version: 66.04
glider: 167
mission: 2
dive: 464
start: 8 6 109 9 38 5
data:
$ID,167
$MISSION,2
$DIVE,464
$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,-14964.926
$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,64
$R_STBD_OVSHOOT,44
$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
$GPS1,092631,2442.243,12354.680,64,1.7,65,-3.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-50.7
$GPS2,093743,2442.194,12354.484,16,2.0,27,-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,241.6,63876,-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,15,-1.49,-121.7,0.0,0.0,0,65,0.00,0.00,-47.05,0.000,2,0.000,0.000,142,2500,2281
$GC,68,-1.49,-121.7,3.3,-2.2,7,148,7.80,1.98,-62.67,0.000,4,0.229,0.053,2052,3761,3989
$GC,403,-0.92,-121.7,68.0,-17.3,65,411,0.68,1.85,0.00,0.000,6,0.166,0.021,2244,2436,3990
$GC,751,-1.26,-121.7,104.5,-9.7,126,757,0.28,0.00,0.00,0.000,6,0.054,0.000,2126,2436,3991
$GC,1095,-1.10,-121.7,146.9,-12.8,187,1102,0.20,2.05,0.00,0.000,4,0.160,0.041,2178,3764,3992
$GC,1154,-1.01,-121.7,154.6,-13.6,197,1162,0.15,1.80,0.00,0.000,6,0.163,0.021,2217,2462,3993
$GC,1504,-1.31,-121.7,188.9,-10.0,258,1511,0.22,1.90,0.00,0.000,4,0.059,0.021,2116,1113,3993
$GC,1548,-1.13,-121.7,194.2,-12.5,265,1556,0.25,1.95,0.00,0.000,6,0.160,0.027,2179,2448,3993
$GC,1898,-1.32,-121.7,234.5,-11.2,326,1905,0.17,1.92,0.00,0.000,4,0.067,0.021,2098,1101,3993
$GC,1925,-1.32,-121.7,238.1,-12.7,330,1931,0.00,1.95,0.00,0.000,6,0.000,0.027,2097,2435,3993
$GC,2270,-1.14,-121.7,282.8,-11.2,391,2276,0.25,2.00,0.00,0.000,4,0.159,0.039,2165,3759,3993
$GC,2380,-1.14,-121.7,294.1,-10.6,410,2386,0.00,1.83,0.00,0.000,6,0.000,0.021,2165,2434,3993
$GC,2710,-1.35,-121.7,324.0,-9.2,446,2714,0.15,1.85,0.00,0.000,4,0.070,0.022,2098,1120,3993
$GC,2756,-1.20,-121.7,328.9,-10.9,450,2761,0.22,1.92,0.00,0.000,6,0.159,0.028,2158,2436,3993
$GC,3089,-1.39,-121.7,362.8,-10.3,481,3094,0.17,1.90,0.00,0.000,4,0.068,0.022,2086,1115,3993
$GC,3147,-1.21,-121.7,370.1,-13.1,486,3151,0.25,1.90,0.00,0.000,6,0.160,0.028,2153,2413,3993
$GC,3479,-1.37,-121.7,402.9,-10.1,517,3481,0.15,0.00,0.00,0.000,6,0.071,0.000,2092,2415,3992
$GC,3802,-1.28,-121.7,441.8,-13.1,547,3806,0.15,2.05,0.00,0.000,4,0.164,0.041,2124,3760,3992
$GC,3871,-1.17,-121.7,450.7,-12.3,553,3875,0.10,1.92,0.00,0.000,6,0.162,0.022,2166,2425,3992
$GC,4203,-1.41,-121.7,482.7,-9.6,584,4207,0.20,1.88,0.00,0.000,4,0.064,0.023,2079,1110,3990
$GC,4254,-1.21,-121.7,488.8,-12.2,588,4260,0.30,1.90,0.00,0.000,6,0.163,0.029,2153,2397,3990
$GC,4577,-1.43,-121.7,520.6,-9.4,609,4579,0.20,0.00,0.00,0.000,6,0.065,0.000,2074,2398,3989
$GC,4883,-1.25,-121.7,554.5,-12.1,624,4887,0.20,1.85,0.00,0.000,4,0.166,0.023,2132,1121,3986
$GC,4974,-1.25,-121.7,565.3,-11.3,628,4977,0.00,1.85,0.00,0.000,6,0.000,0.029,2129,2373,3986
$GC,5308,-1.37,-121.7,598.6,-9.7,644,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2373,3984
$GC,5616,-1.50,-121.7,628.6,-9.9,659,5620,0.17,1.83,0.00,0.000,4,0.073,0.023,2051,1117,3981
$GC,5696,-1.26,-121.7,638.6,-12.8,662,5701,0.35,1.85,0.00,0.000,6,0.166,0.031,2141,2357,3980
