version: 66.04
glider: 167
mission: 2
dive: 445
start: 8 2 109 22 8 37
data:
$ID,167
$MISSION,2
$DIVE,445
$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,-14493.639
$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,49
$R_STBD_OVSHOOT,50
$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
$GPS1,220124,2442.293,12408.728,38,1.6,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-62.9
$GPS2,220814,2442.287,12408.701,13,1.6,13,-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,285.3,14473,-24.8,-13.043
$D_GRID,572
$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,-121.7,0.0,0.0,0,63,0.00,0.00,-45.47,0.000,2,0.000,0.000,141,2493,2418
$GC,67,-1.41,-121.7,3.2,-2.5,8,129,7.93,2.00,-48.80,0.000,4,0.232,0.052,2073,3756,3989
$GC,384,-0.86,-121.7,64.5,-19.8,63,391,0.68,1.85,0.00,0.000,6,0.166,0.020,2266,2423,3990
$GC,730,-1.29,-121.7,100.4,-7.9,124,738,0.35,2.03,0.00,0.000,4,0.052,0.040,2113,3749,3991
$GC,809,-0.99,-121.7,109.5,-12.9,137,815,0.40,1.85,0.00,0.000,6,0.161,0.019,2226,2404,3992
$GC,1155,-1.34,-121.7,144.9,-10.2,198,1161,0.28,0.00,0.00,0.000,6,0.057,0.000,2108,2403,3992
$GC,1499,-1.27,-121.7,189.0,-12.6,259,1505,0.00,1.90,0.00,0.000,4,0.000,0.023,2108,1051,3993
$GC,1538,-1.11,-121.7,193.5,-12.5,265,1544,0.30,2.08,0.00,0.000,6,0.154,0.025,2182,2483,3993
$GC,1886,-1.35,-121.7,229.1,-10.7,326,1893,0.20,2.05,0.00,0.000,4,0.064,0.021,2094,1050,3993
$GC,1917,-1.28,-121.7,233.2,-12.5,331,1924,0.15,2.08,0.00,0.000,6,0.163,0.027,2132,2470,3994
$GC,2264,-1.37,-121.7,269.6,-10.9,392,2271,0.00,1.92,0.00,0.000,4,0.000,0.041,2125,3758,3994
$GC,2290,-1.37,-121.7,272.7,-11.8,396,2297,0.00,1.90,0.00,0.000,6,0.000,0.020,2124,2378,3994
$GC,2637,-1.42,-121.7,311.0,-10.2,448,2639,0.10,0.00,0.00,0.000,6,0.084,0.000,2078,2378,3994
$GC,2960,-1.32,-121.7,344.8,-10.9,478,2964,0.15,2.10,0.00,0.000,4,0.160,0.039,2110,3753,3994
$GC,3092,-1.16,-121.7,360.9,-11.7,489,3096,0.22,1.88,0.00,0.000,6,0.156,0.021,2172,2414,3994
$GC,3422,-1.45,-121.7,393.7,-9.5,520,3424,0.28,0.00,0.00,0.000,6,0.057,0.000,2061,2414,3993
$GC,3741,-1.31,-121.7,428.1,-10.3,550,3745,0.20,2.05,0.00,0.000,4,0.164,0.039,2111,3754,3993
$GC,3832,-1.17,-121.7,437.9,-11.4,558,3836,0.20,1.88,0.00,0.000,6,0.160,0.022,2165,2421,3993
$GC,4163,-1.42,-121.7,467.9,-9.0,589,4168,0.20,2.05,0.00,0.000,4,0.067,0.042,2071,3754,3992
$GC,4192,-1.35,-121.7,470.8,-11.4,591,4197,0.15,1.85,0.00,0.000,6,0.170,0.022,2109,2442,3992
$GC,4523,-1.42,-121.7,502.8,-9.8,621,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2442,3991
$GC,4832,-1.52,-121.7,532.2,-9.5,636,4836,0.15,1.92,0.00,0.000,4,0.072,0.024,2049,1092,3989
$GC,4879,-1.31,-121.7,537.3,-11.5,638,4884,0.28,2.08,0.00,0.000,6,0.171,0.030,2117,2486,3989
$GC,5208,-1.43,-121.7,569.2,-10.3,654,5212,0.00,2.03,0.00,0.000,4,0.000,0.025,2117,1087,3986
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5239,-0.25,0.0,572.2,11.2,655,5332,1.15,0.00,89.68,1.030,6,0.154,0.000,2458,2402,3532
