version: 66.04
glider: 167
mission: 2
dive: 413
start: 7 28 109 5 46 24
data:
$ID,167
$MISSION,2
$DIVE,413
$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,-5
$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,425
$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,-13859.515
$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,22.5
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,47
$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
$GPS1,053800,2446.576,12426.360,37,1.1,38,-3.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-67.2
$GPS2,054602,2446.648,12426.275,12,1.3,12,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,164.8,61734,-24.8,-13.043
$D_GRID,984
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.25,-121.7,0.0,0.0,0,62,0.00,0.00,-41.62,0.000,2,0.000,0.000,140,2487,2326
$GC,65,-1.25,-121.7,3.1,-1.9,7,132,8.27,2.03,-53.62,0.000,4,0.235,0.054,2131,3758,3989
$GC,291,-0.83,-121.7,38.0,-18.5,46,297,0.50,1.85,0.00,0.000,6,0.163,0.021,2272,2450,3991
$GC,637,-1.23,-121.7,82.5,-12.5,107,644,0.30,2.00,0.00,0.000,4,0.052,0.041,2140,3760,3991
$GC,658,-1.43,-121.7,85.3,-13.3,110,664,0.15,1.80,0.00,0.000,6,0.072,0.021,2075,2464,3992
$GC,1003,-1.09,-121.7,143.0,-13.7,171,1010,0.38,1.92,0.00,0.000,4,0.166,0.022,2185,1109,3992
$GC,1056,-1.09,-121.7,148.8,-10.1,180,1062,0.00,1.98,0.00,0.000,6,0.000,0.025,2178,2461,3994
$GC,1402,-1.22,-121.7,183.6,-11.6,241,1410,0.00,1.95,0.00,0.000,4,0.000,0.041,2175,3760,3995
$GC,1478,-1.17,-121.7,194.0,-14.4,254,1484,0.00,1.77,0.00,0.000,6,0.000,0.021,2175,2471,3995
$GC,1823,-1.34,-121.7,234.8,-11.0,315,1830,0.17,1.92,0.00,0.000,4,0.065,0.022,2093,1109,3995
$GC,1883,-1.12,-121.7,242.1,-12.6,325,1891,0.35,1.98,0.00,0.000,6,0.162,0.026,2182,2464,3995
$GC,2231,-1.35,-121.7,271.5,-8.3,386,2237,0.20,1.95,0.00,0.000,4,0.064,0.043,2093,3753,3995
$GC,2250,-1.42,-121.7,273.6,-9.5,389,2257,0.00,1.83,0.00,0.000,6,0.000,0.021,2093,2434,3995
$GC,2595,-1.28,-121.7,313.7,-12.2,440,2599,0.15,2.03,0.00,0.000,4,0.170,0.039,2124,3757,3995
$GC,2656,-1.20,-121.7,321.7,-12.3,445,2664,0.12,1.83,0.00,0.000,6,0.165,0.021,2155,2449,3995
$GC,2982,-1.43,-121.7,352.2,-9.2,476,2986,0.20,1.92,0.00,0.000,4,0.063,0.023,2067,1098,3995
$GC,3010,-1.31,-121.7,355.3,-11.6,478,3016,0.22,2.00,0.00,0.000,6,0.164,0.028,2119,2456,3996
$GC,3335,-1.31,-121.7,395.5,-11.8,509,3339,0.00,1.98,0.00,0.000,4,0.000,0.041,2111,3753,3996
$GC,3489,-1.22,-121.7,414.0,-12.1,522,3495,0.15,1.80,0.00,0.000,6,0.164,0.022,2149,2470,3996
$GC,3814,-1.40,-121.7,442.2,-7.2,553,3818,0.17,1.95,0.00,0.000,4,0.065,0.024,2077,1106,3995
$GC,3838,-1.40,-121.7,444.2,-8.2,555,3841,0.00,2.05,0.00,0.000,6,0.000,0.028,2071,2484,3994
$GC,4169,-1.29,-121.7,479.3,-11.9,586,4174,0.20,1.92,0.00,0.000,4,0.170,0.041,2124,3754,3993
$GC,4238,-1.22,-121.7,487.9,-12.7,592,4242,0.00,1.80,0.00,0.000,6,0.000,0.023,2124,2500,3992
$GC,4577,-1.35,-121.7,526.3,-11.3,613,4581,0.00,2.00,0.00,0.000,4,0.000,0.025,2124,1098,3992
$GC,4616,-1.35,-121.7,531.5,-12.0,614,4622,0.00,2.08,0.00,0.000,6,0.000,0.029,2124,2496,3992
$GC,4934,-1.48,-121.7,563.5,-9.4,630,4938,0.17,2.03,0.00,0.000,4,0.071,0.024,2048,1121,3990
