version: 66.04
glider: 167
mission: 2
dive: 415
start: 7 28 109 15 6 18
data:
$ID,167
$MISSION,2
$DIVE,415
$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,425
$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,-13892.357
$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,22.5
$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,72
$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
$GPS1,145837,2446.455,12425.979,34,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-67.0
$GPS2,150556,2446.461,12425.942,15,1.2,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$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,165.2,61654,-24.8,-13.043
$D_GRID,984
$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,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-34.50,0.000,2,0.000,0.000,143,2498,2255
$GC,56,-1.25,-121.7,3.0,-1.8,6,130,8.18,1.95,-58.50,0.000,4,0.232,0.054,2131,3763,3988
$GC,149,-0.80,-121.7,10.9,-19.5,21,155,0.55,1.88,0.00,0.000,6,0.171,0.021,2283,2443,3989
$GC,495,-1.19,-121.7,47.8,-10.3,82,501,0.30,2.03,0.00,0.000,4,0.056,0.043,2152,3749,3990
$GC,554,-0.93,-121.7,56.5,-16.0,92,560,0.32,1.77,0.00,0.000,6,0.159,0.021,2243,2483,3990
$GC,901,-1.27,-121.7,96.1,-11.5,153,907,0.28,1.98,0.00,0.000,4,0.055,0.021,2124,1089,3991
$GC,954,-1.06,-121.7,104.0,-16.6,162,960,0.30,2.05,0.00,0.000,6,0.162,0.028,2198,2483,3991
$GC,1301,-1.31,-121.7,149.4,-10.2,223,1308,0.20,2.00,0.00,0.000,4,0.061,0.021,2109,1089,3992
$GC,1324,-1.42,-121.7,152.1,-11.7,226,1330,0.00,2.03,0.00,0.000,6,0.000,0.025,2100,2477,3992
$GC,1668,-1.20,-121.7,197.3,-16.2,287,1676,0.17,1.92,0.00,0.000,4,0.167,0.039,2144,3761,3993
$GC,1761,-1.07,-121.7,214.0,-16.8,303,1769,0.20,1.83,0.00,0.000,6,0.161,0.021,2197,2444,3993
$GC,2109,-1.36,-121.7,249.4,-8.2,364,2120,0.22,2.00,0.00,0.000,4,0.060,0.042,2097,3746,3994
$GC,2139,-1.36,-121.7,252.4,-10.1,368,2145,0.00,1.75,0.00,0.000,6,0.000,0.021,2097,2480,3994
$GC,2483,-1.20,-121.7,295.2,-14.2,429,2491,0.17,1.95,0.00,0.000,4,0.170,0.040,2141,3757,3994
$GC,2534,-1.10,-121.7,302.4,-15.1,436,2538,0.17,1.73,0.00,0.000,6,0.165,0.021,2186,2516,3994
$GC,2864,-1.38,-121.7,339.2,-8.5,467,2868,0.22,2.00,0.00,0.000,4,0.060,0.022,2089,1123,3994
$GC,2979,-1.21,-121.7,351.1,-10.6,477,2984,0.25,2.08,0.00,0.000,6,0.163,0.029,2152,2502,3994
$GC,3306,-1.39,-121.7,381.7,-10.8,507,3308,0.17,0.00,0.00,0.000,6,0.069,0.000,2081,2504,3994
$GC,3625,-1.22,-121.7,423.0,-11.9,537,3629,0.22,1.90,0.00,0.000,4,0.171,0.041,2139,3760,3994
$GC,3683,-1.18,-121.7,429.0,-10.6,542,3686,0.00,1.80,0.00,0.000,6,0.000,0.023,2139,2480,3994
$GC,4016,-1.35,-121.7,456.1,-8.4,573,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2480,3994
$GC,4347,-1.52,-121.7,486.2,-10.1,604,4351,0.20,1.98,0.00,0.000,4,0.066,0.024,2053,1109,3993
$GC,4408,-1.30,-121.7,494.6,-13.7,609,4415,0.30,2.10,0.00,0.000,6,0.171,0.030,2127,2510,3993
$GC,4729,-1.44,-121.7,529.3,-10.5,627,4733,0.15,2.05,0.00,0.000,4,0.076,0.024,2068,1116,3992
$GC,4779,-1.27,-121.7,535.1,-10.8,629,4784,0.28,2.05,0.00,0.000,6,0.166,0.030,2135,2476,3992
$GC,5104,-1.43,-121.7,558.7,-7.1,645,5108,0.15,1.95,0.00,0.000,4,0.073,0.044,2070,3754,3990
