version: 66.04
glider: 167
mission: 2
dive: 428
start: 7 31 109 3 23 25
data:
$ID,167
$MISSION,2
$DIVE,428
$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,-14144.747
$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,79
$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
$GPS1,031636,2446.986,12417.728,37,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-68.7
$GPS2,032302,2447.005,12417.692,12,1.2,12,-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,272.8,56127,-24.8,-13.043
$D_GRID,999
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-34.17,0.000,2,0.000,0.000,142,2495,2311
$GC,55,-1.34,-121.7,3.2,-2.4,6,122,8.00,1.92,-52.83,0.000,4,0.232,0.054,2097,3752,3988
$GC,130,-0.69,-121.7,9.3,-16.8,18,137,0.80,1.83,0.00,0.000,6,0.174,0.021,2320,2459,3989
$GC,477,-1.29,-121.7,45.7,-9.5,79,485,0.47,2.00,0.00,0.000,4,0.045,0.041,2113,3757,3990
$GC,671,-0.94,-121.7,80.1,-17.7,113,677,0.45,1.77,0.00,0.000,6,0.160,0.021,2241,2482,3991
$GC,1017,-1.29,-121.7,113.5,-9.9,174,1023,0.28,1.95,0.00,0.000,4,0.052,0.021,2120,1100,3992
$GC,1077,-1.09,-121.7,121.5,-14.7,184,1084,0.28,1.98,0.00,0.000,6,0.156,0.025,2187,2458,3992
$GC,1424,-1.32,-121.7,161.9,-11.6,245,1431,0.17,1.95,0.00,0.000,4,0.061,0.040,2099,3760,3994
$GC,1493,-0.99,-121.7,172.1,-16.6,257,1500,0.43,1.83,0.00,0.000,6,0.162,0.021,2220,2443,3994
$GC,1839,-1.36,-121.7,205.4,-9.5,318,1845,0.28,0.00,0.00,0.000,6,0.054,0.000,2097,2442,3995
$GC,2184,-1.21,-121.7,248.2,-13.7,379,2191,0.17,2.00,0.00,0.000,4,0.161,0.038,2141,3760,3996
$GC,2255,-1.11,-121.7,257.8,-13.0,391,2262,0.17,1.83,0.00,0.000,6,0.156,0.021,2187,2443,3996
$GC,2603,-1.40,-121.7,291.3,-9.0,452,2610,0.22,1.90,0.00,0.000,4,0.058,0.021,2088,1093,3996
$GC,2641,-1.24,-121.7,295.3,-11.8,458,2648,0.22,2.00,0.00,0.000,6,0.160,0.028,2145,2454,3995
$GC,2970,-1.40,-121.7,331.2,-11.0,492,2972,0.15,0.00,0.00,0.000,6,0.070,0.000,2081,2454,3996
$GC,3291,-1.24,-121.7,369.4,-12.1,522,3297,0.20,0.00,0.00,0.000,6,0.160,0.000,2140,2455,3996
$GC,3617,-1.37,-121.7,403.4,-9.7,553,3619,0.12,0.00,0.00,0.000,6,0.077,0.000,2088,2456,3995
$GC,3936,-1.37,-121.7,436.0,-10.5,583,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2456,3995
$GC,4255,-1.37,-121.7,470.0,-10.2,613,4259,0.00,1.98,0.00,0.000,4,0.000,0.044,2085,3757,3994
$GC,4279,-1.30,-121.7,472.8,-11.2,615,4283,0.15,1.85,0.00,0.000,6,0.166,0.022,2122,2447,3994
$GC,4610,-1.43,-121.7,504.8,-10.0,644,4614,0.12,1.92,0.00,0.000,4,0.075,0.024,2070,1098,3992
$GC,4660,-1.24,-121.7,511.0,-12.1,646,4665,0.30,1.98,0.00,0.000,6,0.160,0.029,2147,2438,3992
$GC,4985,-1.47,-121.7,540.7,-8.5,662,4987,0.22,0.00,0.00,0.000,6,0.062,0.000,2057,2441,3991
$GC,5291,-1.40,-121.7,570.5,-10.2,677,5295,0.15,1.95,0.00,0.000,4,0.173,0.025,2095,1098,3990
$GC,5369,-1.34,-121.7,578.7,-10.7,680,5373,0.00,1.98,0.00,0.000,6,0.000,0.030,2095,2427,3989
$GC,5693,-1.41,-121.7,612.7,-10.7,696,5697,0.00,1.92,0.00,0.000,4,0.000,0.025,2095,1096,3986
$GC,5744,-1.36,-121.7,618.8,-11.6,698,5747,0.00,1.95,0.00,0.000,6,0.000,0.031,2095,2406,3986
