version: 66.04
glider: 167
mission: 2
dive: 463
start: 8 6 109 4 42 19
data:
$ID,167
$MISSION,2
$DIVE,463
$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,-14934.575
$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,42
$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
$GPS1,043331,2441.930,12355.187,42,1.6,43,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-55.0
$GPS2,044200,2441.910,12354.995,52,1.5,62,-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,242.8,64545,-24.8,-13.043
$D_GRID,1649
$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,16,-1.49,-121.7,0.0,0.0,0,56,0.00,0.00,-38.62,0.000,2,0.000,0.000,140,2490,2177
$GC,61,-1.49,-121.7,3.1,-3.2,6,133,7.93,2.03,-56.28,0.000,4,0.234,0.054,2051,3767,3989
$GC,387,-0.90,-121.7,65.1,-19.6,63,393,0.70,1.85,0.00,0.000,6,0.167,0.020,2249,2442,3990
$GC,733,-1.26,-121.7,101.5,-9.4,124,739,0.28,1.90,0.00,0.000,4,0.054,0.021,2130,1099,3991
$GC,754,-1.44,-121.7,103.6,-10.2,127,760,0.12,2.05,0.00,0.000,6,0.075,0.026,2069,2496,3991
$GC,1099,-1.09,-121.7,153.8,-15.3,188,1106,0.40,1.90,0.00,0.000,4,0.170,0.038,2178,3761,3993
$GC,1142,-1.01,-121.7,159.4,-12.0,195,1148,0.15,1.77,0.00,0.000,6,0.165,0.021,2217,2477,3993
$GC,1489,-1.30,-121.7,192.3,-9.3,256,1495,0.22,1.92,0.00,0.000,4,0.061,0.021,2117,1110,3994
$GC,1612,-1.12,-121.7,207.0,-13.0,277,1619,0.25,1.95,0.00,0.000,6,0.162,0.026,2178,2446,3994
$GC,1961,-1.28,-121.7,243.7,-8.9,338,1968,0.15,1.92,0.00,0.000,4,0.071,0.029,2115,1112,3994
$GC,1993,-1.28,-121.7,247.0,-10.8,343,1999,0.00,1.95,0.00,0.000,6,0.000,0.027,2110,2445,3994
$GC,2340,-1.15,-121.7,285.9,-12.3,404,2346,0.20,1.98,0.00,0.000,4,0.163,0.040,2165,3754,3994
$GC,2421,-1.15,-121.7,296.1,-11.8,418,2427,0.00,1.83,0.00,0.000,6,0.000,0.021,2165,2433,3994
$GC,2755,-1.33,-121.7,330.6,-9.5,452,2759,0.15,1.88,0.00,0.000,4,0.071,0.021,2099,1105,3994
$GC,2794,-1.18,-121.7,335.1,-11.1,455,2801,0.25,1.95,0.00,0.000,6,0.158,0.027,2166,2436,3994
$GC,3121,-1.41,-121.7,365.7,-9.4,486,3125,0.20,1.90,0.00,0.000,4,0.067,0.021,2078,1115,3994
$GC,3155,-1.23,-121.7,369.5,-11.1,489,3160,0.28,1.95,0.00,0.000,6,0.160,0.027,2147,2443,3994
$GC,3481,-1.37,-121.7,399.9,-9.3,519,3483,0.12,0.00,0.00,0.000,6,0.077,0.000,2094,2444,3994
$GC,3799,-1.26,-121.7,435.5,-12.3,549,3803,0.17,2.00,0.00,0.000,4,0.164,0.042,2139,3759,3993
$GC,3828,-1.20,-121.7,438.9,-12.0,551,3834,0.00,1.90,0.00,0.000,6,0.000,0.021,2139,2398,3993
$GC,4157,-1.33,-121.7,474.5,-10.4,582,4161,0.00,1.83,0.00,0.000,4,0.000,0.025,2139,1113,3992
$GC,4208,-1.40,-121.7,480.1,-10.3,586,4215,0.12,1.90,0.00,0.000,6,0.078,0.029,2082,2404,3992
$GC,4533,-1.29,-121.7,512.6,-10.4,611,4537,0.17,2.05,0.00,0.000,4,0.170,0.041,2125,3750,3991
$GC,4612,-1.21,-121.7,520.9,-10.4,614,4616,0.12,1.88,0.00,0.000,6,0.163,0.021,2156,2415,3990
$GC,4938,-1.44,-121.7,551.1,-9.9,630,4942,0.17,1.85,0.00,0.000,4,0.068,0.022,2079,1114,3988
$GC,5023,-1.28,-121.7,561.9,-12.8,633,5031,0.22,1.88,0.00,0.000,6,0.160,0.028,2132,2386,3988
$GC,5340,-1.41,-121.7,593.8,-9.3,649,5344,0.12,1.85,0.00,0.000,4,0.082,0.023,2082,1106,3985
