version: 66.04
glider: 167
mission: 2
dive: 472
start: 8 8 109 1 47 34
data:
$ID,167
$MISSION,2
$DIVE,472
$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,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,-15232.674
$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,80
$R_STBD_OVSHOOT,48
$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
$GPS1,013754,2448.386,12352.444,42,1.2,43,-3.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-55.1
$GPS2,014710,2448.412,12352.497,15,99.0,34,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2433.700,12329.700
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,229.5,47084,-24.8,-13.043
$D_GRID,1896
$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,-47.22,0.000,2,0.000,0.000,142,2408,2258
$GC,68,-1.49,-121.7,3.0,-2.7,8,136,7.95,2.15,-53.53,0.000,4,0.235,0.041,2060,993,3989
$GC,340,-1.02,-121.7,53.6,-16.2,55,347,0.57,2.08,0.00,0.000,6,0.163,0.027,2215,2397,3990
$GC,687,-1.12,-121.7,99.0,-11.4,116,693,0.00,2.05,0.00,0.000,4,0.000,0.041,2206,3750,3991
$GC,773,-1.18,-121.7,111.0,-12.0,131,780,0.12,1.98,0.00,0.000,6,0.077,0.021,2154,2330,3991
$GC,1119,-1.23,-121.7,160.2,-7.0,192,1125,0.00,2.17,0.00,0.000,4,0.000,0.041,2150,3751,3992
$GC,1212,-1.05,-121.7,168.1,-9.9,208,1218,0.20,1.95,0.00,0.000,6,0.156,0.021,2203,2346,3992
$GC,1559,-1.28,-121.7,202.2,-11.5,269,1566,0.17,1.90,0.00,0.000,4,0.063,0.022,2125,1005,3993
$GC,1599,-1.18,-121.7,207.2,-13.6,275,1605,0.15,2.03,0.00,0.000,6,0.169,0.026,2162,2391,3993
$GC,1947,-1.33,-121.7,243.7,-10.5,336,1954,0.15,2.05,0.00,0.000,4,0.069,0.041,2097,3748,3994
$GC,2029,-1.06,-121.7,254.8,-14.1,350,2036,0.38,1.88,0.00,0.000,6,0.163,0.020,2202,2386,3994
$GC,2376,-1.35,-121.7,285.3,-8.1,411,2382,0.22,1.95,0.00,0.000,4,0.058,0.022,2104,1014,3994
$GC,2434,-1.16,-121.7,292.0,-12.3,421,2442,0.25,1.98,0.00,0.000,6,0.160,0.025,2166,2366,3994
$GC,2773,-1.35,-121.7,325.1,-9.0,459,2777,0.17,2.10,0.00,0.000,4,0.069,0.041,2093,3752,3993
$GC,2808,-1.14,-121.7,328.7,-11.1,461,2816,0.30,1.92,0.00,0.000,6,0.164,0.020,2176,2365,3994
$GC,3134,-1.37,-121.7,360.2,-9.9,492,3138,0.20,1.92,0.00,0.000,4,0.063,0.022,2088,1014,3993
$GC,3181,-1.16,-121.7,365.9,-13.1,496,3186,0.30,1.98,0.00,0.000,6,0.158,0.027,2168,2352,3994
$GC,3507,-1.39,-121.7,399.7,-9.9,526,3516,0.20,2.12,0.00,0.000,4,0.065,0.041,2072,3753,3993
$GC,3536,-1.33,-121.7,402.9,-11.6,528,3540,0.17,1.98,0.00,0.000,6,0.170,0.021,2117,2341,3993
$GC,3866,-1.33,-121.7,440.9,-12.2,559,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2341,3993
$GC,4189,-1.37,-121.7,475.4,-10.2,589,4193,0.00,2.17,0.00,0.000,4,0.000,0.042,2110,3756,3992
$GC,4258,-1.24,-121.7,483.0,-10.3,595,4263,0.12,1.98,0.00,0.000,6,0.166,0.022,2141,2362,3992
$GC,4600,-1.39,-121.7,512.8,-9.2,620,4604,0.12,1.95,0.00,0.000,4,0.078,0.024,2090,1006,3990
$GC,4651,-1.24,-121.7,518.6,-10.4,622,4655,0.22,1.98,0.00,0.000,6,0.162,0.027,2145,2340,3990
$GC,4982,-1.42,-121.7,549.3,-9.4,638,4987,0.17,1.95,0.00,0.000,4,0.069,0.024,2077,1003,3989
$GC,5039,-1.25,-121.7,556.0,-12.0,640,5043,0.25,1.95,0.00,0.000,6,0.163,0.028,2140,2318,3988
$GC,5361,-1.44,-121.7,584.6,-8.7,656,5365,0.17,1.92,0.00,0.000,4,0.070,0.024,2062,1001,3986