$GC,6074,-1.42,-121.7,653.9,-10.4,714,6078,0.00,1.90,0.00,0.000,4,0.000,0.025,2095,1096,3984
$GC,6125,-1.42,-121.7,659.6,-10.9,716,6128,0.00,1.92,0.00,0.000,6,0.000,0.031,2095,2384,3984
$GC,6453,-1.49,-121.7,692.1,-10.2,732,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2384,3981
$GC,6763,-1.56,-121.7,723.4,-9.7,747,6767,0.15,2.10,0.00,0.000,4,0.077,0.045,2030,3746,3980
$GC,6830,-1.21,-121.7,732.5,-14.2,750,6834,0.45,1.98,0.00,0.000,6,0.173,0.023,2154,2362,3979
$GC,7160,-1.48,-121.7,764.0,-9.2,766,7164,0.22,1.83,0.00,0.000,4,0.066,0.025,2060,1094,3976
$GC,7230,-1.34,-121.7,772.1,-12.0,769,7234,0.20,1.88,0.00,0.000,6,0.168,0.032,2110,2338,3975
$GC,7566,-1.48,-121.7,802.7,-9.2,785,7571,0.12,2.20,0.00,0.000,4,0.083,0.047,2057,3755,3973
$GC,7606,-1.23,-121.7,807.6,-12.8,787,7611,0.32,2.05,0.00,0.000,6,0.171,0.023,2145,2333,3973
$GC,7936,-1.52,-121.7,839.1,-9.6,803,7938,0.25,0.00,0.00,0.000,6,0.067,0.000,2051,2332,3971
$GC,8243,-1.34,-121.7,876.5,-12.2,818,8248,0.17,2.25,0.00,0.000,4,0.179,0.047,2097,3754,3969
$GC,8323,-1.24,-121.7,885.9,-11.9,821,8329,0.17,2.03,0.00,0.000,6,0.170,0.025,2143,2355,3968
$GC,8639,-1.51,-121.7,915.9,-9.5,837,8644,0.20,1.83,0.00,0.000,4,0.071,0.027,2059,1100,3967
$GC,8658,-1.63,-121.7,917.8,-10.1,837,8665,0.10,1.88,0.00,0.000,6,0.098,0.034,2021,2340,3967
$GC,8975,-1.35,-121.7,962.1,-14.3,853,8980,0.28,2.22,0.00,0.000,4,0.187,0.049,2097,3755,3966
$GC,9107,-1.24,-121.7,979.3,-12.4,859,9112,0.17,2.05,0.00,0.000,6,0.171,0.025,2142,2354,3965
$STATE,9142,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9142,begin apogee
$GC,9150,-0.24,0.0,984.0,11.6,861,9253,1.05,0.00,94.28,1.376,6,0.149,0.000,2460,2354,3532
$STATE,9253,end apogee,CONTROL_FINISHED_OK
$STATE,9254,begin climb
$GC,9256,1.34,121.7,992.2,0.0,866,9375,1.48,2.40,103.75,1.360,4,0.065,0.048,2976,3751,3033
$GC,9412,0.68,223.0,999.0,5.8,873,9508,0.88,2.03,85.35,1.342,6,0.220,0.021,2770,2396,2621
$GC,9817,0.83,281.6,967.7,8.8,893,9873,0.12,2.28,48.65,1.325,4,0.091,0.049,2815,3747,2383
$GC,9939,0.71,281.6,952.8,14.8,898,9943,0.20,1.98,0.00,0.000,6,0.184,0.023,2776,2418,2380
$GC,10260,0.86,301.8,915.0,11.6,914,10283,0.15,2.20,17.75,1.264,4,0.082,0.048,2831,3745,2300
$GC,10295,0.86,301.8,910.2,14.5,915,10299,0.00,1.98,0.00,0.000,6,0.000,0.023,2838,2409,2299
$GC,10616,0.86,302.9,867.8,13.0,931,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2407,2296
$GC,10925,0.86,302.9,826.7,13.7,946,10929,0.00,2.08,0.00,0.000,4,0.000,0.031,2848,1007,2294
$GC,10959,0.86,302.9,822.0,13.2,947,10963,0.00,2.15,0.00,0.000,6,0.000,0.032,2847,2423,2294
$GC,11281,0.86,302.9,777.0,13.9,963,11284,0.00,2.12,0.00,0.000,4,0.000,0.031,2857,1008,2294
$GC,11309,0.82,302.9,773.1,13.6,964,11313,0.17,2.15,0.00,0.000,6,0.185,0.033,2813,2422,2294
$GC,11632,0.93,337.4,736.9,10.6,980,11666,0.00,2.15,29.90,1.233,4,0.000,0.051,2813,3760,2156
$GC,11697,0.98,347.9,728.9,12.3,983,11713,0.12,2.00,10.45,1.107,6,0.089,0.025,2867,2419,2113
$GC,12026,0.99,352.5,688.9,12.7,998,12036,0.00,2.12,5.03,0.905,4,0.000,0.032,2868,1010,2094
$GC,12162,0.99,352.8,670.5,13.0,1004,12166,0.00,2.15,0.00,0.000,6,0.000,0.031,2868,2419,2093
