version: 66.04
glider: 167
mission: 2
dive: 466
start: 8 6 109 19 44 12
data:
$ID,167
$MISSION,2
$DIVE,466
$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,-4
$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,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,-15028.101
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,41
$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
$GPS1,193001,2442.178,12351.797,66,1.3,67,-3.6
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-42.9
$GPS2,194306,2442.285,12351.201,12,1.8,16,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.244,-0.085
$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,254.4,58675,-24.8,-13.043
$D_GRID,1858
$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,-121.7,0.0,0.0,0,23,0.00,0.00,-5.82,0.000,2,0.000,0.000,139,2502,1409
$GC,27,-1.49,-121.7,3.1,-0.0,1,145,7.57,2.28,-100.95,0.000,4,0.219,0.038,2064,985,3989
$GC,400,-0.99,-121.7,54.3,-18.3,68,407,0.60,2.08,0.00,0.000,6,0.166,0.024,2223,2405,3990
$GC,747,-1.27,-121.7,94.0,-11.9,129,753,0.22,2.08,0.00,0.000,4,0.058,0.022,2125,971,3991
$GC,829,-1.04,-121.7,106.2,-15.7,143,836,0.30,2.05,0.00,0.000,6,0.160,0.028,2207,2363,3991
$GC,1175,-1.30,-121.7,145.2,-11.1,204,1181,0.20,2.10,0.00,0.000,4,0.061,0.041,2110,3751,3992
$GC,1233,-1.00,-121.7,154.2,-16.6,214,1240,0.38,1.98,0.00,0.000,6,0.158,0.019,2216,2316,3992
$GC,1581,-1.31,-121.7,189.3,-9.9,275,1588,0.22,2.20,0.00,0.000,4,0.059,0.040,2110,3754,3993
$GC,1674,-1.05,-121.7,201.7,-13.4,291,1681,0.32,1.95,0.00,0.000,6,0.160,0.020,2201,2344,3993
$GC,2019,-1.37,-121.7,234.9,-10.8,352,2025,0.25,0.00,0.00,0.000,6,0.057,0.000,2093,2344,3993
$GC,2364,-1.19,-121.7,279.7,-12.9,413,2371,0.20,2.15,0.00,0.000,4,0.162,0.039,2143,3751,3993
$GC,2457,-1.09,-121.7,290.8,-11.6,429,2464,0.17,1.88,0.00,0.000,6,0.159,0.021,2190,2399,3992
$GC,2796,-1.33,-121.7,321.0,-9.3,469,2800,0.20,1.98,0.00,0.000,4,0.064,0.022,2101,1022,3993
$GC,2823,-1.33,-121.7,324.3,-11.2,471,2830,0.00,2.05,0.00,0.000,6,0.000,0.028,2098,2403,3993
$GC,3150,-1.21,-121.7,363.3,-10.4,502,3155,0.20,2.05,0.00,0.000,4,0.157,0.041,2152,3750,3993
$GC,3245,-1.21,-121.7,373.1,-10.0,510,3251,0.00,1.88,0.00,0.000,6,0.000,0.021,2152,2400,3993
$GC,3571,-1.39,-121.7,406.4,-10.5,541,3576,0.15,1.98,0.00,0.000,4,0.071,0.023,2087,1014,3992
$GC,3607,-1.23,-121.7,410.5,-11.6,544,3611,0.22,2.05,0.00,0.000,6,0.160,0.028,2145,2402,3992
$GC,3932,-1.38,-121.7,438.9,-7.5,574,3937,0.15,2.00,0.00,0.000,4,0.073,0.022,2083,1025,3992
$GC,3972,-1.20,-121.7,442.6,-9.7,577,3979,0.28,2.00,0.00,0.000,6,0.160,0.028,2159,2375,3991
$GC,4298,-1.41,-121.7,469.8,-8.9,608,4300,0.20,0.00,0.00,0.000,6,0.066,0.000,2078,2377,3990
$GC,4616,-1.34,-121.7,502.6,-10.7,637,4620,0.12,2.10,0.00,0.000,4,0.163,0.043,2110,3747,3989
$GC,4634,-1.34,-121.7,504.4,-10.3,638,4638,0.00,1.98,0.00,0.000,6,0.000,0.021,2110,2355,3989
$GC,4968,-1.40,-121.7,536.8,-10.0,654,4971,0.00,1.90,0.00,0.000,4,0.000,0.025,2109,1024,3986
$GC,4991,-1.40,-121.7,539.5,-11.2,655,4995,0.00,1.98,0.00,0.000,6,0.000,0.029,2110,2352,3986
$GC,5331,-1.49,-121.7,576.3,-11.0,671,5335,0.12,1.92,0.00,0.000,4,0.079,0.024,2056,1027,3984
$GC,5365,-1.25,-121.7,581.0,-12.9,672,5370,0.30,1.95,0.00,0.000,6,0.161,0.030,2140,2337,3983