$GC,6019,-1.45,-121.7,671.7,-9.8,678,6023,0.17,1.80,0.00,0.000,4,0.071,0.024,2065,1121,3978
$GC,6089,-1.26,-121.7,679.7,-11.9,681,6094,0.30,1.80,0.00,0.000,6,0.164,0.028,2140,2329,3977
$GC,6425,-1.46,-121.7,711.1,-9.3,697,6429,0.17,1.75,0.00,0.000,4,0.073,0.024,2064,1126,3974
$GC,6483,-1.26,-121.7,717.8,-12.3,699,6487,0.22,1.77,0.00,0.000,6,0.161,0.031,2135,2294,3974
$GC,6805,-1.43,-121.7,749.6,-9.6,715,6810,0.15,1.70,0.00,0.000,4,0.077,0.025,2076,1127,3972
$GC,6839,-1.32,-121.7,753.6,-11.9,716,6843,0.17,1.70,0.00,0.000,6,0.169,0.031,2116,2268,3971
$GC,7162,-1.44,-121.7,786.3,-10.1,732,7165,0.00,1.67,0.00,0.000,4,0.000,0.025,2116,1120,3969
$GC,7209,-1.49,-121.7,791.4,-10.9,734,7213,0.15,1.70,0.00,0.000,6,0.080,0.031,2054,2255,3969
$GC,7546,-1.30,-121.7,834.4,-13.0,750,7550,0.22,2.33,0.00,0.000,4,0.172,0.044,2111,3752,3967
$GC,7699,-1.22,-121.7,854.3,-13.2,756,7705,0.15,2.12,0.00,0.000,6,0.169,0.023,2148,2278,3966
$GC,8017,-1.47,-121.7,887.0,-9.9,772,8021,0.20,1.67,0.00,0.000,4,0.071,0.025,2064,1131,3964
$GC,8112,-1.30,-121.7,899.4,-12.9,776,8120,0.25,1.65,0.00,0.000,6,0.164,0.032,2125,2232,3964
$GC,8446,-1.48,-121.7,933.2,-9.9,792,8451,0.17,2.38,0.00,0.000,4,0.075,0.046,2044,3753,3962
$GC,8659,-1.16,-121.7,963.9,-14.2,801,8667,0.45,2.15,0.00,0.000,6,0.177,0.023,2166,2258,3961
$STATE,8951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8951,begin apogee
$GC,8960,-0.27,0.0,991.6,9.0,816,9062,0.93,0.00,93.43,1.397,6,0.138,0.000,2452,2396,3532
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9066,1.49,121.7,998.3,0.0,821,9178,1.62,2.25,104.70,1.381,4,0.071,0.045,3019,3750,3034
$GC,9234,0.71,181.8,1000.8,8.7,828,9292,1.00,1.98,51.00,1.349,6,0.219,0.021,2781,2414,2790
$GC,9615,0.81,263.7,972.6,7.2,847,9689,0.00,2.22,68.80,1.357,4,0.000,0.045,2781,3754,2455
$GC,9813,0.92,315.6,953.8,9.3,856,9865,0.17,1.92,44.42,1.328,6,0.078,0.022,2851,2441,2244
$GC,10184,0.94,327.1,909.1,12.2,874,10199,0.00,2.12,10.05,1.182,4,0.000,0.028,2858,1018,2198
$GC,10216,0.94,328.5,904.5,12.9,874,10222,0.00,2.20,0.00,0.000,6,0.000,0.032,2858,2440,2197
$GC,10532,0.94,328.5,863.4,13.1,890,10536,0.00,2.08,0.00,0.000,4,0.000,0.051,2858,3763,2194
$GC,10573,0.84,328.5,857.6,14.4,891,10580,0.20,1.90,0.00,0.000,6,0.186,0.023,2817,2453,2194
$GC,10890,0.99,342.3,819.4,12.1,907,10909,0.15,0.00,14.00,1.230,6,0.082,0.000,2874,2450,2137
$GC,11219,0.99,342.3,770.2,15.2,923,11223,0.00,2.12,0.00,0.000,4,0.000,0.031,2883,1027,2133
$GC,11288,0.99,342.3,759.7,14.6,926,11292,0.00,2.20,0.00,0.000,6,0.000,0.033,2883,2463,2133
$GC,11621,0.99,347.3,713.4,12.7,942,11631,0.00,2.17,5.12,0.949,4,0.000,0.031,2884,1025,2117
$GC,11649,1.00,349.4,709.6,12.9,943,11661,0.00,2.17,4.22,0.838,6,0.000,0.033,2884,2446,2106
$GC,11970,1.01,356.9,669.9,12.5,959,11985,0.00,2.20,7.80,1.065,4,0.000,0.031,2885,1030,2077
$GC,11997,1.01,356.9,666.2,13.6,960,12001,0.00,2.17,0.00,0.000,6,0.000,0.033,2884,2446,2076
$GC,12325,1.02,365.7,627.0,12.4,976,12339,0.00,2.17,9.35,1.079,4,0.000,0.031,2885,1028,2040
$GC,12363,1.04,381.9,621.9,11.9,977,12385,0.00,2.15,15.18,1.124,6,0.000,0.031,2885,2432,1974
