version: 66.04
glider: 167
mission: 2
dive: 473
start: 8 8 109 6 43 34
data:
$ID,167
$MISSION,2
$DIVE,473
$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,-15267.948
$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,76
$R_STBD_OVSHOOT,50
$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
$GPS1,063401,2448.938,12352.397,56,1.2,57,-3.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-57.6
$GPS2,064310,2449.159,12352.352,14,2.1,33,-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,226.4,47702,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,59,0.00,0.00,-40.65,0.000,2,0.000,0.000,140,2418,2402
$GC,63,-1.49,-121.7,3.0,-2.7,7,124,8.02,2.17,-47.45,0.000,4,0.236,0.038,2061,985,3989
$GC,250,-0.99,-121.7,39.6,-21.9,39,257,0.60,2.08,0.00,0.000,6,0.176,0.026,2217,2384,3990
$GC,595,-1.04,-121.7,83.1,-12.3,100,603,0.00,2.03,0.00,0.000,4,0.000,0.025,2218,990,3991
$GC,656,-1.11,-121.7,90.1,-12.8,110,662,0.00,2.05,0.00,0.000,6,0.000,0.026,2210,2385,3991
$GC,1002,-1.35,-121.7,130.8,-10.5,171,1009,0.25,2.03,0.00,0.000,4,0.057,0.022,2097,985,3992
$GC,1072,-1.05,-121.7,141.1,-16.0,183,1080,0.40,2.03,0.00,0.000,6,0.158,0.028,2202,2360,3992
$GC,1421,-1.31,-121.7,179.0,-8.3,244,1428,0.20,2.12,0.00,0.000,4,0.060,0.041,2111,3763,3994
$GC,1453,-1.19,-121.7,182.1,-10.5,249,1460,0.17,2.03,0.00,0.000,6,0.164,0.020,2156,2300,3994
$GC,1800,-1.30,-121.7,214.9,-9.0,310,1805,0.00,1.88,0.00,0.000,4,0.000,0.023,2156,972,3994
$GC,1859,-1.30,-121.7,220.7,-10.0,320,1866,0.00,1.98,0.00,0.000,6,0.000,0.025,2152,2327,3994
$GC,2206,-1.43,-121.7,256.3,-9.7,381,2213,0.17,1.95,0.00,0.000,4,0.068,0.023,2070,982,3995
$GC,2259,-1.16,-121.7,262.8,-12.2,390,2266,0.35,1.92,0.00,0.000,6,0.160,0.027,2168,2297,3995
$GC,2605,-1.34,-121.7,295.7,-10.8,451,2611,0.17,0.00,0.00,0.000,6,0.067,0.000,2091,2299,3995
$GC,2935,-1.26,-121.7,333.2,-11.5,485,2940,0.17,2.22,0.00,0.000,4,0.158,0.041,2137,3763,3995
$GC,2969,-1.21,-121.7,337.3,-11.4,487,2975,0.00,2.10,0.00,0.000,6,0.000,0.020,2137,2262,3994
$GC,3298,-1.31,-121.7,370.4,-10.0,518,3302,0.00,1.83,0.00,0.000,4,0.000,0.025,2137,976,3994
$GC,3349,-1.31,-121.7,376.5,-11.3,522,3355,0.00,1.92,0.00,0.000,6,0.000,0.026,2130,2292,3995
$GC,3679,-1.42,-121.7,410.7,-10.4,553,3683,0.12,2.22,0.00,0.000,4,0.079,0.042,2071,3751,3994
$GC,3713,-1.18,-121.7,415.5,-12.8,556,3718,0.32,2.12,0.00,0.000,6,0.163,0.021,2161,2240,3994