$GC,5685,-1.43,-121.7,609.5,-8.5,687,5689,0.15,1.92,0.00,0.000,4,0.075,0.023,2081,1018,3981
$GC,5719,-1.31,-121.7,613.3,-10.4,688,5723,0.15,1.95,0.00,0.000,6,0.165,0.030,2118,2325,3980
$GC,6042,-1.44,-121.7,642.6,-9.3,704,6044,0.12,0.00,0.00,0.000,6,0.078,0.000,2068,2326,3978
$GC,6350,-1.37,-121.7,674.8,-10.3,719,6355,0.12,2.22,0.00,0.000,4,0.168,0.044,2097,3765,3975
$GC,6384,-1.25,-121.7,678.3,-10.5,720,6389,0.17,2.08,0.00,0.000,6,0.164,0.021,2143,2308,3975
$GC,6702,-1.47,-121.7,706.0,-8.7,735,6706,0.17,1.85,0.00,0.000,4,0.073,0.024,2068,1024,3973
$GC,6758,-1.30,-121.7,712.5,-12.0,737,6762,0.22,1.90,0.00,0.000,6,0.164,0.033,2122,2289,3972
$GC,7081,-1.45,-121.7,742.0,-9.1,753,7085,0.12,1.88,0.00,0.000,4,0.081,0.026,2073,1019,3970
$GC,7109,-1.38,-121.7,745.1,-10.8,754,7113,0.12,1.88,0.00,0.000,6,0.175,0.032,2101,2266,3970
$GC,7439,-1.44,-121.7,775.4,-8.8,770,7443,0.00,2.33,0.00,0.000,4,0.000,0.048,2097,3761,3968
$GC,7462,-1.44,-121.7,777.9,-9.4,771,7466,0.00,2.15,0.00,0.000,6,0.000,0.023,2098,2278,3968
$GC,7795,-1.44,-121.7,810.8,-9.7,787,7799,0.00,2.35,0.00,0.000,4,0.000,0.049,2098,3754,3966
$GC,7892,-1.30,-121.7,821.8,-11.6,791,7895,0.00,2.12,0.00,0.000,6,0.000,0.025,2098,2293,3965
$GC,8214,-1.36,-121.7,855.6,-10.4,807,8218,0.00,1.85,0.00,0.000,4,0.000,0.028,2097,1035,3963
$GC,8253,-1.29,-121.7,860.0,-11.8,808,8260,0.12,1.85,0.00,0.000,6,0.175,0.035,2127,2255,3963
$GC,8571,-1.38,-121.7,893.0,-9.9,824,8575,0.00,2.35,0.00,0.000,4,0.000,0.051,2124,3754,3962
$GC,8711,-1.38,-121.7,908.6,-10.8,830,8715,0.00,2.15,0.00,0.000,6,0.000,0.025,2124,2287,3961
$GC,9034,-1.45,-121.7,940.1,-9.8,846,9039,0.15,2.35,0.00,0.000,4,0.084,0.049,2058,3756,3960
$STATE,9126,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9126,begin apogee
$GC,9137,-0.27,0.0,952.3,13.0,850,9231,1.38,0.00,90.80,1.396,6,0.177,0.000,2447,2379,3532
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9235,1.49,121.7,958.0,0.0,855,9347,1.62,2.22,103.85,1.355,4,0.064,0.031,3033,997,3035
$GC,9439,0.87,165.4,955.1,9.9,864,9484,0.80,2.15,37.20,1.315,6,0.213,0.036,2832,2372,2857
$GC,9805,0.81,222.5,922.5,8.9,882,9860,0.00,2.33,48.03,1.321,4,0.000,0.049,2832,3757,2623
$GC,9930,0.62,222.5,907.8,13.1,887,9937,0.35,2.05,0.00,0.000,6,0.186,0.025,2747,2381,2619
$GC,10246,0.99,288.0,881.0,8.3,903,10309,0.30,2.20,54.95,1.312,4,0.068,0.034,2876,988,2356
$GC,10461,0.94,300.1,854.1,12.2,912,10477,0.00,2.25,10.73,1.165,6,0.000,0.031,2876,2441,2308
$GC,10796,0.85,303.8,810.9,12.8,929,10806,0.17,2.28,4.32,0.864,4,0.187,0.031,2829,956,2293
$GC,10820,0.87,316.4,807.8,12.1,930,10841,0.00,2.30,12.45,1.183,6,0.000,0.032,2829,2446,2241
$GC,11151,0.96,338.7,769.1,11.4,946,11176,0.00,2.10,19.95,1.226,4,0.000,0.052,2829,3751,2151
$GC,11242,0.96,338.7,757.8,13.3,950,11246,0.00,1.92,0.00,0.000,6,0.000,0.025,2829,2471,2148
$GC,11576,1.11,368.1,719.6,10.9,966,11607,0.17,2.30,26.02,1.217,4,0.079,0.032,2912,982,2030
$GC,11654,1.05,368.1,708.9,14.5,969,11660,0.00,2.30,0.00,0.000,6,0.000,0.032,2912,2460,2027
$GC,11970,0.96,368.1,664.0,14.1,985,11975,0.20,2.25,0.00,0.000,4,0.179,0.029,2865,982,2023
$GC,11992,0.97,379.8,660.9,12.2,986,12009,0.00,2.25,10.43,1.101,6,0.000,0.031,2865,2448,1983
