version: 66.04
glider: 167
mission: 2
dive: 477
start: 8 9 109 2 42 30
data:
$ID,167
$MISSION,2
$DIVE,477
$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,-15415.055
$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,96
$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
$GPS1,023400,2453.742,12354.891,44,1.0,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-52.7
$GPS2,024210,2453.771,12355.010,11,3.7,30,-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,227.2,44771,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,62,0.00,0.00,-43.58,0.000,2,0.000,0.000,141,2385,2322
$GC,67,-1.49,-121.7,3.1,-2.8,7,140,8.27,0.00,-59.40,0.000,6,0.246,0.000,2062,2384,3983
$GC,480,-1.07,-121.7,70.8,-17.8,79,487,0.43,2.12,-0.05,0.000,4,0.160,0.053,2180,3764,3993
$GC,668,-0.99,-121.7,99.7,-13.7,112,674,0.15,1.95,0.00,0.000,6,0.158,0.021,2220,2368,3993
$GC,1015,-1.27,-121.7,134.6,-7.2,173,1023,0.20,1.92,0.00,0.000,4,0.060,0.022,2130,1015,3994
$GC,1071,-1.11,-121.7,140.2,-11.2,182,1078,0.22,2.03,0.00,0.000,6,0.161,0.026,2183,2397,3995
$GC,1417,-1.30,-121.7,182.0,-11.7,243,1424,0.17,2.05,0.00,0.000,4,0.065,0.041,2098,3751,3996
$GC,1477,-0.97,-121.7,190.2,-14.0,253,1485,0.45,1.90,0.00,0.000,6,0.160,0.021,2226,2381,3996
$GC,1825,-1.31,-121.7,219.4,-8.5,314,1832,0.25,1.95,0.00,0.000,4,0.058,0.022,2115,1007,3996
$GC,1884,-1.15,-121.7,226.2,-12.5,324,1891,0.22,1.98,0.00,0.000,6,0.160,0.025,2172,2358,3996
$GC,2230,-1.33,-121.7,263.3,-10.8,385,2237,0.17,0.00,0.00,0.000,6,0.063,0.000,2093,2360,3996
$GC,2576,-1.26,-121.7,302.5,-11.0,444,2580,0.15,1.95,0.00,0.000,4,0.156,0.023,2133,1015,3996
$GC,2611,-1.26,-121.7,306.3,-10.6,447,2615,0.00,1.92,0.00,0.000,6,0.000,0.025,2126,2329,3997
$GC,2946,-1.33,-121.7,345.1,-11.5,478,2949,0.00,2.15,0.00,0.000,4,0.000,0.041,2124,3749,3996
$GC,2987,-1.21,-121.7,350.2,-11.9,481,2995,0.12,2.00,0.00,0.000,6,0.163,0.021,2155,2316,3996
$GC,3313,-1.40,-121.7,384.4,-9.4,512,3318,0.17,1.85,0.00,0.000,4,0.066,0.022,2084,1015,3996
$GC,3354,-1.22,-121.7,389.0,-11.7,515,3361,0.25,1.90,0.00,0.000,6,0.159,0.027,2151,2312,3996
$GC,3681,-1.40,-121.7,421.1,-10.0,546,3683,0.17,0.00,0.00,0.000,6,0.067,0.000,2081,2313,3996
$GC,3998,-1.34,-121.7,459.3,-12.2,576,4003,0.12,2.20,0.00,0.000,4,0.163,0.042,2110,3750,3995
$GC,4111,-1.20,-121.7,473.2,-12.2,585,4118,0.17,2.08,0.00,0.000,6,0.158,0.021,2156,2269,3996
$GC,4446,-1.38,-121.7,506.9,-9.8,614,4450,0.17,1.80,0.00,0.000,4,0.069,0.023,2085,1006,3994
$GC,4480,-1.29,-121.7,510.7,-10.9,615,4484,0.10,1.90,0.00,0.000,6,0.159,0.027,2127,2277,3994
$GC,4803,-1.43,-121.7,543.1,-10.0,631,4807,0.12,2.28,0.00,0.000,4,0.079,0.043,2071,3761,3993
$GC,4848,-1.18,-121.7,548.7,-12.2,633,4853,0.32,2.10,0.00,0.000,6,0.160,0.021,2162,2278,3993
$GC,5185,-1.44,-121.7,579.5,-9.1,649,5189,0.20,1.80,0.00,0.000,4,0.065,0.023,2076,1015,3992
$GC,5235,-1.28,-121.7,585.6,-11.8,651,5240,0.22,1.85,0.00,0.000,6,0.160,0.028,2133,2269,3992
$GC,5567,-1.45,-121.7,617.0,-9.5,667,5571,0.17,2.28,0.00,0.000,4,0.074,0.044,2058,3747,3990
$GC,5595,-1.29,-121.7,620.5,-11.5,668,5599,0.25,2.12,0.00,0.000,6,0.167,0.021,2125,2245,3989
