version: 66.04
glider: 167
mission: 2
dive: 474
start: 8 8 109 11 42 27
data:
$ID,167
$MISSION,2
$DIVE,474
$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,-15300.742
$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,75
$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
$GPS1,113024,2450.191,12352.759,43,1.5,61,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-49.4
$GPS2,114207,2450.573,12352.871,32,1.4,32,-3.7
$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,217.9,49998,-24.8,-13.043
$D_GRID,1905
$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,17,-1.49,-121.7,0.0,0.0,0,41,0.00,0.00,-22.33,0.000,2,0.000,0.000,140,2424,2042
$GC,45,-1.49,-121.7,3.4,-5.5,4,128,8.27,2.12,-66.65,0.000,4,0.245,0.038,2059,982,3988
$GC,176,-0.89,-121.7,19.3,-18.9,25,183,0.75,2.10,0.00,0.000,6,0.187,0.025,2251,2402,3989
$GC,523,-1.18,-121.7,61.8,-11.2,86,530,0.22,2.05,0.00,0.000,4,0.061,0.042,2149,3740,3990
$GC,571,-0.97,-121.7,68.2,-13.6,94,577,0.30,1.95,0.00,0.000,6,0.165,0.021,2230,2344,3990
$GC,918,-1.25,-121.7,104.7,-9.8,155,925,0.22,1.90,0.00,0.000,4,0.057,0.021,2130,1009,3991
$GC,988,-1.05,-121.7,113.6,-12.9,167,995,0.30,1.98,0.00,0.000,6,0.163,0.025,2206,2360,3991
$GC,1335,-1.28,-121.7,148.5,-11.4,228,1343,0.17,2.12,0.00,0.000,4,0.064,0.041,2124,3756,3992
$GC,1419,-1.07,-121.7,160.5,-15.8,242,1426,0.28,1.90,0.00,0.000,6,0.163,0.020,2199,2379,3992
$GC,1767,-1.33,-121.7,200.3,-9.7,303,1773,0.20,1.92,0.00,0.000,4,0.060,0.022,2110,1024,3993
$GC,1837,-1.15,-121.7,209.0,-13.3,315,1843,0.25,1.98,0.00,0.000,6,0.160,0.025,2170,2384,3993
$GC,2184,-1.30,-121.7,246.3,-10.2,376,2191,0.12,1.98,0.00,0.000,4,0.074,0.022,2118,1014,3994
$GC,2226,-1.15,-121.7,251.9,-14.6,383,2233,0.22,1.92,0.00,0.000,6,0.160,0.025,2171,2330,3994
$GC,2573,-1.37,-121.7,291.2,-10.7,444,2581,0.17,2.15,0.00,0.000,4,0.064,0.041,2085,3750,3993
$GC,2618,-1.09,-121.7,297.1,-13.9,451,2624,0.38,2.00,0.00,0.000,6,0.160,0.021,2190,2318,3994
$GC,2951,-1.38,-121.7,330.3,-9.2,484,2953,0.25,0.00,0.00,0.000,6,0.058,0.000,2089,2317,3994
$GC,3272,-1.38,-121.7,366.4,-11.5,514,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2317,3993
$GC,3602,-1.38,-121.7,404.5,-10.8,545,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2317,3993
$GC,3929,-1.38,-121.7,437.1,-9.4,576,3933,0.00,1.88,0.00,0.000,4,0.000,0.025,2089,1024,3992
$GC,3987,-1.20,-121.7,443.0,-10.5,581,3991,0.28,1.90,0.00,0.000,6,0.161,0.026,2160,2318,3992
$GC,4318,-1.42,-121.7,474.6,-9.7,612,4323,0.17,1.88,0.00,0.000,4,0.068,0.022,2082,1024,3992
$GC,4353,-1.27,-121.7,478.5,-11.5,615,4357,0.20,1.88,0.00,0.000,6,0.165,0.027,2134,2297,3992
$GC,4696,-1.41,-121.7,514.0,-10.7,641,4700,0.12,2.20,0.00,0.000,4,0.077,0.043,2081,3744,3990
$GC,4734,-1.20,-121.7,519.6,-13.6,642,4741,0.28,2.05,0.00,0.000,6,0.162,0.021,2157,2288,3990
$GC,5054,-1.43,-121.7,551.7,-10.1,658,5056,0.20,0.00,0.00,0.000,6,0.065,0.000,2078,2287,3989
$GC,5360,-1.43,-121.7,586.4,-10.8,673,5364,0.00,2.28,0.00,0.000,4,0.000,0.044,2071,3750,3986
$GC,5560,-1.18,-121.7,609.7,-11.6,682,5565,0.32,2.08,0.00,0.000,6,0.163,0.022,2161,2294,3985