$GC,12704,1.06,404.8,580.5,11.4,994,12729,0.00,2.12,20.65,1.127,4,0.000,0.051,2884,3764,1881
$GC,12769,1.07,407.3,571.8,12.9,997,12772,0.00,1.98,0.00,0.000,6,0.000,0.027,2894,2443,1878
$GC,13096,1.13,413.1,531.4,12.6,1013,13110,0.00,2.20,8.15,0.986,4,0.000,0.031,2902,1012,1846
$GC,13143,1.19,417.3,525.7,12.7,1015,13152,0.00,2.22,5.15,0.838,6,0.000,0.031,2902,2457,1830
$GC,13475,1.33,441.3,484.3,11.3,1037,13503,0.17,2.22,22.15,1.052,4,0.074,0.031,2982,1006,1730
$GC,13555,1.21,441.3,472.7,15.0,1043,13562,0.20,2.22,0.00,0.000,6,0.188,0.031,2934,2444,1728
$GC,13882,1.27,441.3,429.1,13.3,1074,13886,0.00,2.17,0.00,0.000,4,0.000,0.030,2941,1005,1725
$GC,13917,1.27,441.3,424.2,13.5,1077,13920,0.00,2.20,0.00,0.000,6,0.000,0.031,2941,2441,1725
$GC,14249,1.27,441.3,380.1,13.1,1108,14253,0.00,2.15,0.00,0.000,4,0.000,0.029,2945,1012,1724
$GC,14285,1.29,457.9,375.4,11.9,1111,14307,0.00,2.12,14.70,0.941,6,0.000,0.030,2945,2416,1664
$GC,14626,1.36,457.9,330.4,13.1,1143,14631,0.12,2.10,0.00,0.000,4,0.085,0.048,2994,3757,1660
$GC,14667,1.14,457.9,324.1,16.5,1146,14674,0.32,1.98,0.00,0.000,6,0.183,0.022,2917,2399,1660
$GC,15000,1.47,489.9,284.9,10.7,1189,15034,0.25,2.15,27.12,0.890,4,0.065,0.029,3025,1007,1533
$GC,15149,1.35,489.9,262.5,16.4,1214,15156,0.17,2.08,0.00,0.000,6,0.176,0.029,2982,2375,1530
$GC,15495,1.35,489.9,212.9,13.3,1275,15501,0.00,2.05,0.00,0.000,4,0.000,0.031,2982,1009,1528
$GC,15547,1.36,501.8,206.1,12.2,1284,15566,0.00,2.03,10.98,0.769,6,0.000,0.028,2982,2360,1485
$GC,15905,1.43,501.8,155.2,13.9,1347,15911,0.00,2.17,0.00,0.000,4,0.000,0.047,2982,3761,1483
$GC,15930,1.44,504.6,151.9,12.8,1351,15936,0.00,2.05,0.00,0.000,6,0.000,0.022,2982,2343,1483
$GC,16274,1.72,516.1,111.5,12.2,1412,16294,0.28,2.20,12.98,0.699,4,0.060,0.043,3098,3755,1428
$GC,16383,1.45,516.1,95.5,14.9,1430,16390,0.35,1.98,0.00,0.000,6,0.191,0.021,3014,2400,1427
$GC,16732,1.70,525.0,48.0,12.4,1491,16751,0.17,2.10,9.23,0.613,4,0.073,0.026,3100,993,1390
$GC,16794,1.86,579.0,40.5,9.2,1501,16848,0.12,2.08,45.20,0.656,6,0.097,0.028,3145,2396,1170
$STATE,17089,end climb,SURFACE_DEPTH_REACHED
$STATE,17089,begin surface coast
$FINISH,1.5,1.006449
$STATE,17242,end surface coast,CONTROL_FINISHED_OK
$STATE,17242,begin surface
$SM_CCo,17323,0.00,0.000,0,0,1162,581.36
$SM_GC,2.16,8.25,0.00,0.00,0.064,0.000,0.000,141,2488,1162,-7.49,0.17,581.36
$IRIDIUM_FIX,2434.69,12353.25,311098,090906
$TT8_MAMPS,0.029146
$HUMID,1689
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,23.2,79.867
$10V_AH,10.6,42.853
$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,29.925,149.025,604.375,0.000,0.000,51.966,72.507,296.589,8.250,0.000,0.000,29.719,2818.628,10716.259,730.026,2797.297,916.500,0.000,2181.538,0.000,2717.055,0.000,54.446,0.000
$DEVICE_MAMPS,228.566,75.933,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.636,1094.090,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85152,1580
$CAP_FILE_SIZE,186403,0
$CFSIZE,260165632,188919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092, 29.4,1
$GPS,060809,142826,2442.210,12353.337,59,1.9,61,-3.6