$GC,12491,0.99,352.8,624.2,13.4,1020,12494,0.00,2.10,0.00,0.000,4,0.000,0.050,2869,3764,2092
$GC,12575,0.88,352.8,611.8,13.6,1023,12583,0.17,1.98,0.00,0.000,6,0.189,0.025,2832,2417,2091
$GC,12891,1.05,389.8,577.9,10.4,1039,12930,0.15,0.00,32.45,1.128,6,0.079,0.000,2889,2414,1940
$GC,13242,1.06,398.1,535.3,12.5,1056,13256,0.00,2.15,7.82,0.958,4,0.000,0.031,2898,1015,1908
$GC,13346,1.08,413.7,522.1,11.9,1060,13366,0.00,2.17,15.00,1.035,6,0.000,0.033,2898,2430,1845
$GC,13688,1.08,413.7,475.5,13.4,1085,13691,0.00,2.15,0.00,0.000,4,0.000,0.031,2907,1010,1840
$GC,13744,1.08,413.7,467.8,13.2,1090,13748,0.00,2.15,0.00,0.000,6,0.000,0.031,2907,2421,1840
$GC,14075,1.08,413.7,424.4,13.3,1121,14079,0.00,2.12,0.00,0.000,4,0.000,0.030,2908,1005,1838
$GC,14114,1.08,413.7,419.1,13.3,1124,14120,0.00,2.12,0.00,0.000,6,0.000,0.031,2908,2411,1838
$GC,14442,1.09,424.5,377.8,12.3,1155,14458,0.00,2.17,9.52,0.891,4,0.000,0.031,2908,1011,1800
$GC,14556,1.18,430.8,363.5,12.6,1165,14568,0.00,2.08,7.15,0.825,6,0.000,0.031,2908,2387,1775
$GC,14887,1.35,448.2,322.9,11.8,1196,14910,0.17,2.15,16.30,0.889,4,0.071,0.048,2982,3750,1703
$GC,15018,1.11,448.2,302.0,15.9,1207,15026,0.35,1.95,0.00,0.000,6,0.184,0.025,2900,2417,1701
$GC,15363,1.41,489.7,263.9,10.1,1267,15405,0.25,2.15,34.65,0.857,4,0.065,0.047,3002,3751,1534
$GC,15464,1.19,489.7,248.4,17.0,1284,15471,0.32,1.88,0.00,0.000,6,0.186,0.024,2928,2471,1531
$GC,15810,1.47,489.7,202.4,13.6,1345,15817,0.22,2.03,0.00,0.000,4,0.065,0.047,3020,3753,1528
$GC,15897,1.23,489.7,187.4,17.2,1360,15904,0.32,1.95,0.00,0.000,6,0.180,0.022,2944,2396,1529
$GC,16245,1.49,513.5,145.6,11.3,1421,16271,0.20,2.10,20.27,0.736,4,0.071,0.028,3034,1014,1438
$GC,16464,1.41,513.5,113.3,13.8,1459,16472,0.15,2.03,0.00,0.000,6,0.177,0.030,2998,2360,1434
$GC,16811,1.51,546.7,71.1,10.7,1520,16845,0.00,2.03,27.65,0.676,4,0.000,0.028,3005,1013,1301
$GC,16940,1.68,572.6,56.9,11.2,1542,16970,0.22,1.98,22.48,0.649,6,0.064,0.028,3091,2332,1196
$GC,17313,1.62,572.6,3.4,13.5,1607,17320,0.00,1.95,0.00,0.000,4,0.000,0.027,3091,1013,1191
$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,1.7,1.000342
$STATE,17353,end surface coast,CONTROL_FINISHED_OK
$STATE,17353,begin surface
$SM_CCo,17434,0.00,0.000,0,0,1190,574.49
$SM_GC,2.68,7.93,0.00,0.00,0.054,0.000,0.000,143,2491,1190,-7.49,0.23,574.49
$IRIDIUM_FIX,2437.06,12416.95,241098,232302
$TT8_MAMPS,0.028379
$HUMID,1718
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.8,73.036
$10V_AH,10.7,39.612
$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,30.850,142.000,588.450,0.000,0.000,29.577,31.905,175.883,8.250,0.000,0.000,12.694,2870.652,10761.786,705.348,2786.640,686.745,0.000,2143.113,0.000,2721.065,0.000,54.431,0.000
$DEVICE_MAMPS,231.634,53.690,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.132,1117.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88401,1614
$CAP_FILE_SIZE,183411,0
$CFSIZE,260165632,191942656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,116.5,1
$GPS,310709,081506,2446.869,12416.863,30,1.2,31,-3.7