version: 66.04
glider: 167
mission: 2
dive: 458
start: 8 5 109 4 1 56
data:
$ID,167
$MISSION,2
$DIVE,458
$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,-14769.887
$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,75
$R_STBD_OVSHOOT,40
$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
$GPS1,035401,2441.661,12358.374,40,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.3
$GPS2,040136,2441.677,12358.280,17,1.5,27,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$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,247.0,69751,-24.8,-13.043
$D_GRID,1583
$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,-1.49,-121.7,0.0,0.0,0,52,0.00,0.00,-34.88,0.000,2,0.000,0.000,141,2460,2134
$GC,57,-1.49,-121.7,3.0,-1.9,6,137,7.82,2.08,-62.50,0.000,4,0.229,0.054,2052,3764,3989
$GC,150,-0.83,-121.7,11.0,-19.1,21,157,0.80,1.85,0.00,0.000,6,0.169,0.020,2278,2446,3990
$GC,497,-1.20,-121.7,52.6,-10.7,82,503,0.30,2.03,0.00,0.000,4,0.055,0.041,2140,3756,3991
$GC,623,-0.96,-121.7,71.4,-14.5,104,630,0.32,1.77,0.00,0.000,6,0.160,0.021,2230,2483,3991
$GC,970,-1.31,-121.7,107.0,-9.8,165,977,0.28,1.95,0.00,0.000,4,0.057,0.021,2111,1102,3993
$GC,1030,-1.08,-121.7,114.7,-14.0,175,1037,0.32,2.05,0.00,0.000,6,0.160,0.027,2194,2501,3993
$GC,1377,-1.29,-121.7,152.7,-10.0,236,1385,0.17,2.03,0.00,0.000,4,0.065,0.024,2114,1096,3994
$GC,1470,-1.11,-121.7,164.5,-12.6,252,1478,0.28,1.98,0.00,0.000,6,0.157,0.026,2187,2444,3994
$GC,1820,-1.36,-121.7,198.2,-9.8,313,1826,0.20,0.00,0.00,0.000,6,0.061,0.000,2096,2447,3995
$GC,2166,-1.32,-121.7,241.6,-12.4,374,2172,0.00,1.92,0.00,0.000,4,0.000,0.023,2096,1098,3995
$GC,2241,-1.14,-121.7,251.2,-12.6,387,2248,0.30,1.90,0.00,0.000,6,0.151,0.025,2172,2412,3995
$GC,2587,-1.37,-121.7,284.5,-10.3,448,2595,0.17,1.88,0.00,0.000,4,0.063,0.021,2093,1098,3995
$GC,2620,-1.37,-121.7,288.6,-13.2,453,2626,0.00,1.90,0.00,0.000,6,0.000,0.026,2085,2405,3995
$GC,2957,-1.22,-121.7,327.0,-11.1,492,2961,0.20,2.05,0.00,0.000,4,0.156,0.040,2138,3757,3995
$GC,3096,-1.17,-121.7,341.2,-10.5,504,3100,0.12,1.92,0.00,0.000,6,0.162,0.021,2169,2383,3995
$GC,3429,-1.45,-121.7,372.6,-9.2,535,3433,0.22,1.83,0.00,0.000,4,0.061,0.023,2071,1096,3995
$GC,3474,-1.26,-121.7,377.9,-11.7,539,3479,0.25,1.98,0.00,0.000,6,0.158,0.028,2139,2414,3995
$GC,3806,-1.44,-121.7,411.7,-10.9,570,3811,0.17,1.90,0.00,0.000,4,0.069,0.022,2068,1093,3994
$GC,3845,-1.27,-121.7,416.7,-12.6,573,3852,0.25,1.92,0.00,0.000,6,0.161,0.027,2131,2409,3994
$GC,4174,-1.37,-121.7,448.8,-9.7,604,4177,0.00,2.05,0.00,0.000,4,0.000,0.042,2125,3760,3993
$GC,4203,-1.42,-121.7,452.1,-10.0,606,4209,0.10,1.92,0.00,0.000,6,0.087,0.022,2080,2389,3993
$GC,4530,-1.28,-121.7,490.7,-11.9,637,4535,0.17,2.10,0.00,0.000,4,0.163,0.042,2124,3749,3992
$GC,4561,-1.22,-121.7,494.4,-11.4,639,4565,0.12,1.90,0.00,0.000,6,0.162,0.021,2155,2395,3992
$GC,4896,-1.47,-121.7,524.3,-9.3,658,4905,0.20,1.85,0.00,0.000,4,0.064,0.022,2066,1096,3991
$GC,4935,-1.33,-121.7,528.6,-10.7,659,4939,0.20,1.95,0.00,0.000,6,0.162,0.028,2111,2419,3991
$GC,5256,-1.40,-121.7,560.9,-10.4,675,5260,0.00,1.90,0.00,0.000,4,0.000,0.024,2111,1103,3989