$GC,4991,-1.27,-121.7,570.0,-11.7,632,4995,0.32,2.03,0.00,0.000,6,0.173,0.030,2131,2460,3990
$GC,5315,-1.41,-121.7,602.2,-10.0,648,5319,0.12,1.98,0.00,0.000,4,0.081,0.046,2081,3760,3987
$GC,5377,-1.21,-121.7,609.9,-12.5,650,5383,0.28,1.85,0.00,0.000,6,0.169,0.023,2156,2460,3986
$GC,5694,-1.47,-121.7,641.4,-9.2,666,5698,0.20,2.03,0.00,0.000,4,0.067,0.046,2070,3754,3984
$GC,5741,-1.24,-121.7,646.9,-12.2,668,5745,0.28,1.83,0.00,0.000,6,0.177,0.025,2143,2488,3984
$GC,6076,-1.48,-121.7,681.5,-10.4,684,6080,0.17,2.03,0.00,0.000,4,0.072,0.025,2067,1102,3981
$GC,6105,-1.48,-121.7,685.1,-12.5,685,6109,0.00,2.08,0.00,0.000,6,0.000,0.031,2058,2469,3981
$GC,6435,-1.31,-121.7,727.6,-12.6,701,6439,0.20,2.00,0.00,0.000,4,0.180,0.047,2110,3757,3978
$GC,6688,-1.23,-121.7,757.2,-10.4,712,6692,0.15,1.83,0.00,0.000,6,0.171,0.025,2147,2491,3976
$GC,7017,-1.42,-121.7,780.4,-6.7,728,7021,0.17,2.00,0.00,0.000,4,0.073,0.049,2071,3758,3974
$GC,7080,-1.21,-121.7,786.6,-10.9,730,7086,0.25,1.80,0.00,0.000,6,0.172,0.025,2153,2534,3973
$GC,7396,-1.51,-121.7,810.1,-7.1,746,7401,0.25,2.10,0.00,0.000,4,0.067,0.025,2054,1092,3971
$GC,7431,-1.37,-121.7,813.2,-10.2,747,7436,0.22,2.17,0.00,0.000,6,0.180,0.035,2103,2521,3971
$GC,7749,-1.37,-121.7,838.6,-7.5,762,7752,0.00,1.92,0.00,0.000,4,0.000,0.050,2098,3762,3969
$GC,8007,-1.25,-121.7,864.9,-11.6,773,8011,0.17,1.77,0.00,0.000,6,0.174,0.027,2142,2544,3967
$GC,8329,-1.39,-121.7,892.1,-8.6,789,8333,0.15,1.95,0.00,0.000,4,0.080,0.051,2085,3768,3966
$GC,8420,-1.24,-121.7,903.0,-12.5,793,8425,0.22,1.77,0.00,0.000,6,0.177,0.026,2143,2552,3965
$GC,8756,-1.45,-121.7,931.1,-7.1,809,8760,0.20,1.92,0.00,0.000,4,0.073,0.049,2057,3764,3963
$GC,8847,-1.20,-121.7,941.9,-12.7,813,8852,0.38,1.75,0.00,0.000,6,0.182,0.025,2157,2564,3963
$STATE,9136,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9136,begin apogee
$GC,9143,-0.22,0.0,969.2,8.8,827,9239,1.02,0.00,90.93,1.391,6,0.146,0.000,2468,2417,3532
$STATE,9240,end apogee,CONTROL_FINISHED_OK
$STATE,9240,begin climb
$GC,9244,1.25,121.7,970.8,0.0,832,9355,1.33,2.28,103.50,1.349,4,0.062,0.028,2953,982,3035
$GC,9587,0.74,121.7,941.7,14.6,847,9592,0.65,2.20,0.00,0.000,6,0.211,0.034,2788,2409,3030
$GC,9904,0.71,192.5,914.6,8.0,862,9967,0.00,2.30,57.67,1.328,4,0.000,0.031,2795,996,2747
$GC,10041,0.75,225.3,900.9,10.7,868,10079,0.00,2.17,28.95,1.276,6,0.000,0.035,2795,2380,2612
$GC,10390,0.77,245.5,860.1,11.6,885,10413,0.00,2.28,16.95,1.234,4,0.000,0.054,2796,3755,2530
$GC,10510,0.68,245.5,843.7,13.4,890,10514,0.15,2.08,0.00,0.000,6,0.198,0.026,2768,2377,2527
$GC,10834,0.84,281.0,811.0,10.5,906,10869,0.15,2.25,30.12,1.262,4,0.084,0.052,2823,3753,2387
$GC,10903,0.71,281.0,801.9,14.6,908,10908,0.22,2.05,0.00,0.000,6,0.192,0.025,2776,2396,2385
$GC,11221,0.93,331.4,769.8,9.4,923,11267,0.17,0.00,43.08,1.249,6,0.081,0.000,2848,2393,2180
$GC,11592,0.94,345.3,722.7,12.1,941,11613,0.00,2.17,11.95,1.137,4,0.000,0.032,2856,1002,2124
$GC,11664,0.96,359.5,713.2,12.0,944,11683,0.00,2.20,13.57,1.139,6,0.000,0.033,2856,2422,2066
$GC,12012,0.96,359.5,666.0,14.5,961,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2422,2061