$GC,5920,-1.41,-121.7,650.8,-9.0,684,5923,0.00,1.77,0.00,0.000,4,0.000,0.025,2125,1025,3987
$GC,5979,-1.46,-121.7,656.5,-9.4,686,5983,0.15,1.80,0.00,0.000,6,0.076,0.029,2064,2240,3986
$GC,6301,-1.35,-121.7,689.2,-10.5,702,6306,0.17,2.33,0.00,0.000,4,0.169,0.043,2110,3746,3985
$GC,6457,-1.28,-121.7,705.5,-10.8,709,6461,0.00,2.10,0.00,0.000,6,0.000,0.021,2110,2274,3983
$GC,6791,-1.36,-121.7,738.7,-9.5,725,6795,0.00,1.83,0.00,0.000,4,0.000,0.027,2110,1019,3981
$GC,6831,-1.36,-121.7,742.8,-10.8,726,6837,0.00,1.83,0.00,0.000,6,0.000,0.031,2110,2239,3981
$GC,7149,-1.47,-121.7,773.8,-9.9,742,7150,0.12,0.00,0.00,0.000,6,0.082,0.000,2057,2241,3979
$GC,7458,-1.37,-121.7,805.2,-10.2,757,7463,0.17,2.35,0.00,0.000,4,0.165,0.045,2100,3750,3976
$GC,7618,-1.25,-121.7,823.6,-12.0,764,7623,0.15,2.17,0.00,0.000,6,0.167,0.023,2138,2235,3975
$GC,7943,-1.48,-121.7,855.0,-9.7,780,7948,0.20,1.77,0.00,0.000,4,0.071,0.025,2054,1011,3974
$GC,7977,-1.29,-121.7,859.6,-12.6,781,7982,0.28,1.80,0.00,0.000,6,0.166,0.031,2124,2217,3973
$GC,8300,-1.47,-121.7,893.3,-10.1,797,8305,0.15,2.40,0.00,0.000,4,0.079,0.047,2058,3753,3971
$GC,8386,-1.19,-121.7,904.8,-14.7,801,8391,0.38,2.22,0.00,0.000,6,0.170,0.023,2160,2214,3971
$GC,8716,-1.49,-121.7,935.7,-9.1,817,8720,0.25,1.73,0.00,0.000,4,0.068,0.026,2058,1028,3969
$GC,8767,-1.29,-121.7,941.7,-12.4,819,8772,0.20,1.80,0.00,0.000,6,0.160,0.034,2125,2194,3968
$GC,9098,-1.36,-121.7,973.5,-9.7,835,9102,0.00,2.45,0.00,0.000,4,0.000,0.049,2125,3755,3966
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9138,-0.27,0.0,977.4,10.5,836,9245,1.10,0.00,95.10,1.393,6,0.163,0.000,2449,2372,3532
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9246,begin climb
$GC,9249,1.49,121.7,984.5,0.0,842,9361,1.62,2.17,104.20,1.373,4,0.065,0.027,3035,986,3035
$GC,9531,0.90,198.1,978.3,7.6,855,9603,0.77,2.12,63.67,1.351,6,0.212,0.031,2838,2372,2724
$GC,9927,0.85,257.1,944.2,8.8,874,9982,0.00,2.28,49.55,1.338,4,0.000,0.050,2838,3754,2484
$GC,9995,0.79,269.6,937.0,12.1,877,10014,0.17,2.08,12.32,1.197,6,0.184,0.023,2800,2383,2433
$GC,10325,0.93,309.6,904.1,10.2,893,10369,0.12,2.30,34.42,1.315,4,0.090,0.049,2846,3745,2269
$GC,10493,0.82,309.6,880.2,14.0,900,10498,0.17,1.98,0.00,0.000,6,0.183,0.023,2812,2406,2265
$GC,10816,0.95,333.7,843.4,11.3,916,10843,0.12,2.17,21.23,1.269,4,0.090,0.049,2859,3755,2170
$GC,10894,0.85,333.7,831.7,15.2,919,10900,0.20,1.92,0.00,0.000,6,0.183,0.023,2818,2443,2167
$GC,11210,1.00,361.1,796.1,11.1,935,11240,0.15,2.15,24.10,1.260,4,0.083,0.050,2876,3741,2058
$GC,11263,0.91,361.1,788.6,15.6,937,11268,0.17,1.88,0.00,0.000,6,0.185,0.023,2839,2480,2056
$GC,11586,1.02,371.5,749.0,12.3,953,11601,0.10,2.28,9.80,1.139,4,0.094,0.031,2882,977,2017
$GC,11636,1.02,371.5,741.9,13.7,955,11640,0.00,2.30,0.00,0.000,6,0.000,0.033,2882,2460,2015
$GC,11957,1.02,371.6,698.6,13.0,971,11961,0.00,2.03,0.00,0.000,4,0.000,0.051,2882,3752,2013
$GC,12032,0.93,371.6,687.8,14.4,974,12036,0.15,1.90,0.00,0.000,6,0.186,0.025,2848,2470,2012
$GC,12360,1.04,375.5,647.2,12.8,990,12369,0.00,2.25,4.30,0.840,4,0.000,0.032,2857,982,2001
