version: 66.04
glider: 167
mission: 2
dive: 476
start: 8 8 109 21 42 10
data:
$ID,167
$MISSION,2
$DIVE,476
$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,-15383.179
$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,90
$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
$GPS1,213307,2452.695,12354.261,38,1.6,39,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-51.1
$GPS2,214150,2452.862,12354.583,34,1.4,34,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2446.000,12329.800
$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,227.1,43571,-24.8,-13.043
$D_GRID,1935
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.49,-121.7,0.0,0.0,0,63,0.00,0.00,-41.05,0.000,2,0.000,0.000,140,2420,2347
$GC,66,-1.49,-121.7,3.2,-2.4,7,130,8.20,2.15,-50.25,0.000,4,0.244,0.054,2052,3753,3989
$GC,346,-0.85,-121.7,58.9,-16.9,55,353,0.80,1.95,0.00,0.000,6,0.184,0.021,2269,2372,3991
$GC,692,-1.29,-121.7,96.5,-9.8,116,700,0.35,1.95,0.00,0.000,4,0.053,0.022,2121,1005,3991
$GC,742,-1.09,-121.7,103.3,-15.5,124,750,0.30,2.03,0.00,0.000,6,0.160,0.026,2195,2380,3992
$GC,1092,-1.23,-121.7,144.0,-12.0,185,1098,0.15,2.08,0.00,0.000,4,0.070,0.041,2124,3747,3992
$GC,1173,-0.98,-121.7,156.3,-15.6,199,1180,0.38,1.95,0.00,0.000,6,0.160,0.021,2229,2347,3993
$GC,1521,-1.33,-121.7,189.9,-9.0,260,1528,0.28,1.90,0.00,0.000,4,0.057,0.022,2110,1007,3995
$GC,1546,-1.33,-121.7,192.8,-10.7,264,1554,0.00,1.98,0.00,0.000,6,0.000,0.025,2103,2364,3994
$GC,1894,-1.17,-121.7,237.6,-13.6,325,1900,0.20,2.10,0.00,0.000,4,0.163,0.039,2154,3757,3994
$GC,1966,-1.09,-121.7,246.5,-12.2,337,1972,0.15,1.92,0.00,0.000,6,0.157,0.021,2193,2371,3995
$GC,2314,-1.36,-121.7,280.4,-10.2,398,2320,0.22,0.00,0.00,0.000,6,0.062,0.000,2096,2371,3994
$GC,2655,-1.31,-121.7,320.3,-11.9,444,2659,0.00,2.10,0.00,0.000,4,0.000,0.040,2086,3747,3995
$GC,2713,-1.02,-121.7,328.6,-14.6,449,2718,0.45,1.90,0.00,0.000,6,0.156,0.020,2214,2382,3995
$GC,3040,-1.43,-121.7,364.9,-10.5,479,3045,0.32,1.95,0.00,0.000,4,0.058,0.023,2079,1015,3995
$GC,3084,-1.21,-121.7,370.7,-13.5,482,3091,0.30,2.00,0.00,0.000,6,0.157,0.026,2155,2379,3995
$GC,3411,-1.37,-121.7,403.2,-9.5,513,3416,0.15,1.98,0.00,0.000,4,0.071,0.022,2094,1018,3994
$GC,3447,-1.26,-121.7,407.2,-10.9,516,3451,0.20,1.98,0.00,0.000,6,0.158,0.027,2141,2354,3994
$GC,3778,-1.42,-121.7,438.1,-9.3,547,3782,0.17,2.12,0.00,0.000,4,0.071,0.042,2057,3747,3994
$GC,3822,-1.07,-121.7,443.4,-12.2,550,3829,0.47,1.98,0.00,0.000,6,0.160,0.021,2192,2342,3994
$GC,4149,-1.41,-121.7,471.3,-8.0,581,4153,0.25,1.90,0.00,0.000,4,0.064,0.023,2087,1014,3993
$GC,4189,-1.31,-121.7,475.4,-10.3,584,4197,0.15,1.95,0.00,0.000,6,0.168,0.028,2123,2332,3993
$GC,4527,-1.40,-121.7,508.7,-10.4,612,4530,0.00,2.17,0.00,0.000,4,0.000,0.044,2123,3756,3992
$GC,4628,-1.33,-121.7,520.7,-11.9,616,4632,0.00,2.00,0.00,0.000,6,0.000,0.022,2122,2335,3991
$GC,4952,-1.45,-121.7,554.3,-10.7,632,4956,0.12,1.88,0.00,0.000,4,0.078,0.024,2071,1015,3991
$GC,5008,-1.27,-121.7,561.5,-13.0,634,5012,0.22,1.98,0.00,0.000,6,0.162,0.029,2129,2346,3989
$GC,5333,-1.43,-121.7,595.0,-9.8,650,5337,0.12,1.95,0.00,0.000,4,0.081,0.023,2080,1010,3987
$GC,5357,-1.43,-121.7,597.8,-10.8,651,5361,0.00,1.98,0.00,0.000,6,0.000,0.029,2080,2332,3988
