version: 66.04
glider: 167
mission: 2
dive: 480
start: 8 9 109 17 30 45
data:
$ID,167
$MISSION,2
$DIVE,480
$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,-15549.322
$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,103
$R_STBD_OVSHOOT,45
$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
$GPS1,172230,2456.540,12356.263,52,2.0,59,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-56.6
$GPS2,173025,2456.699,12356.405,44,1.1,44,-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,226.7,48932,-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,-40.40,0.000,2,0.000,0.000,141,2371,2244
$GC,63,-1.49,-121.7,3.1,-2.5,7,130,7.72,2.05,-54.67,0.000,4,0.225,0.037,2057,1001,3989
$GC,166,-1.00,-121.7,16.8,-26.1,24,174,0.62,2.08,0.00,0.000,6,0.175,0.028,2220,2390,3990
$GC,514,-1.17,-121.7,63.4,-11.9,85,521,0.15,2.08,0.00,0.000,4,0.069,0.041,2152,3757,3991
$GC,534,-1.23,-121.7,66.2,-12.7,88,541,0.00,1.95,0.00,0.000,6,0.000,0.021,2152,2353,3991
$GC,881,-1.11,-121.7,112.3,-12.9,149,888,0.12,1.90,0.00,0.000,4,0.170,0.022,2182,1016,3991
$GC,907,-1.04,-121.7,115.5,-12.7,153,914,0.12,2.08,0.00,0.000,6,0.173,0.025,2208,2433,3991
$GC,1255,-1.32,-121.7,154.3,-11.1,214,1261,0.22,2.05,0.00,0.000,4,0.060,0.031,2110,1024,3993
$GC,1292,-1.18,-121.7,158.8,-13.0,220,1300,0.22,2.03,0.00,0.000,6,0.160,0.025,2162,2413,3993
$GC,1643,-1.31,-121.7,196.5,-10.9,281,1649,0.12,2.03,0.00,0.000,4,0.075,0.040,2103,3754,3994
$GC,1713,-1.03,-121.7,206.1,-13.3,293,1720,0.38,1.88,0.00,0.000,6,0.163,0.020,2207,2401,3994
$GC,2060,-1.33,-121.7,240.4,-9.6,354,2066,0.22,1.98,0.00,0.000,4,0.060,0.022,2110,1011,3995
$GC,2108,-1.20,-121.7,246.2,-12.8,362,2114,0.20,2.00,0.00,0.000,6,0.160,0.025,2158,2387,3995
$GC,2458,-1.34,-121.7,283.4,-9.9,423,2464,0.12,1.98,0.00,0.000,4,0.077,0.022,2107,1016,3995
$GC,2496,-1.23,-121.7,287.7,-11.3,429,2503,0.17,1.98,0.00,0.000,6,0.160,0.026,2144,2372,3995
$GC,2837,-1.36,-121.7,321.8,-10.4,471,2838,0.12,0.00,0.00,0.000,6,0.077,0.000,2093,2373,3995
$GC,3154,-1.36,-121.7,359.4,-12.1,501,3158,0.00,2.10,0.00,0.000,4,0.000,0.041,2084,3757,3995
$GC,3184,-1.19,-121.7,363.0,-13.0,503,3190,0.28,1.95,0.00,0.000,6,0.162,0.021,2160,2358,3995
$GC,3510,-1.41,-121.7,395.6,-9.1,534,3514,0.17,1.92,0.00,0.000,4,0.067,0.023,2080,1010,3995
$GC,3533,-1.41,-121.7,398.0,-9.6,536,3537,0.00,1.98,0.00,0.000,6,0.000,0.027,2072,2353,3995
$GC,3865,-1.21,-121.7,434.9,-10.4,567,3869,0.25,2.12,0.00,0.000,4,0.163,0.040,2140,3749,3994
$GC,3967,-1.15,-121.7,444.5,-10.0,575,3974,0.12,1.95,0.00,0.000,6,0.166,0.022,2170,2361,3994
$GC,4293,-1.39,-121.7,473.9,-8.8,606,4297,0.20,1.95,0.00,0.000,4,0.065,0.024,2084,1006,3993
$GC,4333,-1.21,-121.7,478.4,-12.0,609,4340,0.25,2.03,0.00,0.000,6,0.160,0.029,2152,2370,3993
$GC,4659,-1.42,-121.7,509.1,-10.2,636,4663,0.17,2.12,0.00,0.000,4,0.071,0.043,2071,3758,3992
$GC,4750,-1.16,-121.7,520.9,-12.9,640,4754,0.35,1.95,0.00,0.000,6,0.162,0.021,2169,2374,3992
$GC,5075,-1.44,-121.7,547.7,-6.9,656,5079,0.22,1.98,0.00,0.000,4,0.062,0.024,2072,1015,3990
$GC,5110,-1.29,-121.7,550.9,-8.9,657,5115,0.20,2.03,0.00,0.000,6,0.164,0.028,2124,2365,3990