$GC,5889,-1.41,-121.7,638.5,-8.7,698,5894,0.17,1.83,0.00,0.000,4,0.070,0.024,2083,1021,3983
$GC,5930,-1.29,-121.7,643.1,-11.9,699,5937,0.17,1.85,0.00,0.000,6,0.164,0.028,2127,2269,3983
$GC,6249,-1.44,-121.7,677.8,-11.0,715,6254,0.15,2.28,0.00,0.000,4,0.077,0.045,2068,3750,3980
$GC,6289,-1.20,-121.7,683.4,-13.8,716,6297,0.32,2.10,0.00,0.000,6,0.162,0.021,2158,2274,3979
$GC,6606,-1.47,-121.7,717.0,-10.2,732,6608,0.25,0.00,0.00,0.000,6,0.065,0.000,2061,2274,3977
$GC,6916,-1.31,-121.7,753.8,-12.3,747,6921,0.17,2.33,0.00,0.000,4,0.173,0.046,2110,3750,3975
$GC,7102,-1.21,-121.7,776.3,-11.6,755,7106,0.17,2.05,0.00,0.000,6,0.165,0.024,2155,2325,3974
$GC,7426,-1.47,-121.7,805.6,-8.9,771,7430,0.22,1.90,0.00,0.000,4,0.068,0.026,2064,1021,3972
$GC,7482,-1.30,-121.7,812.3,-12.5,773,7486,0.25,1.88,0.00,0.000,6,0.166,0.031,2125,2268,3971
$GC,7805,-1.47,-121.7,843.2,-9.4,789,7810,0.15,2.30,0.00,0.000,4,0.079,0.048,2067,3740,3969
$GC,7884,-1.21,-121.7,853.6,-13.5,792,7892,0.32,2.10,0.00,0.000,6,0.168,0.023,2156,2279,3968
$GC,8201,-1.49,-121.7,885.1,-9.9,808,8206,0.22,1.83,0.00,0.000,4,0.070,0.025,2066,1022,3966
$GC,8235,-1.33,-121.7,889.6,-13.4,809,8239,0.20,1.85,0.00,0.000,6,0.171,0.032,2114,2250,3966
$GC,8558,-1.33,-121.7,927.8,-11.7,825,8562,0.00,2.33,0.00,0.000,4,0.000,0.048,2110,3737,3965
$GC,8702,-1.24,-121.7,946.2,-12.9,831,8707,0.15,2.10,0.00,0.000,6,0.169,0.023,2147,2280,3964
$GC,9021,-1.45,-121.7,981.2,-10.9,846,9026,0.20,2.33,0.00,0.000,4,0.071,0.048,2058,3744,3962
$STATE,9081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9081,begin apogee
$GC,9091,-0.27,0.0,990.1,14.3,849,9194,1.42,0.00,94.22,1.399,6,0.177,0.000,2454,2381,3532
$STATE,9195,end apogee,CONTROL_FINISHED_OK
$STATE,9195,begin climb
$GC,9198,1.49,121.7,998.2,0.0,854,9311,1.60,2.28,104.50,1.384,4,0.065,0.044,3020,3748,3035
$GC,9436,0.67,168.2,995.0,9.7,865,9483,1.05,2.03,39.88,1.346,6,0.221,0.022,2768,2376,2846
$GC,9797,0.75,234.5,966.7,8.3,882,9861,0.00,2.28,55.78,1.355,4,0.000,0.049,2768,3741,2575
$GC,9975,0.76,241.7,946.6,12.5,890,9988,0.00,2.00,7.00,1.092,6,0.000,0.023,2773,2409,2546
$GC,10310,0.88,262.9,908.6,11.5,906,10335,0.17,2.20,18.73,1.282,4,0.080,0.048,2845,3744,2460
$GC,10387,0.70,262.9,896.5,15.2,909,10392,0.30,1.98,0.00,0.000,6,0.184,0.023,2775,2406,2457
$GC,10711,0.86,297.0,860.0,10.6,925,10746,0.12,2.20,30.05,1.300,4,0.089,0.050,2821,3743,2321
$GC,10833,0.80,304.8,843.7,12.5,930,10846,0.00,1.88,8.18,1.118,6,0.000,0.025,2828,2475,2289
$GC,11156,0.84,336.2,806.2,10.8,946,11190,0.00,2.35,27.45,1.271,4,0.000,0.033,2829,994,2160
$GC,11208,0.98,360.0,800.2,11.3,948,11235,0.00,2.33,21.90,1.233,6,0.000,0.032,2829,2474,2064
$GC,11549,1.08,369.5,759.8,12.4,964,11561,0.17,0.00,8.68,1.108,6,0.074,0.000,2894,2474,2025
$GC,11858,1.01,369.5,712.8,15.5,979,11862,0.00,2.28,0.00,0.000,4,0.000,0.033,2898,984,2022
$GC,11927,0.96,369.5,702.1,14.6,982,11931,0.17,2.28,0.00,0.000,6,0.182,0.034,2853,2460,2021
$GC,12249,1.00,369.5,658.2,13.5,998,12253,0.00,2.00,0.00,0.000,4,0.000,0.050,2853,3742,2021