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5336,1.41,121.7,579.7,0.0,660,5446,1.50,2.22,95.57,1.008,4,0.063,0.044,3000,3762,3034
$GC,5531,0.73,220.6,583.3,5.9,668,5615,0.88,1.98,76.68,1.001,6,0.210,0.021,2783,2394,2632
$GC,5932,0.99,296.9,555.1,7.6,688,5997,0.20,2.15,59.50,0.993,4,0.071,0.028,2868,1019,2321
$GC,6143,1.04,335.3,533.5,10.3,697,6179,0.00,2.15,30.77,0.963,6,0.000,0.028,2868,2446,2165
$GC,6495,1.06,349.5,492.6,12.0,717,6515,0.00,2.10,12.07,0.894,4,0.000,0.045,2868,3764,2106
$GC,6544,1.06,349.5,486.1,13.1,721,6550,0.00,1.88,0.00,0.000,6,0.000,0.022,2878,2452,2105
$GC,6872,1.20,380.9,449.7,10.8,752,6906,0.15,2.10,25.80,0.942,4,0.077,0.045,2939,3756,1978
$GC,7013,0.93,380.9,430.9,13.9,764,7018,0.38,1.92,0.00,0.000,6,0.174,0.024,2845,2421,1974
$GC,7339,1.33,413.4,394.8,10.7,794,7373,0.32,2.15,27.05,0.915,4,0.061,0.028,2987,1015,1845
$GC,7479,1.13,413.4,374.1,15.7,806,7484,0.30,2.10,0.00,0.000,6,0.182,0.030,2909,2417,1840
$GC,7810,1.37,456.0,336.6,10.0,837,7854,0.20,2.10,34.90,0.884,4,0.066,0.045,2992,3753,1671
$GC,7948,1.13,456.0,317.8,15.0,849,7953,0.35,2.05,0.00,0.000,6,0.185,0.022,2910,2358,1668
$GC,8286,1.44,456.0,274.9,13.5,896,8293,0.25,0.00,0.00,0.000,6,0.065,0.000,3014,2355,1664
$GC,8632,1.25,456.0,217.6,16.1,957,8638,0.22,1.98,0.00,0.000,4,0.179,0.028,2958,1003,1663
$GC,8684,1.25,456.0,209.8,13.9,966,8690,0.00,2.05,0.00,0.000,6,0.000,0.028,2958,2384,1662
$GC,9029,1.43,476.0,165.8,11.6,1027,9054,0.12,2.10,15.70,0.733,4,0.084,0.028,3017,1002,1590
$GC,9096,1.30,476.0,157.1,14.0,1038,9103,0.20,1.98,0.00,0.000,6,0.173,0.028,2967,2334,1589
$GC,9442,1.50,488.4,113.5,12.2,1099,9459,0.17,2.05,11.32,0.665,4,0.072,0.027,3049,988,1540
$GC,9575,1.36,488.4,94.6,14.6,1121,9582,0.25,2.08,0.00,0.000,6,0.179,0.028,2985,2392,1538
$GC,9921,1.62,539.2,54.5,9.4,1182,9969,0.20,2.08,41.55,0.654,4,0.071,0.026,3081,993,1333
$GC,10118,1.55,541.4,30.7,12.9,1216,10127,0.15,2.00,0.00,0.000,6,0.186,0.027,3044,2335,1329
$STATE,10344,end climb,SURFACE_DEPTH_REACHED
$STATE,10344,begin surface coast
$FINISH,1.7,1.009922
$STATE,10374,end surface coast,CONTROL_FINISHED_OK
$STATE,10374,begin surface
$SM_CCo,10454,0.00,0.000,0,0,1326,541.13
$SM_GC,2.50,7.80,0.00,0.00,0.057,0.000,0.000,141,2487,1326,-7.50,0.11,541.13
$IRIDIUM_FIX,2434.69,12407.06,271098,191928
$TT8_MAMPS,0.028379
$HUMID,1742
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,23.4,76.062
$10V_AH,10.8,41.065
$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,27.000,80.825,520.600,0.000,0.000,31.332,32.629,195.852,4.500,0.000,0.000,13.230,2155.351,5406.956,590.515,2097.103,608.929,0.000,1675.551,0.000,2057.129,0.000,32.544,0.000
$DEVICE_MAMPS,232.401,55.991,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.810,931.115,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66322,1261
$CAP_FILE_SIZE,124387,0
$CFSIZE,260165632,190644224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,179.0,1
$GPS,030809,010407,2442.093,12407.899,39,1.4,39,-3.6