version: 66.04
glider: 167
mission: 2
dive: 443
start: 8 2 109 16 26 15
data:
$ID,167
$MISSION,2
$DIVE,443
$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,-14462.955
$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,74
$R_STBD_OVSHOOT,47
$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
$GPS1,161530,2443.275,12409.447,39,1.5,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-64.7
$GPS2,162552,2443.200,12409.381,14,99.0,33,-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,254.0,17218,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.34,-121.7,0.0,0.0,0,71,0.00,0.00,-52.70,0.000,2,0.000,0.000,140,2500,2415
$GC,75,-1.34,-121.7,3.2,-2.5,9,137,7.95,2.12,-48.17,0.000,4,0.229,0.036,2107,1080,3990
$GC,279,-0.97,-121.7,35.6,-20.3,44,286,0.45,2.10,0.00,0.000,6,0.165,0.035,2225,2498,3991
$GC,625,-1.24,-121.7,79.4,-11.0,105,632,0.20,2.05,0.00,0.000,4,0.061,0.021,2135,1069,3991
$GC,684,-1.06,-121.7,87.7,-14.7,115,691,0.28,2.03,0.00,0.000,6,0.160,0.025,2201,2455,3991
$GC,1030,-1.29,-121.7,123.1,-10.4,176,1036,0.17,1.98,0.00,0.000,4,0.065,0.021,2122,1071,3992
$GC,1072,-1.18,-121.7,128.5,-13.4,183,1079,0.20,2.00,0.00,0.000,6,0.159,0.025,2166,2450,3992
$GC,1420,-1.34,-121.7,167.7,-11.3,244,1426,0.15,1.98,0.00,0.000,4,0.071,0.021,2103,1067,3993
$GC,1466,-1.12,-121.7,173.8,-14.5,252,1473,0.30,2.00,0.00,0.000,6,0.158,0.026,2181,2433,3993
$GC,1813,-1.38,-121.7,209.4,-10.0,313,1819,0.20,1.95,0.00,0.000,4,0.064,0.021,2093,1068,3994
$GC,1851,-1.19,-121.7,213.8,-12.7,319,1857,0.28,1.98,0.00,0.000,6,0.156,0.025,2162,2427,3994
$GC,2198,-1.38,-121.7,249.2,-10.1,380,2208,0.17,1.92,0.00,0.000,4,0.066,0.021,2081,1078,3994
$GC,2255,-1.14,-121.7,256.8,-14.7,389,2261,0.35,1.92,0.00,0.000,6,0.156,0.028,2174,2400,3994
$GC,2601,-1.41,-121.7,292.3,-10.3,450,2608,0.20,0.00,0.00,0.000,6,0.064,0.000,2083,2403,3994
$GC,2933,-1.33,-121.7,330.0,-11.9,487,2937,0.12,1.90,0.00,0.000,4,0.164,0.022,2115,1075,3994
$GC,3005,-1.23,-121.7,339.0,-11.8,493,3012,0.12,1.92,0.00,0.000,6,0.169,0.028,2141,2390,3993
$GC,3331,-1.40,-121.7,374.6,-10.1,524,3336,0.15,1.88,0.00,0.000,4,0.073,0.022,2079,1080,3994
$GC,3354,-1.40,-121.7,377.3,-11.5,526,3358,0.00,1.92,0.00,0.000,6,0.000,0.028,2078,2391,3994
$GC,3689,-1.23,-121.7,415.0,-10.9,557,3693,0.20,2.08,0.00,0.000,4,0.162,0.041,2137,3756,3993
$GC,3751,-1.23,-121.7,421.9,-10.5,562,3755,0.00,1.98,0.00,0.000,6,0.000,0.021,2137,2334,3993
$GC,4082,-1.38,-121.7,452.8,-8.9,593,4087,0.10,1.80,0.00,0.000,4,0.084,0.025,2092,1073,3992
$GC,4139,-1.28,-121.7,458.7,-10.2,598,4144,0.17,1.90,0.00,0.000,6,0.158,0.027,2132,2369,3992
$GC,4471,-1.46,-121.7,487.0,-8.2,629,4475,0.17,2.10,0.00,0.000,4,0.070,0.042,2058,3750,3990
$GC,4504,-1.23,-121.7,490.4,-10.3,631,4511,0.30,2.00,0.00,0.000,6,0.161,0.020,2142,2320,3990
$GC,4838,-1.41,-121.7,517.0,-8.6,653,4842,0.15,1.75,0.00,0.000,4,0.074,0.023,2080,1082,3989