$GC,4040,-1.42,-121.7,448.4,-10.0,586,4045,0.20,1.80,0.00,0.000,4,0.065,0.024,2075,980,3993
$GC,4064,-1.42,-121.7,451.1,-10.4,588,4068,0.00,1.90,0.00,0.000,6,0.000,0.028,2071,2268,3993
$GC,4398,-1.25,-121.7,487.7,-10.2,619,4402,0.22,2.28,0.00,0.000,4,0.163,0.041,2128,3754,3992
$GC,4526,-1.17,-121.7,500.3,-10.1,629,4532,0.15,2.15,0.00,0.000,6,0.160,0.022,2166,2246,3992
$GC,4843,-1.42,-121.7,528.5,-8.9,645,4847,0.20,1.83,0.00,0.000,4,0.066,0.025,2082,976,3990
$GC,4957,-1.25,-121.7,541.4,-11.6,650,4962,0.15,1.90,0.00,0.000,6,0.159,0.030,2136,2230,3990
$GC,5294,-1.40,-121.7,572.1,-8.8,666,5299,0.12,2.35,0.00,0.000,4,0.080,0.044,2085,3756,3987
$GC,5390,-1.21,-121.7,583.2,-11.4,670,5394,0.25,2.20,0.00,0.000,6,0.162,0.022,2153,2213,3987
$GC,5708,-1.46,-121.7,614.1,-10.3,685,5712,0.20,1.77,0.00,0.000,4,0.067,0.025,2069,982,3985
$GC,5770,-1.29,-121.7,622.2,-12.8,687,5776,0.22,1.85,0.00,0.000,6,0.165,0.029,2124,2230,3985
$GC,6089,-1.40,-121.7,654.6,-9.1,703,6093,0.00,2.35,0.00,0.000,4,0.000,0.046,2124,3750,3982
$GC,6157,-1.40,-121.7,661.5,-9.4,706,6161,0.00,2.20,0.00,0.000,6,0.000,0.021,2124,2208,3982
$GC,6480,-1.52,-121.7,690.2,-8.8,722,6484,0.17,1.75,0.00,0.000,4,0.069,0.025,2046,994,3979
$GC,6566,-1.28,-121.7,700.1,-11.7,725,6573,0.32,1.83,0.00,0.000,6,0.170,0.031,2131,2212,3979
$GC,6883,-1.48,-121.7,730.0,-9.3,741,6888,0.17,2.40,0.00,0.000,4,0.074,0.047,2057,3754,3976
$GC,6918,-1.22,-121.7,734.1,-12.9,742,6925,0.35,2.25,0.00,0.000,6,0.172,0.023,2152,2186,3976
$GC,7235,-1.40,-121.7,763.1,-8.9,758,7239,0.17,1.75,0.00,0.000,4,0.072,0.025,2079,981,3974
$GC,7274,-1.28,-121.7,766.7,-9.8,759,7281,0.22,1.83,0.00,0.000,6,0.165,0.031,2131,2200,3974
$GC,7592,-1.47,-121.7,793.5,-8.3,775,7596,0.17,2.42,0.00,0.000,4,0.077,0.048,2056,3748,3972
$GC,7608,-1.47,-121.7,795.3,-8.7,775,7614,0.00,2.30,0.00,0.000,6,0.000,0.023,2056,2159,3971
$GC,7926,-1.29,-121.7,830.1,-10.8,791,7931,0.22,2.50,0.00,0.000,4,0.172,0.045,2112,3743,3969
$GC,8054,-1.22,-121.7,843.3,-10.7,796,8061,0.15,2.25,0.00,0.000,6,0.168,0.024,2149,2181,3969
$GC,8372,-1.47,-121.7,869.8,-8.4,812,8376,0.20,1.75,0.00,0.000,4,0.071,0.027,2067,982,3967
$GC,8423,-1.30,-121.7,875.4,-11.2,814,8428,0.25,1.83,0.00,0.000,6,0.167,0.031,2125,2193,3967
$GC,8754,-1.45,-121.7,906.3,-9.3,830,8758,0.15,2.45,0.00,0.000,4,0.083,0.049,2069,3750,3965
$GC,8777,-1.37,-121.7,909.1,-11.0,831,8782,0.12,2.33,0.00,0.000,6,0.181,0.024,2099,2151,3965
