version: 66.04
glider: 167
mission: 2
dive: 439
start: 8 2 109 2 55 8
data:
$ID,167
$MISSION,2
$DIVE,439
$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,-14366.616
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,024730,2444.268,12411.312,40,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-65.3
$GPS2,025444,2444.250,12411.288,15,1.3,15,-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,259.1,20959,-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,-121.7,0.0,0.0,0,63,0.00,0.00,-45.40,0.000,2,0.000,0.000,141,2486,2303
$GC,66,-1.34,-121.7,3.1,-2.2,8,135,8.10,2.08,-53.83,0.000,4,0.234,0.036,2106,1055,3988
$GC,224,-0.97,-121.7,23.6,-16.5,34,231,0.47,2.12,0.00,0.000,6,0.162,0.028,2232,2484,3989
$GC,570,-1.25,-121.7,69.2,-12.1,95,577,0.22,1.92,0.00,0.000,4,0.059,0.042,2126,3754,3990
$GC,595,-1.25,-121.7,72.8,-14.0,99,600,0.00,1.85,0.00,0.000,6,0.000,0.021,2126,2412,3990
$GC,940,-1.09,-121.7,118.3,-13.5,160,947,0.20,2.05,0.00,0.000,4,0.158,0.039,2178,3754,3991
$GC,1040,-1.03,-121.7,130.0,-11.7,177,1047,0.12,1.80,0.00,0.000,6,0.162,0.021,2209,2445,3992
$GC,1387,-1.32,-121.7,167.7,-10.6,238,1393,0.22,2.00,0.00,0.000,4,0.059,0.041,2101,3754,3993
$GC,1413,-1.32,-121.7,170.9,-12.7,242,1419,0.00,1.73,0.00,0.000,6,0.000,0.021,2101,2503,3993
$GC,1758,-1.17,-121.7,214.2,-11.2,303,1764,0.20,1.90,0.00,0.000,4,0.160,0.039,2154,3753,3994
$GC,1828,-1.11,-121.7,221.9,-10.9,315,1834,0.12,1.70,0.00,0.000,6,0.162,0.021,2184,2524,3994
$GC,2175,-1.38,-121.7,256.8,-10.3,376,2182,0.20,2.03,0.00,0.000,4,0.062,0.025,2095,1099,3994
$GC,2230,-1.18,-121.7,263.7,-14.0,385,2237,0.28,2.08,0.00,0.000,6,0.156,0.027,2164,2518,3994
$GC,2576,-1.38,-121.7,299.4,-10.9,446,2586,0.17,0.00,0.00,0.000,6,0.071,0.000,2085,2520,3994
$GC,2902,-1.22,-121.7,339.3,-11.7,477,2906,0.20,2.05,0.00,0.000,4,0.162,0.021,2144,1095,3994
$GC,2965,-1.22,-121.7,346.3,-10.5,482,2969,0.00,2.08,0.00,0.000,6,0.000,0.028,2139,2500,3994
$GC,3297,-1.36,-121.7,380.1,-11.0,513,3300,0.00,2.03,0.00,0.000,4,0.000,0.023,2139,1088,3994
$GC,3320,-1.46,-121.7,382.9,-11.7,515,3325,0.17,2.08,0.00,0.000,6,0.067,0.028,2064,2494,3994
$GC,3647,-1.31,-121.7,422.5,-11.5,545,3651,0.20,1.90,0.00,0.000,4,0.176,0.041,2114,3754,3993
$GC,3779,-1.18,-121.7,437.6,-12.4,556,3787,0.17,1.77,0.00,0.000,6,0.160,0.022,2160,2487,3993
$GC,4105,-1.41,-121.7,466.5,-9.4,587,4109,0.20,1.98,0.00,0.000,4,0.064,0.023,2076,1107,3993
$GC,4212,-1.23,-121.7,479.9,-13.3,596,4220,0.28,2.03,0.00,0.000,6,0.157,0.028,2147,2465,3992
$GC,4537,-1.45,-121.7,513.1,-9.7,621,4539,0.20,0.00,0.00,0.000,6,0.067,0.000,2068,2466,3991
$GC,4845,-1.37,-121.7,545.9,-10.5,636,4849,0.15,1.98,0.00,0.000,4,0.168,0.024,2106,1098,3990
$GC,4894,-1.37,-121.7,550.8,-9.7,638,4898,0.00,2.03,0.00,0.000,6,0.000,0.029,2099,2462,3989
$GC,5223,-1.43,-121.7,582.6,-9.9,654,5227,0.00,1.98,0.00,0.000,4,0.000,0.025,2099,1103,3986
$GC,5270,-1.43,-121.7,587.7,-10.9,656,5274,0.00,2.00,0.00,0.000,6,0.000,0.031,2098,2441,3986
$GC,5604,-1.50,-121.7,623.6,-10.3,672,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2441,3983
$STATE,5682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5682,begin apogee
$GC,5690,-0.24,0.0,632.0,10.2,676,5786,1.20,0.00,90.18,1.091,6,0.146,0.000,2464,2442,3532
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5787,begin climb