$GC,5429,-1.41,-121.7,577.2,-8.7,672,5432,0.00,1.98,0.00,0.000,4,0.000,0.025,2124,1010,3988
$GC,5475,-1.46,-121.7,581.9,-9.5,674,5479,0.15,1.98,0.00,0.000,6,0.073,0.028,2062,2336,3988
$GC,5812,-1.29,-121.7,622.4,-13.0,690,5817,0.20,2.17,0.00,0.000,4,0.170,0.043,2112,3753,3985
$GC,5998,-1.21,-121.7,644.4,-10.2,698,6003,0.15,1.98,0.00,0.000,6,0.164,0.023,2149,2368,3984
$GC,6328,-1.44,-121.7,670.1,-7.4,714,6332,0.20,1.98,0.00,0.000,4,0.068,0.025,2066,997,3982
$GC,6385,-1.26,-121.7,675.7,-10.5,716,6390,0.30,2.03,0.00,0.000,6,0.162,0.029,2141,2352,3981
$GC,6705,-1.45,-121.7,700.2,-7.7,731,6709,0.17,1.98,0.00,0.000,4,0.074,0.025,2073,1010,3980
$GC,6767,-1.30,-121.7,706.8,-9.9,733,6774,0.20,1.95,0.00,0.000,6,0.164,0.029,2124,2314,3979
$GC,7086,-1.45,-121.7,736.6,-9.8,749,7090,0.15,2.25,0.00,0.000,4,0.077,0.046,2056,3764,3977
$GC,7119,-1.23,-121.7,740.8,-12.6,750,7126,0.32,2.10,0.00,0.000,6,0.167,0.022,2146,2295,3977
$GC,7438,-1.47,-121.7,771.2,-9.6,766,7442,0.17,1.88,0.00,0.000,4,0.072,0.026,2071,1005,3974
$GC,7511,-1.34,-121.7,780.2,-12.3,769,7515,0.17,1.92,0.00,0.000,6,0.167,0.032,2115,2282,3974
$GC,7842,-1.46,-121.7,811.6,-9.1,785,7846,0.12,1.90,0.00,0.000,4,0.087,0.025,2067,995,3972
$GC,7876,-1.33,-121.7,815.5,-10.8,786,7881,0.20,1.90,0.00,0.000,6,0.168,0.031,2114,2264,3972
$GC,8200,-1.44,-121.7,844.3,-8.8,802,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2264,3970
$GC,8508,-1.57,-121.7,871.8,-8.8,817,8513,0.17,1.85,0.00,0.000,4,0.080,0.025,2043,1009,3968
$GC,8582,-1.35,-121.7,880.3,-11.6,820,8586,0.25,1.85,0.00,0.000,6,0.176,0.032,2107,2237,3968
$GC,8910,-1.35,-121.7,912.0,-9.8,836,8914,0.00,2.38,0.00,0.000,4,0.000,0.046,2098,3764,3966
$STATE,9126,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9126,begin apogee
$GC,9137,-0.27,0.0,936.8,11.1,846,9240,1.25,0.00,94.25,1.355,6,0.168,0.000,2454,2354,3532
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9244,1.49,121.7,942.5,0.0,851,9352,1.60,0.00,103.50,1.338,6,0.064,0.000,3024,2353,3035
$GC,9662,0.89,191.2,922.9,8.1,871,9728,0.70,2.10,57.38,1.316,4,0.212,0.029,2841,1006,2752
$GC,9782,0.87,242.9,912.9,9.3,876,9833,0.00,2.10,44.38,1.292,6,0.000,0.031,2841,2370,2540
$GC,10155,0.84,274.3,873.1,10.8,894,10187,0.00,2.22,26.58,1.265,4,0.000,0.049,2841,3757,2412
$GC,10294,0.70,278.0,855.3,12.8,900,10307,0.28,2.00,4.38,0.856,6,0.183,0.022,2773,2406,2398
$GC,10619,1.06,341.1,826.2,8.5,916,10683,0.30,2.28,54.15,1.276,4,0.067,0.030,2898,980,2140
$GC,10801,1.00,341.1,800.5,13.6,924,10806,0.00,2.30,0.00,0.000,6,0.000,0.033,2898,2457,2135
$GC,11125,0.89,341.1,752.6,15.1,940,11129,0.22,2.03,0.00,0.000,4,0.183,0.048,2834,3751,2131
$GC,11153,0.89,341.1,748.1,14.7,941,11157,0.00,1.90,0.00,0.000,6,0.000,0.025,2841,2444,2131
$GC,11477,0.97,347.6,706.6,12.6,957,11487,0.00,2.20,5.18,0.930,4,0.000,0.031,2844,968,2114
$GC,11510,1.08,347.6,702.0,13.4,958,11517,0.12,2.30,0.00,0.000,6,0.087,0.033,2890,2465,2114
$GC,11827,1.01,348.3,660.3,13.0,974,11830,0.00,2.00,0.00,0.000,4,0.000,0.050,2891,3751,2113