$GC,5319,-1.40,-121.7,567.7,-10.9,677,5325,0.00,1.90,0.00,0.000,6,0.000,0.029,2111,2385,3988
$GC,5636,-1.51,-121.7,598.5,-9.6,693,5641,0.15,1.88,0.00,0.000,4,0.075,0.023,2049,1094,3986
$GC,5710,-1.31,-121.7,607.1,-11.8,696,5715,0.28,1.88,0.00,0.000,6,0.169,0.031,2118,2353,3985
$GC,6040,-1.47,-121.7,636.6,-8.6,712,6045,0.15,1.83,0.00,0.000,4,0.073,0.023,2059,1095,3983
$GC,6074,-1.35,-121.7,640.2,-10.1,713,6079,0.20,1.83,0.00,0.000,6,0.168,0.030,2110,2320,3982
$GC,6398,-1.49,-121.7,670.8,-9.6,729,6403,0.15,1.80,0.00,0.000,4,0.074,0.024,2052,1083,3980
$GC,6446,-1.33,-121.7,676.0,-11.1,731,6450,0.25,1.83,0.00,0.000,6,0.167,0.028,2112,2310,3980
$GC,6782,-1.48,-121.7,707.6,-9.3,747,6786,0.12,1.75,0.00,0.000,4,0.081,0.024,2063,1106,3977
$GC,6810,-1.48,-121.7,710.9,-11.1,748,6813,0.00,1.75,0.00,0.000,6,0.000,0.030,2057,2282,3977
$GC,7139,-1.41,-121.7,743.6,-9.5,764,7143,0.12,2.28,0.00,0.000,4,0.179,0.044,2085,3753,3975
$GC,7277,-1.27,-121.7,758.2,-10.8,770,7281,0.20,2.10,0.00,0.000,6,0.160,0.023,2138,2289,3974
$GC,7602,-1.50,-121.7,787.4,-9.5,786,7606,0.20,1.70,0.00,0.000,4,0.070,0.026,2054,1106,3972
$GC,7704,-1.34,-121.7,800.6,-13.4,790,7708,0.20,1.73,0.00,0.000,6,0.169,0.033,2106,2253,3971
$GC,8027,-1.39,-121.7,835.0,-10.1,806,8031,0.00,2.33,0.00,0.000,4,0.000,0.046,2098,3756,3969
$GC,8162,-1.29,-121.7,849.9,-11.5,812,8167,0.12,2.15,0.00,0.000,6,0.170,0.024,2128,2262,3968
$GC,8493,-1.50,-121.7,877.4,-8.1,828,8497,0.20,1.67,0.00,0.000,4,0.071,0.026,2049,1102,3966
$GC,8566,-1.35,-121.7,885.4,-11.5,831,8570,0.25,1.70,0.00,0.000,6,0.170,0.033,2111,2232,3966
$GC,8896,-1.41,-121.7,913.3,-8.3,847,8901,0.00,2.38,0.00,0.000,4,0.000,0.048,2101,3758,3964
$GC,9082,-1.33,-121.7,931.8,-10.5,855,9086,0.00,2.17,0.00,0.000,6,0.000,0.024,2101,2259,3963
$STATE,9127,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9127,begin apogee
$GC,9136,-0.27,0.0,936.3,9.6,857,9238,1.20,0.00,93.38,1.347,6,0.161,0.000,2450,2407,3532
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9241,1.49,121.7,941.4,0.0,862,9353,1.62,2.25,103.18,1.328,4,0.065,0.048,3026,3741,3035
$GC,9512,0.64,159.7,931.1,10.3,874,9553,1.12,1.95,32.30,1.289,6,0.225,0.023,2755,2414,2880
$GC,9881,0.80,241.4,903.6,7.2,892,9954,0.15,2.22,67.62,1.312,4,0.090,0.048,2810,3750,2547
$GC,10102,0.67,257.3,878.3,11.9,902,10122,0.20,1.95,14.10,1.201,6,0.190,0.025,2767,2444,2482
$GC,10454,0.96,302.4,843.4,9.8,919,10498,0.22,2.20,38.58,1.277,4,0.075,0.050,2858,3747,2298
$GC,10617,0.75,302.4,817.6,16.2,926,10621,0.30,1.90,0.00,0.000,6,0.189,0.023,2791,2453,2294
$GC,10945,0.92,322.9,779.1,11.6,942,10968,0.15,2.28,17.55,1.210,4,0.086,0.031,2855,996,2214
$GC,10996,0.92,322.9,771.8,13.8,944,11001,0.00,2.33,0.00,0.000,6,0.000,0.034,2855,2486,2212
$GC,11319,0.92,322.9,728.5,13.1,960,11323,0.00,1.98,0.00,0.000,4,0.000,0.050,2855,3750,2209
$GC,11365,0.79,322.9,721.9,14.1,962,11369,0.22,1.88,0.00,0.000,6,0.190,0.025,2802,2483,2208
$GC,11698,1.13,379.4,689.6,9.0,978,11753,0.28,2.15,47.75,1.215,4,0.074,0.049,2912,3753,1983
$GC,11831,0.90,379.4,669.8,16.4,984,11835,0.32,1.83,0.00,0.000,6,0.186,0.025,2836,2525,1978
$GC,12164,1.17,396.4,629.1,11.8,1000,12187,0.20,1.98,14.95,1.116,4,0.077,0.049,2919,3752,1914