$GC,5691,-1.43,-121.7,632.6,-9.5,667,5694,0.00,2.17,0.00,0.000,4,0.000,0.044,2070,3751,3985
$GC,5832,-1.19,-121.7,648.5,-11.4,673,5837,0.32,2.00,0.00,0.000,6,0.162,0.023,2161,2352,3984
$GC,6158,-1.46,-121.7,676.0,-8.1,689,6162,0.22,1.95,0.00,0.000,4,0.067,0.025,2066,996,3982
$GC,6193,-1.30,-121.7,679.7,-10.5,690,6198,0.25,2.03,0.00,0.000,6,0.163,0.031,2125,2348,3981
$GC,6512,-1.44,-121.7,705.0,-7.7,705,6516,0.12,1.98,0.00,0.000,4,0.084,0.025,2078,1006,3979
$GC,6547,-1.34,-121.7,708.5,-9.8,706,6552,0.15,1.95,0.00,0.000,6,0.167,0.031,2109,2309,3979
$GC,6870,-1.46,-121.7,739.1,-10.3,722,6873,0.00,1.92,0.00,0.000,4,0.000,0.026,2109,1000,3976
$GC,6932,-1.46,-121.7,746.2,-11.6,724,6939,0.00,1.92,0.00,0.000,6,0.000,0.030,2109,2284,3976
$GC,7249,-1.57,-121.7,782.0,-11.5,740,7254,0.17,1.90,0.00,0.000,4,0.076,0.026,2037,1001,3974
$GC,7289,-1.31,-121.7,787.8,-14.8,741,7296,0.32,1.88,0.00,0.000,6,0.175,0.032,2116,2247,3973
$GC,7607,-1.45,-121.7,822.0,-10.5,757,7611,0.12,1.85,0.00,0.000,4,0.085,0.027,2069,997,3971
$GC,7638,-1.38,-121.7,825.7,-13.0,758,7642,0.12,1.85,0.00,0.000,6,0.177,0.032,2097,2226,3971
$GC,7966,-1.38,-121.7,863.4,-11.1,774,7970,0.00,2.40,0.00,0.000,4,0.000,0.048,2097,3761,3969
$GC,8146,-1.23,-121.7,885.4,-12.8,782,8151,0.17,2.20,0.00,0.000,6,0.166,0.024,2142,2237,3968
$GC,8469,-1.46,-121.7,916.9,-9.7,798,8474,0.20,2.40,0.00,0.000,4,0.074,0.048,2057,3750,3966
$GC,8532,-1.17,-121.7,924.8,-13.2,801,8541,0.40,2.20,0.00,0.000,6,0.168,0.025,2167,2235,3966
$GC,8872,-1.49,-121.7,955.5,-9.0,817,8876,0.28,1.80,0.00,0.000,4,0.068,0.027,2059,1002,3964
$GC,8898,-1.49,-121.7,958.2,-10.2,818,8901,0.00,1.88,0.00,0.000,6,0.000,0.034,2057,2236,3964
$STATE,9125,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9125,begin apogee
$GC,9132,-0.27,0.0,987.6,12.5,829,9236,1.40,0.00,94.53,1.397,6,0.173,0.000,2452,2364,3532
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9241,1.49,121.7,994.5,0.0,834,9353,1.62,2.20,104.78,1.379,4,0.069,0.028,3028,985,3034
$GC,9433,0.90,192.8,995.6,7.9,843,9502,0.75,2.17,60.03,1.354,6,0.213,0.033,2842,2376,2744
$GC,9831,0.82,236.6,958.2,9.9,862,9874,0.12,2.30,37.10,1.331,4,0.200,0.050,2811,3754,2566
$GC,9909,0.72,239.4,949.6,12.8,865,9913,0.15,2.05,0.00,0.000,6,0.189,0.023,2781,2389,2563
$GC,10232,0.94,294.0,918.6,9.1,881,10288,0.17,2.25,48.88,1.330,4,0.078,0.032,2854,979,2332
$GC,10430,0.96,313.8,894.3,11.6,890,10452,0.00,2.25,17.50,1.253,6,0.000,0.032,2854,2427,2252
$GC,10761,0.98,325.3,853.3,12.2,906,10777,0.00,2.10,10.73,1.183,4,0.000,0.051,2854,3755,2204
$GC,10805,0.90,325.3,847.1,13.9,907,10809,0.00,1.98,0.00,0.000,6,0.000,0.025,2864,2426,2203
$GC,11133,0.90,325.3,803.5,13.5,923,11135,0.12,0.00,0.00,0.000,6,0.189,0.000,2835,2425,2201
$GC,11442,0.96,327.5,764.4,12.9,938,11446,0.00,2.10,0.00,0.000,4,0.000,0.051,2835,3749,2200
$GC,11520,0.96,327.5,753.3,13.1,941,11524,0.00,1.92,0.00,0.000,6,0.000,0.025,2841,2429,2200
$GC,11844,1.01,327.5,711.2,13.1,957,11848,0.00,2.10,0.00,0.000,4,0.000,0.049,2841,3757,2198
$GC,11914,1.01,327.5,701.5,14.1,960,11917,0.00,1.90,0.00,0.000,6,0.000,0.024,2846,2462,2198
$GC,12248,1.10,352.1,662.2,11.3,976,12277,0.15,2.25,23.25,1.194,4,0.084,0.030,2911,978,2096