$GC,5790,1.34,121.7,638.2,0.0,681,5898,1.40,2.17,96.88,1.063,4,0.063,0.044,2972,3760,3034
$GC,6151,0.67,177.2,624.2,9.1,697,6202,0.82,1.98,43.72,1.048,6,0.208,0.021,2766,2394,2808
$GC,6518,0.90,254.1,595.9,7.5,715,6584,0.17,2.17,59.90,1.047,4,0.076,0.028,2845,1012,2496
$GC,6730,0.96,305.6,576.2,9.4,724,6777,0.00,2.17,41.92,1.025,6,0.000,0.029,2845,2442,2285
$GC,7097,1.10,358.0,540.1,9.3,742,7145,0.15,2.15,41.97,1.015,4,0.077,0.046,2906,3756,2071
$GC,7196,0.90,358.0,527.9,13.2,746,7203,0.30,1.95,0.00,0.000,6,0.176,0.023,2835,2435,2067
$GC,7513,1.22,408.1,497.3,9.5,763,7561,0.25,2.17,40.65,0.996,4,0.066,0.045,2937,3759,1867
$GC,7573,1.09,408.1,489.8,14.2,768,7581,0.20,2.08,0.00,0.000,6,0.184,0.023,2896,2369,1865
$GC,7898,1.25,422.4,449.6,12.0,799,7921,0.15,2.10,12.10,0.907,4,0.081,0.029,2966,997,1808
$GC,8058,1.09,422.4,426.1,14.7,813,8063,0.28,2.20,0.00,0.000,6,0.183,0.031,2895,2444,1806
$GC,8384,1.34,450.6,385.1,11.0,843,8422,0.20,2.22,26.10,0.874,4,0.069,0.030,2982,1008,1694
$GC,8515,1.20,450.6,366.8,14.5,854,8522,0.20,2.15,0.00,0.000,6,0.181,0.031,2933,2426,1690
$GC,8841,1.20,450.6,323.8,13.6,885,8844,0.00,2.12,0.00,0.000,4,0.000,0.028,2941,1002,1687
$GC,8888,1.20,450.6,317.5,13.9,889,8892,0.00,2.10,0.00,0.000,6,0.000,0.029,2940,2412,1687
$GC,9225,1.20,450.6,269.9,15.2,938,9231,0.00,2.10,0.00,0.000,4,0.000,0.028,2945,996,1686
$GC,9323,1.27,450.6,256.5,14.2,955,9329,0.00,2.08,0.00,0.000,6,0.000,0.030,2945,2380,1686
$GC,9669,1.30,474.0,212.1,11.4,1016,9694,0.00,2.20,18.98,0.792,4,0.000,0.046,2945,3760,1598
$GC,9706,1.30,474.0,207.4,13.1,1022,9712,0.00,2.05,0.00,0.000,6,0.000,0.024,2954,2362,1597
$GC,10051,1.43,482.8,161.8,12.4,1083,10066,0.15,2.05,8.57,0.687,4,0.074,0.028,3022,1005,1562
$GC,10140,1.31,482.8,149.4,14.4,1098,10147,0.22,2.05,0.00,0.000,6,0.170,0.028,2964,2380,1561
$GC,10489,1.54,491.5,105.8,12.4,1159,10503,0.17,2.17,8.40,0.640,4,0.073,0.045,3037,3755,1528
$GC,10591,1.32,491.5,90.2,15.2,1176,10599,0.28,1.95,0.00,0.000,6,0.177,0.022,2973,2404,1527
$GC,10939,1.59,504.9,50.6,12.1,1237,10957,0.20,2.15,12.70,0.627,4,0.069,0.043,3064,3754,1472
$GC,11051,1.40,504.9,34.6,15.2,1256,11059,0.30,2.03,0.00,0.000,6,0.178,0.021,2993,2348,1471
$STATE,11361,end climb,SURFACE_DEPTH_REACHED
$STATE,11361,begin surface coast
$FINISH,1.6,1.021401
$STATE,11385,end surface coast,CONTROL_FINISHED_OK
$STATE,11385,begin surface
$SM_CCo,11464,0.00,0.000,0,0,1468,506.30
$SM_GC,2.63,7.60,0.00,0.00,0.054,0.000,0.000,139,2485,1468,-7.51,0.06,506.30
$IRIDIUM_FIX,2434.69,12413.65,261098,232353
$TT8_MAMPS,0.028379
$HUMID,1723
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.00
$XPDR_PINGS,2
$24V_AH,23.7,75.103
$10V_AH,10.7,40.599
$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,26.150,97.900,502.075,0.000,0.000,26.455,38.668,201.433,5.000,0.000,0.000,15.374,2279.389,6121.800,605.532,2242.992,640.683,0.000,1759.107,0.000,2191.616,0.000,33.150,0.000
$DEVICE_MAMPS,233.935,55.224,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,881.988,960.625,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69425,1315
$CAP_FILE_SIZE,135618,0
$CFSIZE,260165632,191066112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123, 83.6,1
$GPS,020809,060730,2444.134,12411.176,42,1.2,42,-3.7