$GC,12235,0.96,396.4,617.3,17.3,1003,12239,0.28,1.92,0.00,0.000,6,0.186,0.025,2856,2455,1912
$GC,12568,1.13,407.9,573.9,12.2,1019,12581,0.15,0.00,10.93,1.052,6,0.084,0.000,2912,2453,1869
$GC,12878,1.06,407.9,530.1,14.2,1034,12882,0.00,2.05,0.00,0.000,4,0.000,0.048,2912,3752,1865
$GC,12957,0.93,407.9,518.0,15.7,1037,12961,0.28,1.88,0.00,0.000,6,0.183,0.025,2849,2463,1864
$GC,13286,1.30,426.4,480.6,11.7,1060,13310,0.28,2.08,16.62,1.032,4,0.068,0.050,2962,3754,1792
$GC,13379,1.05,426.4,465.1,16.7,1068,13384,0.32,1.98,0.00,0.000,6,0.186,0.023,2886,2411,1789
$GC,13705,1.29,433.4,425.4,12.5,1098,13718,0.17,2.15,6.90,0.874,4,0.078,0.028,2967,1009,1764
$GC,13802,1.16,433.4,411.3,14.5,1106,13809,0.20,2.12,0.00,0.000,6,0.188,0.031,2918,2409,1763
$GC,14129,1.30,437.9,369.7,12.7,1137,14141,0.12,2.12,5.50,0.781,4,0.088,0.049,2966,3758,1746
$GC,14222,1.07,437.9,355.4,15.8,1145,14226,0.32,1.92,0.00,0.000,6,0.185,0.024,2889,2431,1745
$GC,14547,1.40,477.9,318.7,10.2,1175,14592,0.28,2.20,34.58,0.924,4,0.067,0.047,3000,3762,1582
$GC,14695,1.17,477.9,295.4,16.1,1190,14702,0.32,2.03,0.00,0.000,6,0.189,0.024,2926,2409,1578
$GC,15042,1.47,477.9,251.3,13.5,1251,15048,0.22,2.12,0.00,0.000,4,0.066,0.045,3019,3755,1576
$GC,15056,1.70,477.9,249.2,13.7,1253,15063,0.17,2.05,0.00,0.000,6,0.067,0.022,3096,2352,1575
$GC,15402,1.30,477.9,187.6,17.9,1314,15409,0.47,1.98,0.00,0.000,4,0.206,0.026,2975,1005,1576
$GC,15433,1.20,477.9,183.0,14.8,1319,15440,0.17,2.05,0.00,0.000,6,0.179,0.028,2932,2381,1575
$GC,15783,1.54,498.6,142.0,11.6,1380,15808,0.28,2.12,17.77,0.747,4,0.061,0.047,3046,3751,1498
$GC,15827,1.32,498.6,135.1,17.0,1387,15834,0.32,1.98,0.00,0.000,6,0.189,0.021,2972,2377,1496
$GC,16175,1.56,515.9,90.4,11.8,1448,16200,0.17,2.20,15.48,0.687,4,0.074,0.045,3046,3744,1427
$GC,16235,1.37,515.9,81.0,15.8,1458,16242,0.28,2.05,0.00,0.000,6,0.185,0.021,2984,2337,1427
$GC,16581,1.71,541.9,39.1,11.2,1519,16611,0.28,2.22,22.40,0.650,4,0.062,0.043,3100,3755,1321
$GC,16642,1.49,541.9,30.4,16.5,1529,16649,0.32,2.00,0.00,0.000,6,0.194,0.020,3026,2369,1319
$STATE,16860,end climb,SURFACE_DEPTH_REACHED
$STATE,16860,begin surface coast
$FINISH,1.7,1.007878
$STATE,16890,end surface coast,CONTROL_FINISHED_OK
$STATE,16890,begin surface
$SM_CCo,16971,0.00,0.000,0,0,1315,543.83
$SM_GC,2.60,7.82,0.00,0.00,0.058,0.000,0.000,139,2505,1315,-7.50,0.62,543.83
$IRIDIUM_FIX,2429.95,12400.47,291098,232333
$TT8_MAMPS,0.028379
$HUMID,1722
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,5
$24V_AH,23.3,78.552
$10V_AH,10.6,42.257
$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,34.850,155.700,559.575,0.000,0.000,25.747,34.341,206.102,8.750,0.000,0.000,27.417,2874.280,10184.358,684.693,2902.261,761.044,0.000,2179.807,0.000,2819.405,0.000,51.121,0.000
$DEVICE_MAMPS,229.333,56.758,1346.852,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.032,1103.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85118,1573
$CAP_FILE_SIZE,193278,0
$CFSIZE,260165632,189468672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131, 56.2,1
$GPS,050809,084606,2441.801,12358.228,36,1.3,42,-3.6