$GC,9099,-1.37,-121.7,945.5,-11.1,847,9103,0.00,2.55,0.00,0.000,4,0.000,0.049,2098,3756,3964
$STATE,9123,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9123,begin apogee
$GC,9133,-0.27,0.0,948.9,13.1,848,9229,1.20,0.00,92.00,1.393,6,0.170,0.000,2446,2338,3532
$STATE,9230,end apogee,CONTROL_FINISHED_OK
$STATE,9230,begin climb
$GC,9233,1.49,121.7,955.5,0.0,853,9345,1.62,2.38,103.82,1.352,4,0.063,0.044,3025,3741,3034
$GC,9392,0.69,189.9,958.4,8.2,860,9456,1.08,2.05,57.47,1.323,6,0.221,0.024,2769,2381,2758
$GC,9773,0.84,270.4,930.5,7.3,879,9847,0.12,2.28,67.43,1.324,4,0.094,0.049,2815,3743,2429
$GC,9948,0.78,291.4,911.1,11.5,887,9973,0.00,2.00,19.12,1.246,6,0.000,0.024,2816,2399,2343
$GC,10298,0.80,305.9,870.1,12.0,904,10320,0.00,2.20,12.80,1.205,4,0.000,0.032,2816,982,2284
$GC,10339,0.89,312.5,864.7,12.6,905,10353,0.00,2.20,7.28,1.068,6,0.000,0.031,2815,2409,2257
$GC,10678,0.95,322.2,823.5,12.3,922,10693,0.10,2.15,9.55,1.151,4,0.091,0.051,2856,3757,2218
$GC,10794,0.79,322.2,805.8,15.8,927,10798,0.25,1.95,0.00,0.000,6,0.182,0.026,2801,2438,2215
$GC,11127,0.93,328.2,762.9,12.6,943,11138,0.12,2.10,6.55,1.047,4,0.090,0.048,2847,3755,2193
$GC,11185,0.85,328.2,753.8,15.6,945,11191,0.15,1.90,0.00,0.000,6,0.189,0.024,2819,2467,2192
$GC,11502,0.94,337.8,712.5,12.4,961,11516,0.00,2.08,9.68,1.127,4,0.000,0.051,2819,3758,2154
$GC,11540,0.94,337.8,707.2,13.6,962,11546,0.00,1.88,0.00,0.000,6,0.000,0.027,2827,2484,2153
$GC,11857,1.04,350.0,668.3,12.2,978,11878,0.15,2.33,11.73,1.136,4,0.083,0.031,2885,984,2104
$GC,11890,1.00,350.0,663.5,14.7,979,11894,0.00,2.33,0.00,0.000,6,0.000,0.031,2885,2492,2104
$GC,12207,0.92,350.0,617.8,13.9,994,12209,0.17,0.00,0.00,0.000,6,0.184,0.000,2841,2495,2101
$GC,12516,1.09,380.7,582.1,10.8,1009,12548,0.15,2.08,26.65,1.144,4,0.078,0.051,2896,3756,1979
$GC,12608,0.96,380.7,569.5,15.5,1013,12612,0.20,1.90,0.00,0.000,6,0.186,0.025,2856,2471,1976
$GC,12936,1.16,399.4,531.4,11.7,1029,12959,0.17,2.12,16.95,1.078,4,0.079,0.050,2927,3750,1902
$GC,13016,0.98,399.4,519.2,15.1,1032,13021,0.20,1.83,0.00,0.000,6,0.178,0.024,2868,2522,1900
$GC,13345,1.22,417.5,479.2,11.7,1056,13368,0.20,2.03,16.42,1.037,4,0.075,0.048,2942,3757,1827
$GC,13392,1.05,417.5,472.0,17.3,1060,13400,0.25,1.75,0.00,0.000,6,0.184,0.024,2885,2562,1827
$GC,13718,1.16,430.3,429.2,12.1,1091,13734,0.00,1.92,11.88,0.972,4,0.000,0.051,2886,3757,1776
