version: 66.04
glider: 167
mission: 2
dive: 420
start: 7 29 109 14 48 33
data:
$ID,167
$MISSION,2
$DIVE,420
$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,770.97791
$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,-13990.086
$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,66
$R_STBD_OVSHOOT,41
$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
$GPS1,143230,2447.469,12424.331,40,1.1,41,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-68.7
$GPS2,144813,2447.765,12424.491,15,1.5,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,248.5,67626,-24.8,-13.043
$D_GRID,1104
$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,-1.25,-121.7,0.0,0.0,0,58,0.00,0.00,-40.47,0.000,2,0.000,0.000,141,2492,2298
$GC,62,-1.25,-121.7,3.2,-1.9,7,131,8.10,2.10,-53.35,0.000,4,0.229,0.037,2135,1063,3989
$GC,198,-0.96,-121.7,19.9,-18.0,29,205,0.38,2.12,0.00,0.000,6,0.161,0.028,2231,2491,3990
$GC,543,-1.23,-121.7,65.3,-11.8,90,550,0.20,1.92,0.00,0.000,4,0.061,0.042,2137,3760,3990
$GC,620,-0.88,-121.7,77.2,-17.6,103,626,0.43,1.83,0.00,0.000,6,0.164,0.021,2256,2446,3990
$GC,965,-1.24,-121.7,113.9,-11.1,164,973,0.28,1.90,0.00,0.000,4,0.054,0.021,2137,1101,3991
$GC,997,-1.24,-121.7,117.8,-12.6,169,1003,0.00,2.03,0.00,0.000,6,0.000,0.027,2127,2482,3991
$GC,1343,-1.08,-121.7,169.7,-13.3,230,1350,0.20,1.92,0.00,0.000,4,0.163,0.040,2180,3763,3991
$GC,1483,-1.08,-121.7,186.1,-11.5,254,1489,0.00,1.77,0.00,0.000,6,0.000,0.021,2180,2479,3991
$GC,1827,-1.29,-121.7,220.5,-9.8,315,1833,0.15,1.95,0.00,0.000,4,0.069,0.041,2111,3753,3992
$GC,1864,-1.09,-121.7,224.8,-13.2,321,1875,0.28,1.73,0.00,0.000,6,0.160,0.021,2187,2503,3992
$GC,2217,-1.35,-121.7,258.1,-9.1,382,2223,0.20,1.98,0.00,0.000,4,0.059,0.022,2095,1106,3992
$GC,2264,-1.17,-121.7,263.9,-12.0,390,2271,0.28,2.03,0.00,0.000,6,0.154,0.028,2165,2489,3992
$GC,2611,-1.36,-121.7,296.9,-9.2,451,2618,0.17,1.92,0.00,0.000,4,0.071,0.043,2085,3763,3992
$GC,2793,-1.08,-121.7,322.2,-13.4,470,2798,0.40,1.77,0.00,0.000,6,0.163,0.021,2197,2485,3992
$GC,3125,-1.42,-121.7,355.1,-9.4,501,3129,0.28,1.95,0.00,0.000,4,0.058,0.021,2080,1122,3992
$GC,3173,-1.24,-121.7,360.8,-12.8,505,3178,0.25,2.05,0.00,0.000,6,0.160,0.028,2141,2494,3992
$GC,3505,-1.40,-121.7,394.1,-9.6,536,3507,0.15,0.00,0.00,0.000,6,0.074,0.000,2079,2497,3992
$GC,3822,-1.31,-121.7,431.0,-11.7,566,3824,0.15,0.00,0.00,0.000,6,0.170,0.000,2117,2497,3991
$GC,4143,-1.31,-121.7,464.4,-9.8,596,4147,0.00,2.03,0.00,0.000,4,0.000,0.025,2117,1097,3990
$GC,4171,-1.31,-121.7,467.5,-10.1,598,4177,0.00,2.05,0.00,0.000,6,0.000,0.030,2111,2478,3990
$GC,4498,-1.31,-121.7,498.8,-10.5,629,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2478,3989
$GC,4806,-1.39,-121.7,532.1,-10.7,645,4810,0.00,2.00,0.00,0.000,4,0.000,0.025,2111,1097,3986
$GC,4852,-1.39,-121.7,537.2,-11.6,647,4856,0.00,2.05,0.00,0.000,6,0.000,0.031,2110,2469,3986
$GC,5186,-1.48,-121.7,571.2,-9.9,663,5190,0.12,1.98,0.00,0.000,4,0.081,0.024,2059,1110,3984
$GC,5247,-1.29,-121.7,578.5,-12.1,665,5254,0.25,2.00,0.00,0.000,6,0.161,0.031,2125,2449,3984
$GC,5565,-1.46,-121.7,612.9,-10.8,681,5569,0.15,1.95,0.00,0.000,4,0.075,0.024,2066,1109,3981
