version: 66.04
glider: 167
mission: 2
dive: 453
start: 8 4 109 3 28 24
data:
$ID,167
$MISSION,2
$DIVE,453
$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,-14680.169
$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,18.5
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,031731,2441.671,12403.255,40,0.9,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-67.6
$GPS2,032802,2441.680,12403.228,15,1.0,15,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2441.100,12400.200
$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,263.5,5207,-24.8,-13.043
$D_GRID,1284
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.49,-121.7,0.0,0.0,0,61,0.00,0.00,-44.00,0.000,2,0.000,0.000,141,2472,2199
$GC,66,-1.49,-121.7,3.0,-1.7,7,141,8.00,2.05,-59.70,0.000,4,0.236,0.035,2062,1054,3987
$GC,153,-0.87,-121.7,10.4,-20.1,21,161,0.75,2.15,0.00,0.000,6,0.173,0.027,2261,2496,3988
$GC,501,-1.20,-121.7,51.9,-10.0,82,508,0.25,2.10,0.00,0.000,4,0.059,0.021,2151,1048,3989
$GC,566,-1.03,-121.7,61.5,-16.0,93,573,0.25,2.08,0.00,0.000,6,0.160,0.028,2210,2451,3989
$GC,913,-1.23,-121.7,100.6,-10.4,154,920,0.17,2.03,0.00,0.000,4,0.065,0.021,2130,1044,3990
$GC,950,-1.13,-121.7,105.3,-13.1,160,957,0.20,2.08,0.00,0.000,6,0.165,0.026,2176,2453,3990
$GC,1297,-1.26,-121.7,146.3,-11.9,221,1305,0.12,1.98,0.00,0.000,4,0.076,0.041,2123,3761,3991
$GC,1329,-1.11,-121.7,150.5,-13.2,226,1336,0.22,1.92,0.00,0.000,6,0.166,0.020,2183,2369,3991
$GC,1675,-1.36,-121.7,186.8,-10.0,287,1681,0.20,0.00,0.00,0.000,6,0.061,0.000,2093,2369,3991
$GC,2020,-1.17,-121.7,230.8,-12.2,348,2026,0.22,2.12,0.00,0.000,4,0.160,0.039,2152,3758,3991
$GC,2084,-1.10,-121.7,238.4,-11.8,359,2091,0.15,1.90,0.00,0.000,6,0.160,0.021,2190,2387,3991
$GC,2432,-1.42,-121.7,275.6,-8.8,420,2438,0.25,1.90,0.00,0.000,4,0.058,0.022,2081,1043,3991
$GC,2475,-1.19,-121.7,280.3,-11.5,427,2481,0.30,2.08,0.00,0.000,6,0.159,0.027,2157,2460,3991
$GC,2820,-1.38,-121.7,314.4,-11.6,477,2824,0.17,2.03,0.00,0.000,4,0.067,0.021,2077,1071,3991
$GC,2916,-1.16,-121.7,328.7,-15.6,485,2924,0.35,2.00,0.00,0.000,6,0.161,0.027,2168,2418,3992
$GC,3243,-1.43,-121.7,360.0,-7.1,516,3247,0.22,1.98,0.00,0.000,4,0.064,0.021,2072,1059,3991
$GC,3300,-1.22,-121.7,365.3,-9.9,521,3305,0.28,1.95,0.00,0.000,6,0.160,0.027,2146,2391,3991
$GC,3633,-1.41,-121.7,395.8,-10.3,552,3637,0.17,1.92,0.00,0.000,4,0.068,0.022,2068,1053,3991
$GC,3674,-1.22,-121.7,400.7,-12.6,555,3680,0.32,1.95,0.00,0.000,6,0.159,0.026,2151,2388,3991
$GC,4001,-1.45,-121.7,433.8,-9.9,586,4007,0.20,0.00,0.00,0.000,6,0.067,0.000,2070,2390,3990
$GC,4331,-1.27,-121.7,472.4,-12.4,617,4335,0.20,2.08,0.00,0.000,4,0.168,0.041,2124,3748,3989
$GC,4411,-1.21,-121.7,482.1,-11.5,623,4417,0.12,2.03,0.00,0.000,6,0.164,0.021,2154,2313,3988
$GC,4745,-1.46,-121.7,513.4,-8.7,648,4749,0.20,1.80,0.00,0.000,4,0.065,0.023,2070,1050,3986
$GC,4771,-1.51,-121.7,515.7,-9.5,649,4775,0.00,1.98,0.00,0.000,6,0.000,0.029,2070,2380,3986
$GC,5105,-1.51,-121.7,552.0,-11.0,665,5108,0.00,1.92,0.00,0.000,4,0.000,0.025,2070,1052,3984
$GC,5178,-1.35,-121.7,560.8,-12.3,668,5182,0.15,1.92,0.00,0.000,6,0.167,0.031,2108,2346,3984
