version: 66.04
glider: 167
mission: 2
dive: 423
start: 7 30 109 5 42 42
data:
$ID,167
$MISSION,2
$DIVE,423
$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,-14053.661
$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,83
$R_STBD_OVSHOOT,49
$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
$GPS1,053237,2448.335,12421.336,40,1.4,41,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-62.4
$GPS2,054220,2448.455,12421.266,14,1.5,14,-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,255.5,62569,-24.8,-13.043
$D_GRID,1047
$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,-121.7,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,2,0.000,0.000,139,2494,2194
$GC,92,-1.25,-121.7,3.1,-1.6,12,173,8.25,2.10,-62.95,0.000,4,0.235,0.038,2136,1092,3989
$GC,275,-0.96,-121.7,25.9,-17.3,43,282,0.38,2.08,0.00,0.000,6,0.163,0.028,2232,2488,3989
$GC,621,-1.12,-121.7,69.9,-12.0,104,628,0.15,1.92,0.00,0.000,4,0.071,0.043,2166,3756,3990
$GC,686,-0.91,-121.7,79.8,-15.5,115,693,0.30,1.83,0.00,0.000,6,0.157,0.021,2249,2447,3990
$GC,1031,-1.28,-121.7,110.4,-11.4,176,1039,0.30,2.03,0.00,0.000,4,0.054,0.044,2113,3763,3990
$GC,1058,-1.28,-121.7,114.4,-15.7,180,1065,0.00,1.77,0.00,0.000,6,0.000,0.021,2113,2470,3991
$GC,1407,-1.07,-121.7,164.3,-10.9,241,1413,0.28,1.98,0.00,0.000,4,0.161,0.041,2191,3759,3991
$GC,1532,-1.07,-121.7,177.0,-10.8,263,1538,0.00,1.70,0.00,0.000,6,0.000,0.023,2191,2532,3991
$GC,1877,-1.32,-121.7,216.6,-10.0,324,1885,0.17,2.03,0.00,0.000,4,0.067,0.023,2109,1105,3991
$GC,1909,-1.23,-121.7,220.5,-13.4,329,1916,0.17,2.10,0.00,0.000,6,0.165,0.029,2147,2532,3991
$GC,2255,-1.23,-121.7,258.1,-11.4,390,2260,0.00,1.83,0.00,0.000,4,0.000,0.042,2140,3753,3991
$GC,2381,-1.12,-121.7,273.6,-13.0,412,2389,0.15,1.70,0.00,0.000,6,0.163,0.022,2178,2525,3991
$GC,2729,-1.34,-121.7,307.9,-8.7,466,2733,0.20,2.03,0.00,0.000,4,0.061,0.023,2090,1119,3991
$GC,2809,-1.15,-121.7,317.1,-11.4,473,2814,0.32,2.10,0.00,0.000,6,0.159,0.029,2175,2518,3991
$GC,3140,-1.43,-121.7,349.7,-9.4,504,3145,0.22,2.05,0.00,0.000,4,0.064,0.023,2077,1097,3991
$GC,3175,-1.26,-121.7,353.6,-11.7,507,3179,0.22,2.08,0.00,0.000,6,0.164,0.030,2131,2500,3991
$GC,3501,-1.39,-121.7,387.0,-10.8,537,3504,0.00,1.90,0.00,0.000,4,0.000,0.044,2126,3757,3990
$GC,3540,-1.34,-121.7,391.8,-11.6,540,3548,0.00,1.77,0.00,0.000,6,0.000,0.023,2127,2491,3990
$GC,3866,-1.45,-121.7,424.6,-8.5,571,3871,0.12,1.98,0.00,0.000,4,0.079,0.024,2072,1104,3989
$GC,3998,-1.24,-121.7,438.2,-11.0,582,4005,0.28,2.03,0.00,0.000,6,0.165,0.031,2141,2469,3988
$GC,4324,-1.41,-121.7,468.8,-10.2,613,4326,0.15,0.00,0.00,0.000,6,0.075,0.000,2080,2471,3987
$GC,4642,-1.31,-121.7,503.1,-9.9,642,4646,0.15,2.00,0.00,0.000,4,0.170,0.025,2118,1102,3985
$GC,4670,-1.31,-121.7,505.8,-9.4,643,4673,0.00,2.05,0.00,0.000,6,0.000,0.031,2113,2470,3985
$GC,4997,-1.38,-121.7,535.8,-9.4,659,5001,0.00,2.00,0.00,0.000,4,0.000,0.025,2113,1089,3982
$GC,5032,-1.38,-121.7,539.3,-10.1,660,5035,0.00,2.03,0.00,0.000,6,0.000,0.031,2111,2448,3982
$GC,5354,-1.48,-121.7,573.3,-10.6,676,5356,0.12,0.00,0.00,0.000,6,0.084,0.000,2060,2449,3979