$GC,5384,-1.44,-121.7,587.1,-10.3,657,5388,0.00,1.92,0.00,0.000,6,0.000,0.028,2057,2297,3986
$GC,5718,-1.28,-121.7,623.9,-11.0,673,5722,0.22,2.22,0.00,0.000,4,0.167,0.044,2124,3750,3984
$GC,5797,-1.28,-121.7,632.1,-10.0,676,5803,0.00,2.08,0.00,0.000,6,0.000,0.021,2124,2276,3983
$GC,6114,-1.42,-121.7,663.2,-10.1,692,6118,0.10,1.83,0.00,0.000,4,0.087,0.025,2083,1007,3981
$GC,6166,-1.29,-121.7,669.5,-12.4,694,6170,0.17,1.90,0.00,0.000,6,0.166,0.029,2123,2284,3980
$GC,6498,-1.44,-121.7,705.0,-10.4,710,6502,0.12,2.28,0.00,0.000,4,0.082,0.046,2071,3754,3979
$GC,6566,-1.23,-121.7,714.2,-13.3,713,6570,0.28,2.12,0.00,0.000,6,0.166,0.023,2146,2269,3977
$GC,6890,-1.44,-121.7,746.2,-10.1,729,6894,0.17,1.83,0.00,0.000,4,0.072,0.027,2071,1012,3975
$GC,6940,-1.27,-121.7,752.6,-12.6,731,6944,0.22,1.88,0.00,0.000,6,0.168,0.032,2131,2263,3975
$GC,7271,-1.44,-121.7,785.2,-9.2,747,7276,0.15,2.33,0.00,0.000,4,0.080,0.047,2071,3757,3973
$GC,7293,-1.44,-121.7,788.0,-10.0,748,7297,0.00,2.17,0.00,0.000,6,0.000,0.022,2071,2238,3972
$GC,7616,-1.30,-121.7,820.8,-9.5,764,7621,0.17,2.38,0.00,0.000,4,0.168,0.044,2113,3749,3970
$GC,7694,-1.22,-121.7,828.2,-8.4,767,7701,0.15,2.15,0.00,0.000,6,0.169,0.023,2150,2251,3970
$GC,8013,-1.46,-121.7,850.8,-7.4,783,8017,0.17,1.80,0.00,0.000,4,0.074,0.026,2076,1015,3967
$GC,8120,-1.33,-121.7,861.8,-10.8,787,8126,0.17,1.83,0.00,0.000,6,0.169,0.032,2116,2228,3968
$GC,8437,-1.45,-121.7,889.3,-8.9,803,8442,0.12,2.38,0.00,0.000,4,0.087,0.047,2069,3748,3965
$GC,8685,-1.21,-121.7,919.6,-12.6,814,8690,0.30,2.17,0.00,0.000,6,0.171,0.022,2149,2235,3964
$GC,9008,-1.42,-121.7,949.1,-9.3,830,9013,0.17,2.40,0.00,0.000,4,0.076,0.047,2071,3750,3962
$GC,9066,-1.18,-121.7,956.2,-13.0,832,9073,0.32,2.17,0.00,0.000,6,0.168,0.024,2160,2246,3962
$STATE,9131,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9131,begin apogee
$GC,9140,-0.27,0.0,963.4,10.2,836,9242,0.95,0.00,93.72,1.377,6,0.142,0.000,2451,2367,3531
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9243,begin climb
$GC,9246,1.49,121.7,970.0,0.0,841,9358,1.60,2.35,104.05,1.360,4,0.067,0.044,3018,3758,3034
$GC,9438,0.69,183.4,971.1,8.6,849,9496,1.02,2.05,51.85,1.333,6,0.221,0.022,2774,2378,2784
$GC,9819,0.78,261.4,944.0,7.4,868,9891,0.00,2.33,65.18,1.334,4,0.000,0.049,2773,3748,2465
$GC,9981,0.82,290.7,927.8,10.9,875,10011,0.00,2.03,25.98,1.281,6,0.000,0.023,2776,2396,2347
$GC,10325,1.00,311.4,888.7,11.6,891,10350,0.22,2.25,18.05,1.253,4,0.074,0.048,2870,3751,2262
$GC,10463,0.79,311.4,866.5,16.5,897,10468,0.30,2.00,0.00,0.000,6,0.184,0.024,2801,2399,2258
$GC,10793,0.93,331.3,826.6,11.6,913,10817,0.12,2.25,17.67,1.241,4,0.091,0.049,2846,3757,2180
$GC,10888,0.83,331.3,812.5,15.6,917,10892,0.17,1.92,0.00,0.000,6,0.188,0.025,2813,2459,2178
$GC,11221,0.96,349.6,773.0,11.7,933,11245,0.12,2.30,16.65,1.216,4,0.091,0.031,2868,983,2105
$GC,11257,0.96,349.6,768.2,13.1,934,11262,0.00,2.30,0.00,0.000,6,0.000,0.031,2868,2464,2105
$GC,11573,0.96,349.6,724.6,13.5,949,11577,0.00,2.03,0.00,0.000,4,0.000,0.050,2868,3761,2101
$GC,11630,0.85,349.6,716.1,14.9,951,11634,0.20,1.88,0.00,0.000,6,0.186,0.024,2821,2491,2101