$GC,5386,-1.30,-121.7,598.4,-10.5,651,5390,0.17,1.85,0.00,0.000,6,0.164,0.029,2126,2351,3985
$GC,5724,-1.42,-121.7,625.5,-8.1,667,5725,0.12,0.00,0.00,0.000,6,0.081,0.000,2076,2353,3983
$GC,6028,-1.42,-121.7,655.4,-9.9,682,6032,0.00,2.15,0.00,0.000,4,0.000,0.045,2071,3757,3981
$GC,6057,-1.26,-121.7,658.6,-11.2,683,6062,0.25,2.03,0.00,0.000,6,0.163,0.021,2139,2329,3980
$GC,6382,-1.47,-121.7,686.4,-8.6,699,6386,0.17,1.75,0.00,0.000,4,0.071,0.024,2063,1101,3978
$GC,6456,-1.29,-121.7,694.4,-10.4,702,6460,0.25,1.80,0.00,0.000,6,0.164,0.031,2125,2309,3977
$GC,6786,-1.44,-121.7,724.5,-9.6,718,6794,0.12,1.73,0.00,0.000,4,0.083,0.025,2076,1122,3975
$GC,6842,-1.30,-121.7,730.6,-11.7,720,6847,0.20,1.73,0.00,0.000,6,0.162,0.031,2125,2280,3974
$GC,7173,-1.46,-121.7,762.7,-9.3,736,7174,0.15,0.00,0.00,0.000,6,0.078,0.000,2067,2281,3972
$GC,7480,-1.46,-121.7,794.7,-10.5,751,7484,0.00,1.70,0.00,0.000,4,0.000,0.027,2067,1113,3970
$GC,7542,-1.32,-121.7,802.1,-11.8,753,7550,0.22,1.70,0.00,0.000,6,0.166,0.031,2120,2251,3970
$GC,7859,-1.47,-121.7,833.4,-10.2,769,7861,0.15,0.00,0.00,0.000,6,0.074,0.000,2062,2252,3968
$GC,8169,-1.31,-121.7,871.3,-11.7,784,8174,0.17,2.35,0.00,0.000,4,0.175,0.048,2111,3750,3966
$GC,8279,-1.22,-121.7,883.7,-10.9,789,8284,0.15,2.17,0.00,0.000,6,0.168,0.024,2148,2244,3965
$GC,8616,-1.48,-121.7,912.7,-8.7,805,8618,0.22,0.00,0.00,0.000,6,0.069,0.000,2061,2244,3964
$GC,8922,-1.33,-121.7,947.0,-11.1,820,8927,0.17,2.40,0.00,0.000,4,0.172,0.048,2110,3753,3962
$GC,9049,-1.24,-121.7,960.0,-10.3,825,9057,0.12,2.20,0.00,0.000,6,0.170,0.023,2140,2230,3962
$STATE,9136,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9136,begin apogee
$GC,9143,-0.27,0.0,967.8,8.4,830,9245,1.05,0.00,93.62,1.375,6,0.153,0.000,2453,2396,3532
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9246,begin climb
$GC,9250,1.49,121.7,972.5,0.0,835,9362,1.62,2.25,103.97,1.359,4,0.068,0.046,3025,3764,3036
$GC,9399,0.67,182.3,974.4,8.7,842,9458,1.08,2.00,51.75,1.329,6,0.219,0.023,2768,2437,2788
$GC,9769,0.84,256.4,944.0,7.7,859,9837,0.15,2.17,61.83,1.331,4,0.087,0.049,2823,3755,2485
$GC,9933,0.71,259.1,925.2,12.8,866,9941,0.20,2.00,0.00,0.000,6,0.186,0.023,2779,2415,2480
$GC,10250,0.94,316.1,896.0,9.0,882,10308,0.17,2.25,50.42,1.314,4,0.078,0.049,2850,3749,2242
$GC,10386,0.83,316.1,878.7,13.5,888,10390,0.17,1.95,0.00,0.000,6,0.186,0.023,2817,2445,2237
$GC,10722,0.95,335.1,839.7,11.7,904,10744,0.00,2.25,16.55,1.236,4,0.000,0.031,2818,1006,2164
$GC,10836,1.14,353.8,825.9,11.7,909,10858,0.28,2.20,17.30,1.227,6,0.068,0.031,2921,2436,2089
$GC,11170,0.97,353.8,772.9,16.1,925,11175,0.20,2.08,0.00,0.000,4,0.179,0.048,2863,3765,2083
$GC,11192,0.83,353.8,768.6,16.2,926,11197,0.22,1.98,0.00,0.000,6,0.182,0.025,2810,2435,2083
$GC,11521,1.03,366.5,729.2,12.1,942,11546,0.20,2.22,13.40,1.005,4,0.075,0.030,2900,993,2037
$GC,11585,1.03,366.5,718.9,15.8,944,11591,0.00,2.20,0.00,0.000,6,0.000,0.032,2898,2427,2036
$GC,11902,0.97,366.5,669.4,15.4,960,11907,0.15,2.10,0.00,0.000,4,0.186,0.049,2862,3762,2034