$GC,12320,1.05,382.7,619.6,12.8,1002,12323,0.00,2.05,0.00,0.000,4,0.000,0.050,2865,3756,1978
$GC,12359,1.05,382.7,613.5,14.2,1003,12365,0.00,1.92,0.00,0.000,6,0.000,0.025,2872,2446,1978
$GC,12675,1.15,400.6,573.6,11.8,1019,12706,0.12,2.20,20.40,1.036,4,0.088,0.032,2926,990,1899
$GC,12820,1.17,410.8,554.5,12.3,1025,12835,0.00,2.25,10.57,1.036,6,0.000,0.033,2926,2447,1857
$GC,13154,1.12,410.8,509.0,14.1,1042,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2447,1852
$GC,13469,1.07,410.8,461.7,14.8,1068,13473,0.15,2.22,0.00,0.000,4,0.173,0.029,2897,979,1851
$GC,13542,1.23,410.8,451.2,13.7,1074,13547,0.12,2.22,0.00,0.000,6,0.087,0.031,2946,2436,1851
$GC,13868,1.16,424.4,406.5,12.1,1104,13889,0.00,2.28,12.02,0.967,4,0.000,0.031,2954,980,1800
$GC,13918,1.12,431.9,400.2,12.5,1108,13935,0.20,2.17,8.23,0.894,6,0.178,0.032,2903,2407,1769
$GC,14254,1.31,435.8,360.7,12.8,1140,14266,0.17,2.12,4.50,0.714,4,0.074,0.049,2977,3754,1755
$GC,14296,1.12,435.8,354.1,16.5,1143,14302,0.30,1.95,0.00,0.000,6,0.185,0.023,2908,2418,1754
$GC,14621,1.44,471.2,314.8,10.5,1174,14658,0.25,2.12,30.73,0.930,4,0.067,0.046,3011,3749,1611
$GC,14723,1.21,471.2,300.6,14.7,1182,14730,0.32,2.05,0.00,0.000,6,0.179,0.024,2935,2376,1608
$GC,15072,1.52,495.5,260.3,11.3,1243,15101,0.22,2.20,21.17,0.863,4,0.067,0.048,3028,3753,1512
$GC,15208,1.30,495.5,237.0,17.9,1267,15215,0.28,2.00,0.00,0.000,6,0.181,0.023,2967,2394,1509
$GC,15555,1.57,495.5,187.8,13.7,1328,15561,0.20,2.15,0.00,0.000,4,0.074,0.044,3052,3759,1507
$GC,15620,1.26,495.5,177.5,18.2,1339,15627,0.40,1.92,0.00,0.000,6,0.185,0.023,2956,2426,1507
$GC,15966,1.59,523.5,138.7,11.0,1400,16000,0.25,2.22,24.27,0.756,4,0.068,0.029,3073,967,1397
$GC,16036,1.42,523.5,129.2,14.8,1412,16042,0.25,2.12,0.00,0.000,6,0.186,0.028,3009,2370,1395
$GC,16381,1.52,545.6,82.0,11.5,1473,16405,0.00,2.20,18.92,0.693,4,0.000,0.044,3009,3748,1306
$GC,16448,1.52,545.6,73.4,14.8,1484,16454,0.00,2.05,0.00,0.000,6,0.000,0.021,3017,2349,1305
$GC,16792,1.66,590.8,33.6,9.8,1545,16837,0.17,2.05,38.55,0.653,4,0.068,0.025,3105,969,1121
$GC,16863,1.60,590.8,23.1,15.3,1557,16869,0.17,2.15,0.00,0.000,6,0.176,0.028,3061,2391,1120
$STATE,17021,end climb,SURFACE_DEPTH_REACHED
$STATE,17021,begin surface coast
$FINISH,1.5,1.022100
$STATE,17094,end surface coast,CONTROL_FINISHED_OK
$STATE,17094,begin surface
$SM_CCo,17174,0.00,0.000,0,0,1112,593.63
$SM_GC,2.23,8.02,0.00,0.00,0.064,0.000,0.000,139,2404,1112,-7.50,0.57,593.63
$IRIDIUM_FIX,2434.69,12353.25,311098,141420
$TT8_MAMPS,0.029146
$HUMID,1719
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.70
$XPDR_PINGS,7
$24V_AH,22.4,80.316
$10V_AH,10.6,43.059
$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,30.675,163.275,608.100,0.000,0.000,47.474,116.539,384.893,9.500,0.000,0.000,16.454,2638.819,10736.449,714.381,2820.771,1046.670,29.242,2202.392,0.000,2754.231,0.000,54.959,0.000
$DEVICE_MAMPS,218.595,52.156,1395.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.548,1110.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85238,1598
$CAP_FILE_SIZE,194331,0
$CFSIZE,260165632,188723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070809,003157,2442.740,12350.364,33,3.1,53,-3.6