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4854,-0.24,0.0,518.5,9.2,653,4948,1.25,0.00,89.07,0.982,6,0.154,0.000,2459,2399,3532
$STATE,4949,end apogee,CONTROL_FINISHED_OK
$STATE,4949,begin climb
$GC,4952,1.34,121.7,524.7,0.0,658,5054,1.42,2.15,94.75,0.959,4,0.064,0.024,2984,992,3034
$GC,5262,0.90,202.3,518.9,7.3,671,5329,0.57,2.12,61.35,0.950,6,0.199,0.028,2834,2413,2707
$GC,5650,0.93,268.2,487.1,8.3,697,5708,0.00,2.15,51.17,0.940,4,0.000,0.044,2834,3745,2437
$GC,5756,0.91,304.8,477.1,10.4,706,5795,0.00,2.00,30.08,0.908,6,0.000,0.022,2842,2373,2288
$GC,6114,1.13,349.9,442.7,9.8,740,6158,0.20,2.08,35.58,0.913,4,0.069,0.028,2935,1013,2104
$GC,6311,1.00,349.9,418.1,13.1,757,6318,0.25,2.15,0.00,0.000,6,0.174,0.029,2868,2442,2099
$GC,6637,1.21,382.7,381.9,10.7,788,6671,0.17,2.03,25.55,0.880,4,0.073,0.044,2944,3752,1971
$GC,6780,0.99,382.7,362.5,14.0,800,6787,0.32,1.83,0.00,0.000,6,0.177,0.022,2865,2471,1967
$GC,7106,1.34,431.4,331.5,9.5,831,7152,0.28,2.10,39.55,0.863,4,0.062,0.045,2980,3753,1772
$GC,7265,1.11,431.4,308.3,16.2,845,7270,0.32,1.88,0.00,0.000,6,0.179,0.021,2904,2441,1767
$GC,7607,1.38,436.9,264.3,12.7,899,7620,0.20,2.08,5.07,0.625,4,0.068,0.045,2990,3762,1750
$GC,7718,1.13,436.9,246.6,15.9,918,7726,0.32,1.95,0.00,0.000,6,0.183,0.022,2913,2392,1748
$GC,8066,1.44,464.0,207.1,11.1,979,8096,0.22,2.00,23.08,0.770,4,0.066,0.026,3019,1019,1638
$GC,8255,1.27,464.0,180.5,13.8,1012,8261,0.25,2.00,0.00,0.000,6,0.173,0.028,2954,2368,1634
$GC,8601,1.51,484.3,140.8,11.6,1073,8625,0.17,2.03,16.95,0.703,4,0.067,0.029,3037,1031,1555
$GC,8757,1.38,484.3,118.5,14.1,1100,8763,0.17,2.03,0.00,0.000,6,0.171,0.028,2993,2399,1552
$GC,9103,1.48,525.2,77.8,10.1,1161,9141,0.00,2.12,33.45,0.669,4,0.000,0.027,3001,1012,1390
$GC,9259,1.67,566.3,60.9,10.1,1187,9300,0.22,1.98,33.60,0.644,6,0.065,0.026,3089,2342,1223
$GC,9641,1.61,566.3,6.8,15.4,1254,9648,0.00,1.95,0.00,0.000,4,0.000,0.027,3098,1012,1217
$STATE,9663,end climb,SURFACE_DEPTH_REACHED
$STATE,9663,begin surface coast
$FINISH,1.7,1.013554
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9768,0.00,0.000,0,0,1215,568.36
$SM_GC,2.44,7.95,0.00,0.00,0.058,0.000,0.000,141,2480,1215,-7.50,-0.08,568.36
$IRIDIUM_FIX,2434.69,12520.12,271098,161654
$TT8_MAMPS,0.028379
$HUMID,1723
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.00
$XPDR_PINGS,6
$24V_AH,23.2,75.765
$10V_AH,10.8,40.916
$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,26.725,88.100,539.250,0.000,0.000,54.065,93.499,238.632,4.750,0.000,0.000,34.406,2134.558,4803.423,615.216,2101.609,727.546,0.000,1698.466,0.000,2040.844,0.000,22.744,0.000
$DEVICE_MAMPS,229.333,45.253,981.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,843.433,936.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66315,1262
$CAP_FILE_SIZE,126003,0
$CFSIZE,260165632,190779392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,114.5,1
$GPS,020809,191024,2442.838,12409.230,45,1.1,45,-3.7