$GC,5664,-1.31,-121.7,608.4,-10.7,691,5668,0.20,2.03,0.00,0.000,4,0.167,0.045,2110,3765,3976
$GC,5726,-1.20,-121.7,615.4,-11.5,693,5732,0.17,1.90,0.00,0.000,6,0.162,0.024,2157,2438,3976
$GC,6043,-1.48,-121.7,643.1,-8.8,709,6047,0.22,1.95,0.00,0.000,4,0.064,0.025,2061,1095,3974
$GC,6115,-1.32,-121.7,650.7,-11.9,712,6119,0.22,2.03,0.00,0.000,6,0.166,0.032,2118,2432,3973
$GC,6444,-1.45,-121.7,680.5,-8.4,728,6448,0.12,1.95,0.00,0.000,4,0.081,0.025,2069,1100,3971
$GC,6529,-1.31,-121.7,689.1,-10.7,731,6535,0.20,1.95,0.00,0.000,6,0.170,0.034,2120,2395,3970
$GC,6845,-1.48,-121.7,713.1,-7.1,747,6847,0.15,0.00,0.00,0.000,6,0.075,0.000,2062,2397,3968
$GC,7156,-1.42,-121.7,741.1,-9.8,762,7159,0.00,2.12,0.00,0.000,4,0.000,0.048,2057,3766,3966
$GC,7206,-1.15,-121.7,747.5,-12.2,764,7211,0.43,1.95,0.00,0.000,6,0.173,0.024,2174,2410,3965
$GC,7531,-1.52,-121.7,773.9,-8.1,780,7535,0.30,1.90,0.00,0.000,4,0.064,0.025,2053,1109,3964
$GC,7570,-1.33,-121.7,778.3,-11.1,781,7577,0.25,1.98,0.00,0.000,6,0.175,0.034,2114,2412,3963
$GC,7887,-1.44,-121.7,806.3,-8.5,797,7891,0.00,1.92,0.00,0.000,4,0.000,0.027,2114,1094,3962
$GC,7927,-1.44,-121.7,810.0,-9.2,798,7933,0.00,1.95,0.00,0.000,6,0.000,0.035,2112,2385,3961
$GC,8243,-1.44,-121.7,839.5,-9.7,814,8247,0.00,2.15,0.00,0.000,4,0.000,0.051,2111,3764,3959
$GC,8484,-1.38,-121.7,865.3,-10.7,824,8492,0.00,1.98,0.00,0.000,6,0.000,0.026,2111,2402,3957
$GC,8801,-1.38,-121.7,897.8,-10.1,840,8804,0.00,2.15,0.00,0.000,4,0.000,0.051,2110,3763,3955
$GC,8903,-1.32,-121.7,909.6,-12.3,844,8907,0.00,1.95,0.00,0.000,6,0.000,0.025,2111,2415,3955
$STATE,9139,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9139,begin apogee
$GC,9145,-0.22,0.0,934.8,10.6,856,9242,1.23,0.00,88.55,1.362,6,0.161,0.000,2468,2413,3531
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9243,begin climb
$GC,9246,1.25,121.7,940.9,0.0,861,9358,1.33,2.22,102.88,1.322,4,0.063,0.028,2954,1023,3034
$GC,9425,0.81,200.0,942.8,7.4,869,9497,0.57,2.15,65.12,1.300,6,0.209,0.035,2810,2399,2716
$GC,9808,0.79,246.4,908.6,9.7,887,9852,0.00,2.28,38.78,1.281,4,0.000,0.051,2809,3759,2526
$GC,9921,0.66,246.4,894.6,13.2,892,9926,0.22,2.00,0.00,0.000,6,0.186,0.024,2759,2433,2523
$GC,10251,0.89,297.3,862.5,9.4,908,10300,0.20,2.22,43.33,1.277,4,0.077,0.031,2845,1005,2319
$GC,10329,0.89,297.3,852.1,13.3,911,10335,0.00,2.22,0.00,0.000,6,0.000,0.033,2845,2423,2316
$GC,10646,0.84,297.3,810.2,13.3,927,10650,0.00,2.17,0.00,0.000,4,0.000,0.031,2847,991,2312
$GC,10692,0.84,297.3,803.7,14.5,929,10697,0.12,2.20,0.00,0.000,6,0.186,0.034,2819,2423,2311
$GC,11020,0.84,301.1,762.6,12.8,945,11023,0.00,2.10,0.00,0.000,4,0.000,0.051,2818,3765,2309
$GC,11105,0.78,301.1,750.9,13.3,948,11112,0.00,1.95,0.00,0.000,6,0.000,0.025,2825,2435,2309
$GC,11421,0.80,313.4,713.0,12.2,964,11443,0.00,2.17,13.02,1.152,4,0.000,0.033,2825,1017,2253
$GC,11483,0.89,315.9,704.9,12.9,966,11489,0.00,2.20,0.00,0.000,6,0.000,0.035,2825,2442,2252
$GC,11801,0.95,331.9,666.6,11.9,982,11823,0.00,2.15,16.67,1.151,4,0.000,0.051,2825,3764,2179