$GC,12317,1.03,352.1,653.0,13.6,979,12322,0.12,2.30,0.00,0.000,6,0.181,0.032,2881,2460,2094
$GC,12639,1.05,366.9,613.7,12.0,995,12661,0.00,2.08,13.65,1.118,4,0.000,0.049,2881,3748,2035
$GC,12740,1.00,366.9,599.2,15.2,999,12743,0.00,1.88,0.00,0.000,6,0.000,0.025,2885,2484,2033
$GC,13062,1.00,371.2,556.7,12.7,1015,13071,0.00,2.05,4.93,0.861,4,0.000,0.049,2885,3762,2017
$GC,13101,0.92,371.2,551.5,13.7,1016,13109,0.17,1.85,0.00,0.000,6,0.180,0.025,2841,2496,2017
$GC,13418,1.30,427.3,520.4,9.0,1032,13472,0.30,2.12,48.35,1.107,4,0.066,0.050,2963,3751,1790
$GC,13562,1.08,427.3,500.1,15.8,1038,13568,0.28,1.95,0.00,0.000,6,0.183,0.024,2893,2448,1785
$GC,13889,1.35,457.5,465.5,10.9,1069,13922,0.22,2.25,26.30,1.041,4,0.072,0.031,2993,971,1666
$GC,13998,1.21,457.5,449.7,16.0,1078,14005,0.22,2.42,0.00,0.000,6,0.186,0.034,2938,2524,1661
$GC,14324,1.32,457.5,404.3,13.1,1109,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2524,1658
$GC,14645,1.51,475.2,365.7,11.8,1139,14665,0.25,2.42,14.95,0.940,4,0.067,0.030,3039,973,1594
$GC,14693,1.28,475.2,358.2,15.9,1143,14700,0.30,2.38,0.00,0.000,6,0.182,0.035,2962,2507,1591
$GC,15019,1.35,475.2,315.1,13.5,1174,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2507,1588
$GC,15350,1.50,475.2,269.4,13.7,1223,15356,0.17,1.95,0.00,0.000,4,0.077,0.048,3033,3764,1588
$GC,15364,1.59,475.2,267.3,13.7,1225,15370,0.00,1.83,0.00,0.000,6,0.000,0.023,3042,2492,1588
$GC,15710,1.38,475.2,210.2,16.2,1286,15716,0.20,2.25,0.00,0.000,4,0.183,0.028,2994,967,1588
$GC,15868,1.33,483.8,190.5,12.4,1313,15886,0.00,2.28,8.38,0.741,6,0.000,0.030,2994,2474,1558
$GC,16225,1.33,483.8,143.5,13.7,1376,16233,0.00,2.25,0.00,0.000,4,0.000,0.028,3004,960,1557
$GC,16280,1.34,494.5,136.6,12.3,1385,16297,0.00,2.28,10.52,0.717,6,0.000,0.028,3004,2475,1515
$GC,16638,1.38,520.4,91.2,11.2,1448,16669,0.00,2.00,23.10,0.715,4,0.000,0.044,3004,3764,1409
$GC,16750,1.41,550.6,78.5,10.9,1467,16780,0.00,1.85,25.58,0.693,6,0.000,0.021,3009,2494,1286
$GC,17122,1.54,562.2,34.4,12.2,1532,17136,0.00,2.03,10.35,0.607,4,0.000,0.043,3009,3752,1240
$GC,17200,1.62,562.2,23.4,13.5,1545,17207,0.17,1.95,0.00,0.000,6,0.069,0.021,3081,2390,1239
$STATE,17329,end climb,SURFACE_DEPTH_REACHED
$STATE,17329,begin surface coast
$FINISH,1.7,1.016769
$STATE,17347,end surface coast,CONTROL_FINISHED_OK
$STATE,17347,begin surface
$SM_CCo,17428,0.00,0.000,0,0,1235,563.45
$SM_GC,2.67,7.90,0.00,0.00,0.054,0.000,0.000,141,2384,1235,-7.49,0.06,563.45
$IRIDIUM_FIX,2441.81,12352.60,021198,161605
$TT8_MAMPS,0.029146
$HUMID,1709
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,1
$24V_AH,22.5,82.495
$10V_AH,10.6,44.077
$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,31.675,160.150,582.875,0.000,0.000,24.641,40.464,258.688,8.250,0.000,0.000,34.721,2837.688,10728.688,696.545,2840.460,827.996,0.000,2163.072,0.000,2748.005,0.000,54.435,0.000
$DEVICE_MAMPS,243.906,68.263,1396.707,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.099,1080.445,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85361,1571
$CAP_FILE_SIZE,189818,0
$CFSIZE,260165632,187793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.228, 39.5,1
$GPS,090809,023400,2453.742,12354.891,44,1.0,45,-3.7