$GC,5622,-1.29,-121.7,620.0,-12.8,683,5626,0.25,1.98,0.00,0.000,6,0.163,0.031,2126,2437,3980
$GC,5942,-1.45,-121.7,650.7,-9.6,698,5946,0.15,1.92,0.00,0.000,4,0.076,0.024,2067,1112,3978
$GC,5998,-1.29,-121.7,657.1,-11.5,700,6002,0.25,1.92,0.00,0.000,6,0.166,0.031,2129,2404,3978
$GC,6320,-1.47,-121.7,689.9,-10.5,716,6324,0.17,2.10,0.00,0.000,4,0.074,0.048,2056,3755,3975
$GC,6376,-1.20,-121.7,697.3,-13.7,718,6383,0.38,1.92,0.00,0.000,6,0.169,0.024,2159,2413,3974
$GC,6693,-1.51,-121.7,724.6,-7.2,734,6697,0.25,1.88,0.00,0.000,4,0.064,0.025,2057,1110,3972
$GC,6784,-1.36,-121.7,732.9,-9.5,738,6789,0.20,1.90,0.00,0.000,6,0.171,0.033,2108,2370,3971
$GC,7120,-1.48,-121.7,758.4,-8.3,754,7121,0.12,0.00,0.00,0.000,6,0.083,0.000,2061,2371,3969
$GC,7428,-1.32,-121.7,795.6,-12.8,769,7433,0.17,2.17,0.00,0.000,4,0.180,0.047,2110,3764,3967
$GC,7455,-1.22,-121.7,799.4,-13.1,770,7459,0.15,2.03,0.00,0.000,6,0.168,0.023,2147,2354,3967
$GC,7780,-1.48,-121.7,831.0,-9.9,786,7785,0.20,1.80,0.00,0.000,4,0.068,0.026,2064,1109,3965
$GC,7820,-1.36,-121.7,836.2,-12.8,787,7826,0.20,1.83,0.00,0.000,6,0.167,0.034,2111,2320,3964
$GC,8136,-1.50,-121.7,869.5,-9.6,803,8141,0.15,2.25,0.00,0.000,4,0.081,0.049,2054,3761,3963
$GC,8227,-1.22,-121.7,881.3,-14.7,807,8231,0.35,2.08,0.00,0.000,6,0.173,0.025,2149,2329,3962
$GC,8550,-1.48,-121.7,908.4,-8.0,823,8555,0.20,2.25,0.00,0.000,4,0.071,0.048,2057,3750,3961
$GC,8741,-1.22,-121.7,936.4,-15.0,831,8746,0.32,2.03,0.00,0.000,6,0.173,0.026,2144,2358,3960
$GC,9058,-1.49,-121.7,967.8,-9.4,846,9063,0.20,2.22,0.00,0.000,4,0.072,0.050,2057,3757,3957
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9137,-0.22,0.0,977.4,13.5,849,9231,1.42,0.00,90.00,1.390,6,0.181,0.000,2459,2403,3532
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9234,1.25,121.7,984.1,0.0,854,9347,1.40,2.33,103.50,1.352,4,0.067,0.048,2947,3754,3034
$GC,9511,0.58,156.5,976.1,10.5,867,9546,0.88,2.00,29.40,1.304,6,0.216,0.023,2733,2404,2894
$GC,9865,0.80,225.1,948.9,8.1,884,9930,0.17,2.25,57.72,1.328,4,0.079,0.049,2806,3760,2612
$GC,9983,0.64,230.5,935.4,12.7,889,9994,0.25,2.05,5.55,0.976,6,0.186,0.026,2751,2406,2592
$GC,10308,0.88,298.9,907.1,8.1,904,10373,0.20,2.20,57.95,1.312,4,0.079,0.034,2832,1012,2311
$GC,10398,0.88,305.1,895.8,12.6,908,10409,0.00,2.22,6.38,1.013,6,0.000,0.033,2832,2420,2287
$GC,10726,0.91,326.7,857.7,11.5,924,10750,0.00,2.25,18.60,1.238,4,0.000,0.031,2832,1007,2199
$GC,10790,0.99,326.7,849.5,13.4,926,10796,0.00,2.17,0.00,0.000,6,0.000,0.034,2832,2407,2197
$GC,11107,0.99,333.7,810.1,12.5,942,11121,0.00,2.20,7.20,1.068,4,0.000,0.051,2831,3758,2170
$GC,11196,0.93,333.7,797.0,14.8,946,11200,0.00,2.00,0.00,0.000,6,0.000,0.026,2832,2418,2170
$GC,11530,0.98,333.7,754.4,13.7,962,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2416,2167
$GC,11839,1.04,333.7,713.5,14.8,977,11843,0.12,2.10,0.00,0.000,4,0.086,0.031,2885,1006,2167
$GC,11865,1.04,333.7,709.3,14.4,978,11870,0.00,2.17,0.00,0.000,6,0.000,0.034,2885,2430,2166
$GC,12187,0.94,333.7,660.7,15.1,994,12192,0.15,2.08,0.00,0.000,4,0.189,0.050,2848,3756,2166