$GC,5509,-1.46,-121.7,594.1,-9.7,684,5512,0.00,1.88,0.00,0.000,4,0.000,0.024,2109,1050,3981
$GC,5593,-1.46,-121.7,602.9,-9.9,687,5599,0.00,1.88,0.00,0.000,6,0.000,0.028,2105,2317,3980
$GC,5911,-1.55,-121.7,631.3,-8.8,703,5915,0.17,1.85,0.00,0.000,4,0.071,0.024,2037,1048,3978
$GC,5984,-1.31,-121.7,639.4,-12.2,706,5988,0.32,1.83,0.00,0.000,6,0.173,0.029,2119,2278,3978
$GC,6315,-1.49,-121.7,666.6,-8.2,722,6317,0.15,0.00,0.00,0.000,6,0.073,0.000,2060,2280,3975
$GC,6621,-1.42,-121.7,697.0,-10.0,737,6625,0.00,2.28,0.00,0.000,4,0.000,0.045,2055,3754,3973
$GC,6643,-1.28,-121.7,699.6,-10.6,738,6649,0.28,2.20,0.00,0.000,6,0.164,0.021,2131,2200,3973
$GC,6975,-1.51,-121.7,730.3,-9.6,754,6977,0.20,0.00,0.00,0.000,6,0.072,0.000,2055,2201,3970
$GC,7281,-1.41,-121.7,766.0,-12.2,769,7285,0.12,2.42,0.00,0.000,4,0.173,0.045,2084,3746,3968
$GC,7376,-1.27,-121.7,778.1,-12.9,773,7381,0.17,2.20,0.00,0.000,6,0.166,0.022,2129,2206,3967
$GC,7693,-1.48,-121.7,809.1,-8.4,788,7698,0.17,2.42,0.00,0.000,4,0.076,0.045,2057,3748,3965
$GC,7722,-1.35,-121.7,812.0,-10.6,789,7727,0.20,2.17,0.00,0.000,6,0.170,0.023,2109,2228,3965
$GC,8038,-1.40,-121.7,839.1,-8.5,804,8043,0.00,2.40,0.00,0.000,4,0.000,0.048,2109,3753,3963
$GC,8164,-1.34,-121.7,851.7,-10.3,809,8171,0.00,2.15,0.00,0.000,6,0.000,0.023,2109,2252,3963
$GC,8480,-1.39,-121.7,882.5,-9.8,825,8484,0.00,2.35,0.00,0.000,4,0.000,0.048,2109,3743,3961
$GC,8583,-1.39,-121.7,892.9,-9.9,829,8590,0.00,2.12,0.00,0.000,6,0.000,0.025,2109,2269,3961
$GC,8899,-1.46,-121.7,922.3,-9.0,845,8903,0.00,2.35,0.00,0.000,4,0.000,0.049,2109,3754,3959
$GC,9014,-1.41,-121.7,934.1,-10.7,850,9018,0.00,2.10,0.00,0.000,6,0.000,0.024,2109,2303,3958
$STATE,9132,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9132,begin apogee
$GC,9139,-0.27,0.0,946.9,10.5,856,9240,1.17,0.00,92.30,1.349,6,0.162,0.000,2451,2402,3532
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9244,1.49,121.7,952.7,0.0,861,9355,1.62,2.22,103.65,1.331,4,0.067,0.045,3025,3751,3034
$GC,9398,1.02,272.9,957.2,2.2,868,9531,0.62,2.10,125.80,1.315,6,0.208,0.023,2878,2358,2419
$GC,9851,0.84,272.9,898.9,13.7,890,9856,0.20,2.03,0.00,0.000,4,0.189,0.029,2829,1005,2411
$GC,9981,0.88,308.0,884.6,10.5,896,10016,0.00,2.12,29.67,1.262,6,0.000,0.032,2829,2395,2276
$GC,10337,0.90,327.0,842.7,11.7,913,10360,0.00,2.17,16.33,1.212,4,0.000,0.049,2829,3760,2199
$GC,10439,0.82,327.0,828.7,13.6,917,10443,0.00,2.00,0.00,0.000,6,0.000,0.025,2829,2418,2197
$GC,10761,0.83,332.4,788.5,12.7,933,10771,0.00,2.12,6.12,1.006,4,0.000,0.031,2829,1005,2176
$GC,10795,0.90,332.4,783.8,14.4,934,10802,0.00,2.17,0.00,0.000,6,0.000,0.031,2829,2429,2176
$GC,11112,0.90,332.4,739.2,14.6,950,11115,0.00,2.08,0.00,0.000,4,0.000,0.050,2829,3755,2174
$GC,11204,0.90,332.4,724.7,16.0,954,11208,0.00,1.95,0.00,0.000,6,0.000,0.025,2829,2437,2174
$GC,11538,0.96,332.4,677.7,13.3,970,11541,0.00,2.15,0.00,0.000,4,0.000,0.031,2829,990,2172
$GC,11600,1.08,341.4,669.5,12.4,972,11615,0.17,2.17,9.00,1.077,6,0.078,0.031,2895,2425,2139
$GC,11941,0.96,341.4,622.3,14.0,989,11945,0.15,2.15,0.00,0.000,4,0.186,0.029,2866,996,2136
