.94,358.2,408.1,14.7,754,6335,0.20,1.92,0.00,0.000,6,0.165,0.022,2849,2433,2066
$GC,6661,1.26,399.2,371.7,10.1,785,6699,0.25,2.10,32.90,0.888,4,0.065,0.028,2965,1025,1903
$GC,6706,1.16,399.3,366.1,13.0,788,6712,0.17,2.08,0.00,0.000,6,0.181,0.030,2923,2391,1901
$GC,7036,1.27,407.6,324.6,12.4,819,7048,0.00,2.10,7.40,0.742,4,0.000,0.028,2930,1019,1869
$GC,7066,1.33,407.6,320.2,13.8,821,7073,0.12,2.12,0.00,0.000,6,0.081,0.028,2980,2437,1869
$GC,7403,1.16,407.6,270.8,13.7,869,7409,0.20,0.00,0.00,0.000,6,0.182,0.000,2923,2439,1866
$GC,7749,1.33,437.9,233.6,10.9,930,7780,0.15,2.17,25.08,0.798,4,0.077,0.028,2992,1022,1745
$GC,7891,1.22,437.9,215.5,13.3,954,7897,0.20,2.10,0.00,0.000,6,0.177,0.029,2942,2429,1741
$GC,8239,1.41,455.1,169.9,11.8,1015,8259,0.17,2.15,14.73,0.724,4,0.067,0.026,3025,1016,1676
$GC,8335,1.28,455.8,157.3,13.0,1031,8341,0.25,2.03,0.00,0.000,6,0.170,0.029,2959,2378,1673
$GC,8681,1.50,473.0,117.3,11.8,1092,8702,0.17,2.17,15.07,0.682,4,0.071,0.044,3032,3753,1601
$GC,8776,1.27,473.0,103.1,15.8,1108,8783,0.30,1.98,0.00,0.000,6,0.179,0.021,2954,2368,1600
$GC,9122,1.64,506.4,68.1,10.6,1169,9159,0.30,2.20,27.65,0.653,4,0.060,0.042,3081,3750,1466
$GC,9244,1.38,506.4,50.9,14.1,1189,9252,0.38,2.05,0.00,0.000,6,0.186,0.021,2991,2312,1463
$GC,9591,1.72,550.0,17.2,9.9,1250,9633,0.25,2.30,35.20,0.602,4,0.062,0.041,3098,3745,1288
$STATE,9687,end climb,SURFACE_DEPTH_REACHED
$STATE,9687,begin surface coast
$FINISH,1.6,0.997484
$STATE,9709,end surface coast,CONTROL_FINISHED_OK
$STATE,9709,begin surface
$SM_CCo,9791,0.00,0.000,0,0,1281,552.17
$SM_GC,2.56,7.95,0.00,0.00,0.055,0.000,0.000,141,2493,1281,-7.49,0.25,552.17
$IRIDIUM_FIX,2434.69,12401.80,271098,161643
$TT8_MAMPS,0.029146
$HUMID,1724
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.0,75.909
$10V_AH,10.8,40.990
$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,27.050,88.775,526.325,0.000,0.000,31.314,32.339,163.752,3.250,0.000,0.000,16.196,2151.846,4812.983,615.995,2009.103,567.295,0.000,1658.995,0.000,1972.325,0.000,25.958,0.000
$DEVICE_MAMPS,238.537,46.787,984.828,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.721,950.644,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66285,1270
$CAP_FILE_SIZE,123436,0
$CFSIZE,260165632,190713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,148.0,1
$GPS,020809,220124,2442.293,12408.728,38,1.6,38,-3.6