$GC,5127,-1.38,-121.7,561.2,-9.5,646,5131,0.12,1.80,0.00,0.000,6,0.187,0.023,2099,2492,3990
$GC,5459,-1.38,-121.7,590.3,-10.0,662,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2492,3989
$GC,5770,-1.38,-121.7,625.9,-12.2,677,5774,0.00,1.98,0.00,0.000,4,0.000,0.047,2097,3761,3986
$GC,5935,-1.25,-121.7,648.2,-14.1,684,5939,0.15,1.83,0.00,0.000,6,0.173,0.025,2135,2485,3985
$GC,6266,-1.45,-121.7,680.3,-8.5,700,6270,0.17,2.00,0.00,0.000,4,0.068,0.025,2060,1109,3982
$GC,6351,-1.29,-121.7,688.6,-8.5,703,6359,0.28,2.08,0.00,0.000,6,0.168,0.033,2132,2472,3981
$GC,6668,-1.50,-121.7,709.4,-6.7,719,6673,0.20,2.03,0.00,0.000,4,0.072,0.025,2053,1105,3980
$GC,6737,-1.32,-121.7,716.6,-11.0,722,6742,0.28,2.08,0.00,0.000,6,0.177,0.033,2117,2464,3979
$GC,7067,-1.39,-121.7,749.1,-10.6,738,7072,0.00,1.98,0.00,0.000,4,0.000,0.048,2111,3757,3977
$GC,7140,-1.33,-121.7,758.4,-12.4,741,7144,0.00,1.85,0.00,0.000,6,0.000,0.025,2111,2465,3976
$GC,7469,-1.39,-121.7,795.0,-10.9,757,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2465,3974
$GC,7778,-1.44,-121.7,823.5,-8.4,772,7781,0.00,2.03,0.00,0.000,4,0.000,0.048,2102,3757,3972
$GC,7998,-1.33,-121.7,848.0,-11.6,781,8004,0.00,1.85,0.00,0.000,6,0.000,0.025,2102,2472,3971
$GC,8314,-1.33,-121.7,884.3,-11.9,797,8317,0.00,2.03,0.00,0.000,4,0.000,0.049,2098,3757,3969
$GC,8347,-1.22,-121.7,888.8,-13.7,798,8352,0.15,1.85,0.00,0.000,6,0.171,0.025,2151,2501,3968
$GC,8672,-1.48,-121.7,921.9,-9.9,814,8676,0.20,2.05,0.00,0.000,4,0.071,0.027,2068,1084,3967
$GC,8762,-1.35,-121.7,933.8,-14.2,818,8767,0.15,2.08,0.00,0.000,6,0.177,0.036,2104,2445,3966
$GC,9096,-1.35,-121.7,972.2,-11.1,834,9099,0.00,2.05,0.00,0.000,4,0.000,0.051,2097,3760,3965
$STATE,9125,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9126,begin apogee
$GC,9134,-0.22,0.0,976.3,12.8,835,9230,1.25,0.00,91.85,1.389,6,0.169,0.000,2461,2380,3532
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9234,1.25,121.7,982.4,0.0,840,9345,1.38,2.35,103.47,1.351,4,0.067,0.048,2947,3755,3034
$GC,9371,0.62,205.7,985.9,7.0,846,9450,0.82,2.05,70.75,1.328,6,0.216,0.025,2752,2417,2692
$GC,9777,0.78,242.6,946.5,10.4,866,9814,0.12,2.20,30.95,1.298,4,0.091,0.049,2798,3758,2542
$GC,9870,0.66,242.6,933.8,14.5,869,9875,0.17,2.03,0.00,0.000,6,0.192,0.025,2765,2407,2539
$GC,10193,0.81,260.4,895.4,11.8,885,10215,0.12,2.10,15.05,1.236,4,0.089,0.031,2816,1011,2471
$GC,10279,0.81,260.4,883.8,13.5,888,10285,0.00,2.17,0.00,0.000,6,0.000,0.032,2816,2423,2469
$GC,10597,0.81,260.4,840.3,13.7,904,10600,0.00,2.15,0.00,0.000,4,0.000,0.031,2824,996,2467
$GC,10664,0.81,260.4,830.7,13.2,907,10668,0.00,2.12,0.00,0.000,6,0.000,0.035,2825,2381,2466
$GC,10997,0.83,273.5,788.1,12.1,923,11019,0.00,2.25,12.15,1.185,4,0.000,0.054,2824,3761,2415
$GC,11094,0.69,273.5,774.3,15.1,927,11098,0.25,2.05,0.00,0.000,6,0.190,0.025,2768,2392,2414
$GC,11417,0.94,319.3,740.9,9.8,943,11462,0.20,2.22,39.00,1.237,4,0.077,0.032,2861,988,2229
$GC,11526,0.94,319.3,725.5,14.9,947,11534,0.00,2.20,0.00,0.000,6,0.000,0.033,2861,2399,2225
$GC,11842,0.89,319.3,677.8,15.2,963,11844,0.12,0.00,0.00,0.000,6,0.191,0.000,2832,2401,2222