$GC,12259,0.88,333.7,649.8,14.0,997,12263,0.00,1.98,0.00,0.000,6,0.000,0.026,2855,2412,2165
$GC,12587,0.93,376.5,613.1,10.0,1013,12630,0.00,2.15,36.33,1.157,4,0.000,0.032,2863,1010,1996
$GC,12700,1.06,424.9,601.9,9.6,1018,12747,0.00,2.20,42.05,1.126,6,0.000,0.032,2863,2426,1799
$GC,13071,1.16,424.9,554.9,13.7,1036,13076,0.15,2.17,0.00,0.000,4,0.084,0.031,2924,1001,1790
$GC,13112,1.10,424.9,548.4,15.9,1038,13116,0.00,2.17,0.00,0.000,6,0.000,0.035,2925,2413,1790
$GC,13435,1.03,424.9,496.0,15.3,1054,13439,0.17,2.12,0.00,0.000,4,0.178,0.030,2882,1009,1788
$GC,13480,1.12,424.9,489.5,13.4,1057,13486,0.00,2.10,0.00,0.000,6,0.000,0.031,2883,2394,1788
$GC,13808,1.27,436.8,447.7,12.2,1088,13825,0.20,2.20,9.52,0.940,4,0.073,0.050,2966,3757,1750
$GC,13871,1.01,436.8,437.2,16.2,1093,13878,0.38,2.03,0.00,0.000,6,0.185,0.025,2875,2392,1749
$GC,14196,1.29,437.9,397.7,13.0,1124,14201,0.20,2.08,0.00,0.000,4,0.074,0.031,2964,1001,1748
$GC,14282,1.19,437.9,384.4,15.3,1131,14287,0.15,2.10,0.00,0.000,6,0.195,0.032,2928,2388,1748
$GC,14608,1.19,437.9,335.9,15.6,1161,14611,0.00,2.08,0.00,0.000,4,0.000,0.030,2937,998,1748
$GC,14715,1.19,437.9,319.8,14.3,1170,14721,0.00,2.03,0.00,0.000,6,0.000,0.031,2937,2341,1747
$GC,15051,1.23,469.8,274.2,10.7,1219,15087,0.00,2.05,28.62,0.871,4,0.000,0.030,2943,994,1614
$GC,15144,1.24,476.6,262.6,12.6,1235,15158,0.00,2.03,6.80,0.727,6,0.000,0.030,2943,2323,1587
$GC,15497,1.45,476.6,215.6,13.4,1297,15504,0.17,2.22,0.00,0.000,4,0.071,0.046,3017,3749,1584
$GC,15539,1.20,476.6,208.6,17.1,1304,15547,0.35,2.10,0.00,0.000,6,0.189,0.022,2936,2314,1584
$GC,15887,1.51,517.0,162.6,10.1,1365,15928,0.22,2.28,34.45,0.767,4,0.066,0.044,3029,3752,1422
$GC,15981,1.34,517.0,149.2,16.3,1381,15988,0.22,2.05,0.00,0.000,6,0.184,0.022,2981,2359,1420
$GC,16327,1.52,517.0,103.9,13.1,1442,16333,0.15,2.00,0.00,0.000,4,0.080,0.028,3045,997,1419
$GC,16379,1.43,517.0,97.0,13.2,1451,16386,0.15,2.05,0.00,0.000,6,0.180,0.030,3009,2368,1418
$GC,16725,1.54,517.0,56.3,13.3,1512,16732,0.00,2.03,0.00,0.000,4,0.000,0.028,3016,995,1417
$GC,16911,1.67,544.3,33.0,11.1,1544,16942,0.17,1.98,22.48,0.627,6,0.072,0.028,3087,2332,1312
$STATE,17125,end climb,SURFACE_DEPTH_REACHED
$STATE,17125,begin surface coast
$FINISH,1.8,1.008424
$STATE,17150,end surface coast,CONTROL_FINISHED_OK
$STATE,17150,begin surface
$SM_CCo,17171,173.23,0.604,0,0,388,770.98
$SM_GC,2.45,0.00,0.00,173.23,0.000,0.000,0.604,141,2498,388,-7.51,0.42,770.98
$IRIDIUM_FIX,2439.44,12418.28,231098,141401
$TT8_MAMPS,0.029146
$HUMID,1614
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.2,71.379
$10V_AH,10.7,38.845
$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,31.375,155.700,556.550,173.225,0.000,140.118,375.792,0.000,8.000,0.000,0.000,32.528,2856.460,10743.342,846.168,2844.322,982.846,0.000,2312.513,0.000,2760.338,0.000,54.446,0.000
$DEVICE_MAMPS,229.333,52.923,1389.804,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.580,1093.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85336,1586
$CAP_FILE_SIZE,187231,0
$CFSIZE,260165632,192602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 53.3,1
$GPS,290709,193855,2447.856,12423.528,37,1.4,38,-3.7