$GC,11886,0.95,331.9,654.2,14.4,985,11892,0.00,1.95,0.00,0.000,6,0.000,0.025,2825,2459,2176
$GC,12204,1.08,355.0,616.6,11.4,1001,12230,0.20,2.20,20.50,1.132,4,0.075,0.031,2914,1012,2084
$GC,12312,0.95,355.0,601.5,14.8,1006,12317,0.25,2.22,0.00,0.000,6,0.183,0.034,2850,2447,2081
$GC,12642,1.04,371.7,562.9,11.8,1022,12659,0.00,0.00,14.85,1.071,6,0.000,0.000,2849,2447,2016
$GC,12968,1.12,371.7,519.8,13.3,1038,12970,0.17,0.00,0.00,0.000,6,0.072,0.000,2916,2447,2012
$GC,13284,1.01,371.7,473.7,13.4,1061,13288,0.17,2.17,0.00,0.000,4,0.186,0.030,2875,1007,2011
$GC,13391,1.10,384.6,459.8,12.1,1070,13407,0.00,2.20,11.40,0.979,6,0.000,0.033,2875,2447,1964
$GC,13727,1.13,411.1,418.0,11.1,1101,13760,0.00,2.25,23.75,0.992,4,0.000,0.031,2882,1009,1854
$GC,13777,1.31,430.1,412.2,11.7,1105,13800,0.25,2.20,17.17,0.949,6,0.070,0.032,2975,2434,1778
$GC,14119,1.14,430.1,354.1,16.8,1137,14123,0.22,2.17,0.00,0.000,4,0.193,0.028,2924,995,1770
$GC,14185,1.14,430.1,344.0,14.6,1142,14191,0.00,2.15,0.00,0.000,6,0.000,0.032,2924,2407,1770
$GC,14514,1.14,430.1,300.8,13.7,1173,14518,0.00,2.10,0.00,0.000,4,0.000,0.030,2933,999,1769
$GC,14593,1.14,430.1,289.1,14.1,1186,14599,0.00,2.08,0.00,0.000,6,0.000,0.032,2932,2365,1769
$GC,14938,1.14,432.4,241.8,12.9,1247,14944,0.00,2.15,0.00,0.000,4,0.000,0.048,2933,3755,1768
$GC,14962,1.08,432.4,238.6,13.7,1251,14969,0.17,2.08,0.00,0.000,6,0.187,0.024,2898,2334,1768
$GC,15308,1.39,462.6,201.2,10.9,1312,15341,0.22,2.05,26.95,0.805,4,0.069,0.030,3000,998,1644
$GC,15477,1.27,462.6,178.4,14.9,1341,15484,0.20,2.12,0.00,0.000,6,0.182,0.031,2951,2400,1640
$GC,15825,1.43,505.9,138.3,9.9,1402,15867,0.15,0.00,35.25,0.742,6,0.073,0.000,3009,2401,1468
$GC,16208,1.44,517.7,87.2,12.2,1469,16225,0.00,2.12,10.48,0.645,4,0.000,0.048,3009,3753,1420
$GC,16328,1.38,517.7,70.4,14.4,1490,16335,0.00,2.00,0.00,0.000,6,0.000,0.022,3019,2380,1419
$GC,16674,1.43,517.7,28.4,13.8,1551,16680,0.00,2.03,0.00,0.000,4,0.000,0.028,3029,992,1419
$GC,16857,1.53,544.8,6.8,11.1,1583,16887,0.00,2.03,22.98,0.604,6,0.000,0.028,3029,2355,1309
$STATE,16891,end climb,SURFACE_DEPTH_REACHED
$STATE,16891,begin surface coast
$FINISH,1.7,1.021143
$STATE,16920,end surface coast,CONTROL_FINISHED_OK
$STATE,16920,begin surface
$SM_CCo,17000,0.00,0.000,0,0,1305,546.28
$SM_GC,2.67,7.82,0.00,0.00,0.057,0.000,0.000,143,2502,1305,-7.49,0.54,546.28
$IRIDIUM_FIX,2439.44,12332.19,241098,000052
$TT8_MAMPS,0.028379
$HUMID,1705
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,23.4,72.027
$10V_AH,10.7,39.149
$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,27.750,147.400,551.675,0.000,0.000,30.391,33.447,357.886,8.500,0.000,0.000,14.764,2812.682,10384.563,709.281,2799.874,862.279,0.000,2158.315,0.000,2726.915,0.000,53.146,0.000
$DEVICE_MAMPS,235.469,58.292,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.691,1109.084,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85352,1594
$CAP_FILE_SIZE,185633,0
$CFSIZE,260165632,192364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,142.3,1
$GPS,300709,102706,2447.544,12420.132,27,1.0,28,-3.7