$GC,12322,0.96,359.5,619.8,15.3,976,12326,0.00,2.10,0.00,0.000,4,0.000,0.053,2856,3758,2059
$GC,12369,0.91,359.5,611.9,16.4,978,12372,0.00,1.95,0.00,0.000,6,0.000,0.027,2865,2436,2059
$GC,12702,0.91,359.5,561.5,15.0,994,12705,0.00,2.12,0.00,0.000,4,0.000,0.032,2872,1012,2058
$GC,12803,0.91,361.4,547.3,12.9,998,12808,0.12,2.17,0.00,0.000,6,0.188,0.033,2843,2442,2058
$GC,13120,1.03,391.3,511.3,10.9,1013,13152,0.10,2.10,26.62,1.085,4,0.087,0.052,2881,3754,1936
$GC,13210,0.96,391.3,498.8,14.0,1017,13215,0.10,1.95,0.00,0.000,6,0.186,0.026,2852,2463,1932
$GC,13541,1.09,397.4,457.4,12.6,1048,13553,0.12,2.17,5.82,0.853,4,0.088,0.031,2907,1002,1913
$GC,13689,1.09,397.4,437.2,13.7,1061,13694,0.00,2.20,0.00,0.000,6,0.000,0.033,2907,2440,1912
$GC,14014,1.09,397.4,389.4,15.8,1091,14018,0.00,2.15,0.00,0.000,4,0.000,0.031,2914,1013,1911
$GC,14105,1.10,402.0,376.6,12.7,1099,14117,0.00,2.12,5.60,0.793,6,0.000,0.032,2914,2410,1893
$GC,14436,1.10,406.3,334.4,12.7,1130,14447,0.00,2.12,5.68,0.771,4,0.000,0.029,2922,1003,1874
$GC,14498,1.10,406.3,325.5,14.1,1135,14504,0.00,2.10,0.00,0.000,6,0.000,0.032,2922,2386,1874
$GC,14831,1.10,406.3,280.2,14.7,1178,14837,0.00,2.08,0.00,0.000,4,0.000,0.031,2922,1009,1873
$GC,14928,1.11,409.8,267.2,12.8,1195,14937,0.00,1.98,4.53,0.656,6,0.000,0.030,2922,2324,1861
$GC,15276,1.13,432.8,223.8,11.4,1256,15299,0.00,0.00,20.45,0.825,6,0.000,0.000,2922,2324,1767
$GC,15638,1.24,448.7,183.8,11.9,1320,15657,0.00,2.05,14.52,0.763,4,0.000,0.030,2922,1007,1702
$GC,15687,1.39,467.3,177.9,11.7,1328,15712,0.20,1.95,16.55,0.755,6,0.067,0.028,2996,2306,1625
$GC,16053,1.32,467.3,124.9,13.2,1392,16059,0.00,1.92,0.00,0.000,4,0.000,0.028,3004,1007,1620
$GC,16095,1.25,467.3,119.0,13.9,1399,16102,0.22,1.88,0.00,0.000,6,0.181,0.028,2948,2269,1620
$GC,16441,1.46,489.2,80.1,11.5,1460,16466,0.17,2.38,18.60,0.676,4,0.068,0.045,3020,3758,1535
$GC,16524,1.33,489.2,68.6,14.5,1474,16531,0.22,2.25,0.00,0.000,6,0.174,0.022,2973,2216,1534
$GC,16870,1.54,527.5,25.5,10.3,1535,16912,0.17,1.85,31.67,0.633,4,0.075,0.028,3055,986,1380
$GC,16970,1.54,527.5,11.9,15.4,1552,16976,0.00,1.95,0.00,0.000,6,0.000,0.026,3055,2290,1378
$STATE,17041,end climb,SURFACE_DEPTH_REACHED
$STATE,17041,begin surface coast
$FINISH,1.8,1.021300
$STATE,17065,end surface coast,CONTROL_FINISHED_OK
$STATE,17065,begin surface
$SM_CCo,17145,0.00,0.000,0,0,1375,529.11
$SM_GC,2.68,7.95,0.00,0.00,0.059,0.000,0.000,140,2498,1375,-7.50,0.40,529.11
$IRIDIUM_FIX,2437.06,12428.80,221098,000046
$TT8_MAMPS,0.029146
$HUMID,1669
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.4,69.951
$10V_AH,10.7,38.166
$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,28.575,153.100,546.775,0.000,0.000,28.032,33.899,255.745,7.750,0.000,0.000,12.556,2826.915,10466.127,656.838,2884.846,776.838,0.000,2148.475,0.000,2823.386,0.000,52.764,0.000
$DEVICE_MAMPS,235.469,54.457,1390.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.528,1078.064,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85066,1569
$CAP_FILE_SIZE,188167,0
$CFSIZE,260165632,193269760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,353.4,1
$GPS,280709,103324,2446.146,12426.315,39,1.7,39,-3.7