$GC,11953,1.00,364.5,676.9,12.0,967,11975,0.15,2.33,13.45,1.152,4,0.084,0.033,2882,983,2045
$GC,12038,1.00,364.5,664.5,14.6,970,12044,0.00,2.33,0.00,0.000,6,0.000,0.031,2882,2493,2043
$GC,12357,1.00,364.5,619.5,13.9,986,12361,0.00,1.98,0.00,0.000,4,0.000,0.051,2882,3756,2041
$GC,12408,0.87,364.5,611.4,14.3,988,12412,0.25,1.80,0.00,0.000,6,0.183,0.025,2825,2517,2041
$GC,12736,1.21,403.4,575.8,10.2,1004,12780,0.28,2.05,33.62,1.142,4,0.068,0.051,2936,3746,1886
$GC,12820,0.99,403.4,562.6,15.9,1007,12827,0.30,1.92,0.00,0.000,6,0.187,0.024,2866,2444,1883
$GC,13137,1.21,403.5,521.6,13.0,1023,13141,0.17,2.08,0.00,0.000,4,0.078,0.048,2938,3746,1879
$GC,13250,1.00,403.5,502.7,16.7,1028,13254,0.30,1.80,0.00,0.000,6,0.183,0.025,2866,2505,1879
$GC,13578,1.32,442.1,464.3,10.3,1058,13613,0.25,0.00,32.92,1.056,6,0.070,0.000,2967,2504,1729
$GC,13928,1.16,442.1,412.7,15.8,1091,13933,0.17,2.30,0.00,0.000,4,0.187,0.028,2928,972,1722
$GC,14007,1.16,442.1,401.3,14.2,1097,14015,0.00,2.22,0.00,0.000,6,0.000,0.031,2929,2430,1721
$GC,14335,1.16,442.1,353.0,14.6,1128,14338,0.00,2.08,0.00,0.000,4,0.000,0.050,2928,3754,1720
$GC,14375,1.11,442.1,346.7,15.1,1131,14382,0.15,1.92,0.00,0.000,6,0.189,0.025,2899,2426,1720
$GC,14702,1.36,470.0,308.8,11.0,1162,14734,0.20,2.20,23.15,0.917,4,0.074,0.031,2991,990,1615
$GC,14849,1.26,470.0,286.5,15.5,1182,14856,0.17,2.33,0.00,0.000,6,0.185,0.031,2950,2500,1610
$GC,15196,1.26,470.0,235.3,13.9,1243,15202,0.00,2.30,0.00,0.000,4,0.000,0.030,2956,972,1609
$GC,15322,1.38,501.6,219.5,10.8,1265,15353,0.00,2.25,26.95,0.838,6,0.000,0.031,2956,2453,1487
$GC,15695,1.61,501.6,172.6,13.3,1330,15702,0.28,2.22,0.00,0.000,4,0.064,0.030,3075,982,1482
$GC,15817,1.36,501.6,150.3,19.5,1351,15824,0.35,2.10,0.00,0.000,6,0.187,0.030,2983,2374,1481
$GC,16167,1.53,520.6,108.4,11.7,1412,16191,0.15,2.10,16.88,0.716,4,0.079,0.028,3048,975,1408
$GC,16316,1.44,520.6,88.1,14.6,1438,16323,0.15,2.20,0.00,0.000,6,0.180,0.029,3012,2436,1406
$GC,16662,1.52,520.6,44.3,14.9,1499,16668,0.00,2.17,0.00,0.000,4,0.000,0.028,3020,971,1405
$GC,16850,1.52,523.4,18.2,12.8,1532,16856,0.00,2.12,0.00,0.000,6,0.000,0.027,3020,2406,1405
$STATE,16983,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,1.5,1.001309
$STATE,17013,end surface coast,CONTROL_FINISHED_OK
$STATE,17013,begin surface
$SM_CCo,17093,0.00,0.000,0,0,1404,522.00
$SM_GC,2.48,7.78,0.00,0.00,0.058,0.000,0.000,140,2418,1404,-7.50,0.99,522.00
$IRIDIUM_FIX,2439.44,12354.57,011198,202056
$TT8_MAMPS,0.029146
$HUMID,1715
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,23.2,81.645
$10V_AH,10.6,43.671
$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,31.475,162.525,540.125,0.000,0.000,30.260,41.163,284.452,8.250,0.000,0.000,35.319,2829.844,10422.794,684.203,2826.883,868.927,0.000,2136.733,0.000,2744.481,0.000,52.773,0.000
$DEVICE_MAMPS,235.469,64.428,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.816,1073.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85336,1561
$CAP_FILE_SIZE,189683,0
$CFSIZE,260165632,188170240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164, 36.8,1
$GPS,080809,063401,2448.938,12352.397,56,1.2,57,-3.6