$GC,11897,0.85,348.3,650.6,14.1,977,11901,0.30,1.88,0.00,0.000,6,0.184,0.025,2818,2464,2112
$GC,12230,1.21,383.2,614.9,10.5,993,12267,0.28,2.10,31.30,1.161,4,0.067,0.050,2931,3754,1969
$GC,12381,1.01,383.2,591.2,15.0,999,12385,0.28,1.83,0.00,0.000,6,0.185,0.025,2868,2510,1964
$GC,12714,1.18,413.7,550.8,10.9,1015,12748,0.17,2.40,26.75,1.110,4,0.080,0.030,2941,974,1844
$GC,12884,1.09,415.7,528.3,12.9,1022,12890,0.17,2.40,0.00,0.000,6,0.179,0.032,2898,2522,1839
$GC,13203,1.32,448.1,493.8,10.7,1040,13238,0.20,2.47,29.70,1.067,4,0.077,0.031,2979,969,1704
$GC,13375,1.19,448.1,468.3,15.8,1055,13380,0.20,2.47,0.00,0.000,6,0.189,0.033,2931,2564,1699
$GC,13700,1.20,460.5,424.6,12.2,1085,13716,0.00,1.88,11.38,0.957,4,0.000,0.051,2931,3761,1653
$GC,13823,1.21,464.9,408.9,12.7,1095,13832,0.00,1.85,5.05,0.771,6,0.000,0.025,2937,2487,1635
$GC,14159,1.35,464.9,363.1,14.1,1127,14164,0.12,2.00,0.00,0.000,4,0.084,0.048,2986,3751,1632
$GC,14194,1.20,464.9,357.5,16.1,1130,14199,0.25,1.77,0.00,0.000,6,0.186,0.024,2930,2518,1632
$GC,14526,1.46,482.4,312.2,11.8,1161,14549,0.20,2.30,15.52,0.902,4,0.073,0.028,3022,971,1565
$GC,14689,1.32,482.4,288.9,15.1,1181,14696,0.20,2.33,0.00,0.000,6,0.179,0.033,2973,2490,1562
$GC,15035,1.32,482.4,237.8,14.5,1242,15041,0.00,2.28,0.00,0.000,4,0.000,0.028,2981,969,1561
$GC,15149,1.32,482.6,221.3,13.0,1262,15155,0.00,2.25,0.00,0.000,6,0.000,0.031,2981,2454,1561
$GC,15495,1.46,492.3,174.8,12.3,1323,15510,0.10,2.08,9.80,0.748,4,0.090,0.048,3020,3752,1524
$GC,15590,1.30,492.3,160.4,16.8,1339,15597,0.25,2.00,0.00,0.000,6,0.173,0.021,2964,2378,1523
$GC,15936,1.54,492.3,118.2,13.8,1400,15943,0.17,2.08,0.00,0.000,4,0.074,0.027,3044,961,1522
$GC,16037,1.47,492.3,103.3,13.6,1417,16043,0.00,2.12,0.00,0.000,6,0.000,0.028,3045,2386,1522
$GC,16382,1.42,511.9,61.5,11.6,1478,16407,0.17,2.12,17.80,0.676,4,0.170,0.044,2995,3759,1444
$GC,16460,1.52,542.8,52.6,10.8,1491,16491,0.00,1.98,26.08,0.670,6,0.000,0.021,3002,2400,1319
$GC,16835,1.79,570.0,8.2,11.1,1556,16867,0.28,2.12,23.38,0.616,4,0.061,0.029,3122,976,1207
$STATE,16871,end climb,SURFACE_DEPTH_REACHED
$STATE,16871,begin surface coast
$FINISH,1.7,1.022077
$STATE,16894,end surface coast,CONTROL_FINISHED_OK
$STATE,16894,begin surface
$SM_CCo,16978,0.00,0.000,0,0,1204,571.30
$SM_GC,2.67,8.07,0.00,0.00,0.054,0.000,0.000,142,2396,1204,-7.49,0.37,571.30
$IRIDIUM_FIX,2444.18,12355.90,031198,121239
$TT8_MAMPS,0.028379
$HUMID,1700
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,23.0,83.340
$10V_AH,10.6,44.478
$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,31.625,160.500,586.525,0.000,0.000,22.528,33.187,210.422,7.750,0.000,0.000,44.508,2837.269,10245.057,697.984,2882.282,771.451,0.000,2174.416,0.000,2780.504,0.000,51.089,0.000
$DEVICE_MAMPS,225.498,50.622,1354.522,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.686,1087.493,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85144,1566
$CAP_FILE_SIZE,190813,0
$CFSIZE,260165632,187424768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.239, 39.8,1
$GPS,090809,221521,2457.818,12356.912,40,2.3,60,-3.7