$GC,12486,1.19,376.5,631.1,13.0,995,12491,0.20,2.22,0.00,0.000,6,0.079,0.032,2932,2438,2000
$GC,12807,1.06,376.5,580.7,15.4,1011,12812,0.17,2.05,0.00,0.000,4,0.181,0.048,2887,3747,2000
$GC,12899,1.00,376.5,567.6,14.3,1015,12902,0.00,1.92,0.00,0.000,6,0.000,0.025,2895,2433,1999
$GC,13233,1.07,392.2,526.3,11.9,1031,13255,0.00,2.10,15.82,1.083,4,0.000,0.048,2895,3747,1932
$GC,13364,1.00,392.2,508.9,13.1,1036,13371,0.12,1.83,0.00,0.000,6,0.189,0.025,2868,2497,1930
$GC,13691,1.28,410.3,470.5,11.7,1063,13714,0.22,2.08,16.52,1.039,4,0.074,0.049,2960,3755,1857
$GC,13766,1.06,410.3,458.7,15.6,1069,13774,0.30,1.80,0.00,0.000,6,0.185,0.024,2886,2536,1856
$GC,14092,1.32,430.4,420.1,11.6,1100,14117,0.20,2.00,17.85,0.999,4,0.076,0.051,2970,3745,1777
$GC,14123,1.32,430.4,415.6,15.3,1102,14129,0.00,1.92,0.00,0.000,6,0.000,0.025,2980,2446,1775
$GC,14453,1.18,430.4,368.3,13.2,1133,14458,0.17,2.20,0.00,0.000,4,0.189,0.029,2939,974,1772
$GC,14471,1.10,430.4,365.3,13.2,1134,14476,0.15,2.28,0.00,0.000,6,0.176,0.032,2902,2460,1772
$GC,14797,1.39,433.0,328.0,12.9,1164,14802,0.22,2.22,0.00,0.000,4,0.067,0.027,3001,979,1771
$GC,14935,1.21,433.0,306.9,15.6,1175,14942,0.25,2.33,0.00,0.000,6,0.185,0.031,2938,2506,1771
$GC,15277,1.39,433.0,261.3,13.1,1232,15284,0.15,2.30,0.00,0.000,4,0.073,0.028,3003,970,1771
$GC,15392,1.25,433.0,244.7,14.7,1252,15398,0.22,2.20,0.00,0.000,6,0.181,0.031,2945,2429,1771
$GC,15738,1.37,456.9,201.7,11.3,1313,15769,0.12,2.20,23.42,0.817,4,0.079,0.028,3004,972,1667
$GC,15840,1.33,456.9,187.5,15.1,1330,15847,0.12,2.33,0.00,0.000,6,0.179,0.031,2976,2495,1665
$GC,16187,1.42,493.1,144.2,10.4,1391,16222,0.00,2.38,29.90,0.765,4,0.000,0.028,2980,973,1520
$GC,16316,1.59,533.5,130.3,10.2,1413,16358,0.22,2.20,33.95,0.741,6,0.067,0.029,3069,2422,1356
$GC,16700,1.53,533.5,72.4,14.8,1480,16706,0.12,2.08,0.00,0.000,4,0.178,0.044,3039,3761,1350
$GC,16787,1.53,533.5,59.6,16.0,1495,16793,0.00,1.88,0.00,0.000,6,0.000,0.022,3045,2462,1349
$GC,17132,1.64,586.6,14.5,9.2,1556,17184,0.00,2.12,43.65,0.634,4,0.000,0.046,3045,3759,1139
$STATE,17211,end climb,SURFACE_DEPTH_REACHED
$STATE,17211,begin surface coast
$FINISH,1.6,1.021588
$STATE,17228,end surface coast,CONTROL_FINISHED_OK
$STATE,17228,begin surface
$SM_CCo,17311,0.00,0.000,0,0,1135,587.98
$SM_GC,2.45,7.82,0.00,0.00,0.051,0.000,0.000,143,2355,1135,-7.49,-0.79,587.98
$IRIDIUM_FIX,2444.18,12350.63,021198,212147
$TT8_MAMPS,0.029146
$HUMID,1720
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.80
$XPDR_PINGS,3
$24V_AH,22.5,82.712
$10V_AH,10.6,44.177
$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,31.225,160.950,599.825,0.000,0.000,31.071,31.916,234.127,8.750,0.000,0.000,31.248,2826.802,10563.632,722.097,2862.897,806.098,0.000,2201.789,0.000,2778.913,0.000,57.841,0.000
$DEVICE_MAMPS,246.207,52.923,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.931,1074.623,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85273,1573
$CAP_FILE_SIZE,191565,0
$CFSIZE,260165632,187703296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.220, 36.9,1
$GPS,090809,073207,2454.711,12355.337,28,1.8,29,-3.7