$GC,12152,0.98,340.5,636.9,11.5,978,12172,0.00,0.00,18.00,1.137,6,0.000,0.000,2832,2401,2144
$GC,12482,1.14,403.2,606.4,8.5,994,12539,0.20,0.00,53.50,1.145,6,0.075,0.000,2912,2401,1887
$GC,12836,1.08,403.2,550.1,17.8,1011,12840,0.00,2.15,0.00,0.000,4,0.000,0.032,2922,995,1879
$GC,12911,1.01,403.2,536.5,18.4,1014,12915,0.20,2.15,0.00,0.000,6,0.183,0.035,2871,2390,1878
$GC,13236,1.12,423.3,491.2,11.6,1033,13259,0.10,2.17,16.52,1.024,4,0.096,0.050,2907,3761,1805
$GC,13266,1.13,429.2,487.2,12.6,1035,13278,0.00,2.10,6.75,0.864,6,0.000,0.025,2918,2359,1782
$GC,13604,1.13,430.7,445.0,12.9,1067,13608,0.00,2.03,0.00,0.000,4,0.000,0.033,2927,1003,1776
$GC,13622,1.15,441.3,442.8,12.3,1068,13640,0.00,2.10,11.48,0.956,6,0.000,0.033,2927,2380,1732
$GC,13958,1.15,441.3,396.7,14.8,1100,13962,0.00,2.15,0.00,0.000,4,0.000,0.051,2927,3751,1728
$GC,13976,1.09,441.3,393.8,15.9,1101,13983,0.15,2.08,0.00,0.000,6,0.191,0.025,2899,2352,1727
$GC,14302,1.22,449.3,349.5,12.5,1132,14315,0.12,2.08,7.80,0.838,4,0.088,0.030,2954,998,1700
$GC,14444,1.17,449.3,330.1,14.7,1144,14448,0.12,1.98,0.00,0.000,6,0.186,0.031,2926,2300,1698
$GC,14773,1.17,449.3,286.5,13.6,1183,14780,0.00,1.95,0.00,0.000,4,0.000,0.030,2933,994,1697
$GC,14810,1.18,456.1,281.8,12.6,1189,14823,0.00,1.92,7.53,0.779,6,0.000,0.031,2933,2273,1671
$GC,15161,1.22,456.1,233.7,14.4,1251,15168,0.00,2.30,0.00,0.000,4,0.000,0.047,2933,3755,1669
$GC,15197,1.22,456.1,228.0,15.6,1257,15203,0.00,2.20,0.00,0.000,6,0.000,0.025,2941,2246,1669
$GC,15543,1.23,462.0,182.4,12.6,1318,15556,0.00,1.85,6.57,0.680,4,0.000,0.029,2950,989,1647
$GC,15574,1.31,469.6,178.4,12.5,1323,15588,0.00,1.95,7.68,0.693,6,0.000,0.028,2950,2299,1616
$GC,15927,1.40,469.6,136.9,14.1,1385,15932,0.12,0.00,0.00,0.000,6,0.081,0.000,2998,2299,1614
$GC,16271,1.44,502.6,84.1,10.7,1446,16307,0.00,1.98,28.20,0.696,4,0.000,0.028,3006,987,1481
$GC,16364,1.46,519.8,73.2,11.8,1462,16383,0.00,1.92,15.20,0.656,6,0.000,0.028,3006,2271,1413
$GC,16725,1.60,527.3,25.6,12.5,1525,16738,0.15,2.38,7.32,0.558,4,0.077,0.044,3070,3768,1381
$GC,16843,1.43,527.3,7.9,16.3,1545,16850,0.28,2.15,0.00,0.000,6,0.185,0.021,3007,2292,1380
$STATE,16882,end climb,SURFACE_DEPTH_REACHED
$STATE,16882,begin surface coast
$FINISH,1.8,1.008614
$STATE,16906,end surface coast,CONTROL_FINISHED_OK
$STATE,16906,begin surface
$SM_CCo,16986,0.00,0.000,0,0,1379,528.13
$SM_GC,2.67,7.72,0.00,0.00,0.056,0.000,0.000,142,2503,1379,-7.50,0.57,528.13
$IRIDIUM_FIX,2439.44,12608.97,221098,101059
$TT8_MAMPS,0.028379
$HUMID,1717
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.7,70.348
$10V_AH,10.7,38.355
$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,28.350,146.075,549.775,0.000,0.000,29.568,54.384,194.775,8.000,0.000,0.000,15.166,2784.552,10479.999,672.557,2745.089,730.420,0.000,2093.091,0.000,2678.401,0.000,54.446,0.000
$DEVICE_MAMPS,231.634,54.457,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.647,1077.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82132,1556
$CAP_FILE_SIZE,181275,0
$CFSIZE,260165632,193093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080, 13.3,1
$GPS,280709,195037,2445.583,12426.529,36,1.4,37,-3.7