$GC,11990,0.96,341.6,614.9,13.0,991,11994,0.00,2.15,0.00,0.000,6,0.000,0.033,2866,2407,2136
$GC,12313,0.97,348.8,573.0,12.5,1007,12327,0.00,2.17,7.25,0.982,4,0.000,0.050,2866,3757,2109
$GC,12425,0.85,348.8,557.6,13.6,1012,12429,0.20,1.95,0.00,0.000,6,0.185,0.024,2821,2442,2109
$GC,12759,1.15,397.0,523.5,9.6,1028,12806,0.22,2.22,41.65,1.091,4,0.073,0.031,2923,995,1912
$GC,12924,1.15,397.0,501.0,14.8,1035,12928,0.00,2.38,0.00,0.000,6,0.000,0.033,2923,2522,1906
$GC,13252,1.07,397.0,457.0,14.0,1064,13257,0.12,2.33,0.00,0.000,4,0.177,0.030,2895,996,1904
$GC,13286,1.08,404.9,452.0,12.5,1067,13298,0.00,2.30,6.82,0.877,6,0.000,0.031,2895,2496,1881
$GC,13618,1.26,423.8,411.4,11.7,1098,13641,0.15,2.35,17.17,0.971,4,0.084,0.029,2966,996,1803
$GC,13721,1.15,423.8,396.6,13.9,1107,13726,0.20,2.22,0.00,0.000,6,0.186,0.034,2916,2438,1801
$GC,14046,1.15,423.8,348.9,13.4,1137,14050,0.00,2.05,0.00,0.000,4,0.000,0.048,2917,3757,1798
$GC,14074,1.09,423.8,344.9,14.1,1139,14081,0.12,1.98,0.00,0.000,6,0.188,0.025,2894,2399,1798
$GC,14400,1.32,439.2,306.2,11.9,1170,14423,0.17,2.20,13.95,0.871,4,0.078,0.048,2971,3757,1740
$GC,14497,1.11,439.2,291.4,15.3,1183,14504,0.30,1.88,0.00,0.000,6,0.184,0.024,2902,2470,1739
$GC,14843,1.41,481.0,251.7,10.0,1244,14886,0.25,2.20,35.33,0.852,4,0.067,0.029,3014,1019,1570
$GC,14977,1.28,481.0,232.9,15.1,1266,14984,0.22,2.17,0.00,0.000,6,0.177,0.031,2958,2440,1565
$GC,15325,1.47,486.5,187.0,12.6,1327,15338,0.17,2.15,5.35,0.628,4,0.070,0.027,3036,1012,1547
$GC,15460,1.30,486.5,166.8,14.7,1350,15467,0.28,2.28,0.00,0.000,6,0.176,0.030,2965,2514,1546
$GC,15806,1.37,491.2,121.0,12.7,1411,15818,0.00,1.92,5.68,0.598,4,0.000,0.045,2965,3762,1528
$GC,15916,1.38,503.1,107.2,12.2,1430,15934,0.00,1.88,11.50,0.679,6,0.000,0.022,2968,2446,1480
$GC,16276,1.71,531.1,64.9,11.0,1493,16309,0.30,2.05,24.10,0.667,4,0.059,0.044,3094,3758,1366
$GC,16367,1.43,531.1,50.3,15.6,1508,16374,0.35,1.98,0.00,0.000,6,0.191,0.022,3011,2410,1364
$GC,16715,1.75,568.6,12.3,10.4,1569,16753,0.22,2.17,31.20,0.612,4,0.065,0.042,3107,3755,1213
$STATE,16779,end climb,SURFACE_DEPTH_REACHED
$STATE,16779,begin surface coast
$FINISH,1.7,1.000960
$STATE,16797,end surface coast,CONTROL_FINISHED_OK
$STATE,16800,begin surface
$SM_CCo,16882,0.00,0.000,0,0,1209,569.83
$SM_GC,2.58,8.12,0.00,0.00,0.059,0.000,0.000,140,2437,1209,-7.50,-1.30,569.83
$IRIDIUM_FIX,2429.95,12403.76,291098,030308
$TT8_MAMPS,0.029146
$HUMID,1722
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,23.3,77.527
$10V_AH,10.6,41.762
$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,30.675,159.000,582.875,0.000,0.000,57.568,121.416,215.054,8.000,0.000,0.000,15.679,2842.156,10243.866,714.183,2816.488,878.765,0.000,2173.949,0.000,2751.313,0.000,51.105,0.000
$DEVICE_MAMPS,236.236,69.030,1349.153,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.821,1106.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85296,1583
$CAP_FILE_SIZE,187355,0
$CFSIZE,260165632,189939712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107, 77.1,1
$GPS,040809,081101,2441.687,12402.805,37,1.9,38,-3.6