$GC,13808,1.16,430.3,417.2,13.7,1098,13814,0.00,1.80,0.00,0.000,6,0.000,0.025,2894,2521,1774
$GC,14137,1.39,430.3,375.5,13.1,1129,14141,0.25,1.95,0.00,0.000,4,0.070,0.047,2996,3754,1772
$GC,14165,1.23,430.3,370.6,17.3,1131,14172,0.25,1.92,0.00,0.000,6,0.190,0.023,2943,2430,1772
$GC,14492,1.17,430.3,324.8,13.8,1162,14496,0.00,2.15,0.00,0.000,4,0.000,0.029,2952,972,1772
$GC,14542,1.12,430.3,317.7,13.0,1166,14549,0.17,2.20,0.00,0.000,6,0.179,0.031,2908,2429,1772
$GC,14879,1.29,446.5,278.0,11.9,1213,14903,0.15,2.22,14.70,0.871,4,0.081,0.031,2971,987,1710
$GC,14998,1.22,446.5,261.5,15.4,1233,15005,0.15,2.25,0.00,0.000,6,0.182,0.030,2935,2463,1709
$GC,15345,1.37,459.7,215.1,12.1,1294,15365,0.15,2.08,12.48,0.805,4,0.074,0.045,2993,3764,1656
$GC,15459,1.16,459.7,197.8,15.7,1313,15465,0.30,1.88,0.00,0.000,6,0.181,0.024,2924,2464,1654
$GC,15806,1.45,475.3,152.3,11.9,1374,15826,0.20,2.10,13.62,0.756,4,0.070,0.046,3010,3759,1593
$GC,15857,1.24,475.3,144.5,16.9,1382,15863,0.28,1.83,0.00,0.000,6,0.177,0.024,2947,2490,1592
$GC,16203,1.52,506.9,103.8,10.8,1443,16239,0.22,2.30,27.38,0.734,4,0.068,0.030,3050,985,1463
$GC,16258,1.37,506.9,94.7,18.7,1452,16265,0.25,2.20,0.00,0.000,6,0.173,0.029,2984,2433,1462
$GC,16606,1.60,507.3,52.1,13.0,1513,16613,0.17,2.05,0.00,0.000,4,0.074,0.045,3063,3753,1460
$GC,16689,1.43,507.3,39.3,14.4,1527,16695,0.25,1.92,0.00,0.000,6,0.187,0.021,3007,2428,1459
$STATE,16979,end climb,SURFACE_DEPTH_REACHED
$STATE,16980,begin surface coast
$FINISH,1.8,1.022080
$STATE,17031,end surface coast,CONTROL_FINISHED_OK
$STATE,17032,begin surface
$SM_CCo,17112,0.00,0.000,0,0,1457,509.00
$SM_GC,2.40,7.75,0.00,0.00,0.058,0.000,0.000,140,2424,1457,-7.50,1.16,509.00
$IRIDIUM_FIX,2439.44,12351.28,021198,010140
$TT8_MAMPS,0.029146
$HUMID,1735
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,22.5,81.851
$10V_AH,10.6,43.772
$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,32.100,169.775,537.500,0.000,0.000,31.363,35.581,286.752,8.250,0.000,0.000,34.646,2856.480,10435.489,679.564,2807.061,868.426,0.000,2135.214,0.000,2725.104,0.000,51.089,0.000
$DEVICE_MAMPS,236.236,50.622,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.286,1100.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85075,1588
$CAP_FILE_SIZE,193621,0
$CFSIZE,260165632,188076032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 32.1,1
$GPS,080809,113024,2450.191,12352.759,43,1.5,61,-3.7