$GC,12322,1.00,369.5,647.5,14.7,1001,12326,0.00,1.83,0.00,0.000,6,0.000,0.025,2855,2498,2019
$GC,12650,1.08,381.1,606.6,12.2,1017,12666,0.12,2.28,10.68,1.098,4,0.089,0.030,2912,987,1977
$GC,12747,1.03,381.1,593.3,14.2,1020,12751,0.15,2.28,0.00,0.000,6,0.179,0.032,2875,2469,1975
$GC,13063,1.08,383.0,552.4,12.9,1035,13067,0.00,2.25,0.00,0.000,4,0.000,0.031,2882,988,1973
$GC,13171,1.10,394.7,539.1,12.2,1039,13191,0.00,2.20,12.95,1.070,6,0.000,0.033,2882,2422,1922
$GC,13510,1.20,417.4,498.8,11.4,1056,13537,0.15,2.15,20.38,1.068,4,0.081,0.051,2938,3742,1829
$GC,13638,1.04,417.4,480.2,15.4,1067,13643,0.17,1.90,0.00,0.000,6,0.179,0.026,2886,2482,1826
$GC,13969,1.27,432.4,438.2,12.0,1098,13991,0.20,2.05,13.68,0.990,4,0.076,0.049,2968,3734,1768
$GC,14005,1.08,432.4,433.1,15.7,1101,14009,0.32,1.95,0.00,0.000,6,0.184,0.025,2892,2421,1767
$GC,14332,1.31,454.7,393.1,11.4,1131,14359,0.17,2.22,20.48,0.979,4,0.077,0.033,2970,989,1677
$GC,14472,1.21,454.7,372.0,15.4,1143,14478,0.15,2.05,0.00,0.000,6,0.183,0.030,2935,2330,1673
$GC,14797,1.21,454.7,325.2,14.4,1174,14800,0.00,2.22,0.00,0.000,4,0.000,0.048,2935,3752,1671
$GC,14881,1.14,454.7,312.7,13.4,1181,14887,0.12,2.00,0.00,0.000,6,0.192,0.024,2911,2378,1671
$GC,15221,1.39,468.0,271.2,12.1,1233,15239,0.20,2.17,11.48,0.833,4,0.071,0.046,2995,3753,1623
$GC,15340,1.18,468.0,254.4,14.8,1253,15347,0.30,1.90,0.00,0.000,6,0.179,0.024,2926,2438,1621
$GC,15687,1.40,468.0,211.6,13.2,1314,15695,0.17,2.15,0.00,0.000,4,0.071,0.028,3008,983,1621
$GC,15770,1.29,468.0,199.0,15.9,1328,15778,0.17,2.17,0.00,0.000,6,0.177,0.029,2966,2433,1621
$GC,16117,1.41,507.7,152.7,10.2,1389,16158,0.00,2.08,34.28,0.775,4,0.000,0.045,2966,3754,1460
$GC,16253,1.49,524.3,137.3,11.9,1412,16273,0.15,1.83,14.90,0.721,6,0.077,0.023,3028,2486,1393
$GC,16613,1.49,524.3,86.3,13.5,1475,16619,0.00,2.00,0.00,0.000,4,0.000,0.046,3027,3760,1389
$GC,16769,1.43,524.3,64.4,14.4,1502,16776,0.12,1.90,0.00,0.000,6,0.178,0.022,3005,2447,1389
$GC,17115,1.43,524.3,24.3,13.9,1563,17121,0.00,2.15,0.00,0.000,4,0.000,0.028,3014,973,1388
$STATE,17306,end climb,SURFACE_DEPTH_REACHED
$STATE,17306,begin surface coast
$FINISH,1.7,1.006927
$STATE,17323,end surface coast,CONTROL_FINISHED_OK
$STATE,17323,begin surface
$SM_CCo,17405,0.00,0.000,0,0,1386,526.41
$SM_GC,2.53,7.60,0.00,0.00,0.048,0.000,0.000,141,2401,1386,-7.50,0.51,526.41
$IRIDIUM_FIX,2439.44,12403.13,021198,111103
$TT8_MAMPS,0.029146
$HUMID,1695
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,5
$24V_AH,22.6,82.069
$10V_AH,10.6,43.876
$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,32.175,153.125,555.150,0.000,0.000,53.908,79.013,304.423,9.250,0.000,0.000,32.167,2875.176,10689.263,685.808,2880.396,957.508,0.000,2156.252,0.000,2795.453,0.000,57.850,0.000
$DEVICE_MAMPS,244.673,51.389,1399.008,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.583,1112.608,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85219,1600
$CAP_FILE_SIZE,190666,0
$CFSIZE,260165632,187981824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.245, 32.4,1
$GPS,080809,163337,2451.591,12353.194,27,1.6,28,-3.7