$GC,11958,0.97,366.5,661.0,14.6,962,11965,0.00,2.00,0.00,0.000,6,0.000,0.025,2868,2412,2033
$GC,12274,0.98,376.5,619.8,12.3,978,12285,0.00,0.00,9.50,1.077,6,0.000,0.000,2868,2410,1997
$GC,12584,1.06,393.6,581.9,11.8,993,12606,0.00,2.15,16.33,1.117,4,0.000,0.047,2868,3754,1926
$GC,12646,1.06,393.6,573.5,13.3,995,12652,0.00,2.00,0.00,0.000,6,0.000,0.024,2874,2410,1923
$GC,12963,1.26,419.7,536.7,11.2,1011,12993,0.20,2.22,22.85,1.099,4,0.072,0.048,2960,3757,1821
$GC,13099,1.03,419.7,516.6,15.6,1017,13104,0.35,1.92,0.00,0.000,6,0.185,0.025,2876,2481,1817
$GC,13432,1.34,439.6,476.6,11.6,1041,13456,0.25,2.10,17.92,1.039,4,0.070,0.048,2977,3755,1739
$GC,13507,1.11,439.6,464.0,16.2,1047,13514,0.30,1.83,0.00,0.000,6,0.186,0.024,2903,2530,1736
$GC,13833,1.39,447.8,422.4,12.5,1078,13847,0.22,2.00,8.20,0.912,4,0.071,0.048,2996,3752,1706
$GC,13952,1.15,447.8,402.3,18.0,1088,13956,0.35,1.85,0.00,0.000,6,0.188,0.025,2913,2478,1704
$GC,14278,1.44,481.2,362.9,10.7,1118,14313,0.25,2.30,28.77,0.966,4,0.068,0.029,3021,997,1569
$GC,14432,1.25,481.2,338.9,16.4,1131,14439,0.28,2.28,0.00,0.000,6,0.180,0.031,2952,2477,1564
$GC,14761,1.45,485.3,294.0,12.7,1166,14770,0.17,2.08,4.00,0.617,4,0.071,0.048,3022,3764,1553
$GC,14789,1.35,485.3,289.5,16.4,1170,14797,0.20,1.92,0.00,0.000,6,0.183,0.024,2981,2454,1553
$GC,15137,1.35,488.7,240.9,12.8,1231,15148,0.00,2.17,4.93,0.664,4,0.000,0.032,2981,1008,1538
$GC,15239,1.35,488.7,226.6,13.8,1249,15245,0.00,2.17,0.00,0.000,6,0.000,0.029,2982,2448,1537
$GC,15583,1.44,509.5,179.1,11.6,1310,15608,0.00,2.20,19.05,0.792,4,0.000,0.029,2982,994,1454
$GC,15697,1.53,521.5,165.1,12.2,1329,15716,0.17,2.15,11.32,0.736,6,0.073,0.029,3048,2419,1406
$GC,16060,1.42,521.5,107.0,13.8,1392,16067,0.17,2.12,0.00,0.000,4,0.173,0.027,3012,995,1403
$GC,16152,1.42,521.5,94.1,13.1,1408,16158,0.00,2.08,0.00,0.000,6,0.000,0.028,3011,2383,1402
$GC,16498,1.73,595.0,53.5,7.8,1469,16569,0.20,2.15,61.00,0.679,4,0.066,0.028,3109,1001,1105
$GC,16633,1.73,595.0,36.2,13.8,1492,16639,0.00,2.03,0.00,0.000,6,0.000,0.027,3108,2338,1102
$STATE,16854,end climb,SURFACE_DEPTH_REACHED
$STATE,16854,begin surface coast
$FINISH,2.3,1.021281
$STATE,16870,end surface coast,CONTROL_FINISHED_OK
$STATE,16870,begin surface
$SM_CCo,16950,0.00,0.000,0,0,1094,597.80
$SM_GC,2.48,8.05,0.00,0.00,0.058,0.000,0.000,142,2499,1094,-7.49,0.48,597.80
$IRIDIUM_FIX,2432.32,12355.22,301098,232333
$TT8_MAMPS,0.029146
$HUMID,1739
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,5
$24V_AH,23.3,79.641
$10V_AH,10.6,42.751
$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,31.875,145.200,612.725,0.000,0.000,30.830,42.340,217.484,9.000,0.000,0.000,62.760,2745.880,10418.851,748.143,2746.007,779.839,0.000,2151.247,0.000,2634.863,0.000,52.774,0.000
$DEVICE_MAMPS,233.935,53.690,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.685,1049.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82005,1534
$CAP_FILE_SIZE,184171,0
$CFSIZE,260165632,189014016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151, 47.1,1
$GPS,060809,092631,2442.243,12354.680,64,1.7,65,-3.6