version: 66.04
glider: 167
mission: 2
dive: 418
start: 7 29 109 4 54 0
data:
$ID,167
$MISSION,2
$DIVE,418
$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,-13944.028
$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,57
$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
$GPS1,044554,2446.760,12425.521,37,1.0,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-67.9
$GPS2,045338,2446.921,12425.660,15,1.0,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,242.6,69295,-24.8,-13.043
$D_GRID,1104
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,51,0.00,0.00,-34.28,0.000,2,0.000,0.000,143,2503,2277
$GC,56,-1.25,-121.7,3.1,-1.8,6,126,8.18,2.17,-56.35,0.000,4,0.232,0.036,2141,1063,3989
$GC,172,-0.96,-121.7,15.3,-17.2,25,179,0.35,2.12,0.00,0.000,6,0.164,0.028,2228,2485,3990
$GC,518,-1.21,-121.7,60.8,-12.8,86,524,0.17,2.08,0.00,0.000,4,0.066,0.021,2148,1055,3992
$GC,548,-1.21,-121.7,65.3,-14.8,91,555,0.00,2.08,0.00,0.000,6,0.000,0.026,2140,2462,3991
$GC,894,-1.06,-121.7,115.0,-13.7,152,900,0.20,1.95,0.00,0.000,4,0.164,0.040,2192,3753,3992
$GC,1040,-1.06,-121.7,133.3,-12.0,177,1045,0.00,1.88,0.00,0.000,6,0.000,0.021,2192,2398,3994
$GC,1386,-1.24,-121.7,168.8,-10.6,238,1392,0.12,2.08,0.00,0.000,4,0.074,0.041,2127,3757,3995
$GC,1422,-1.07,-121.7,173.3,-13.1,244,1429,0.25,1.88,0.00,0.000,6,0.163,0.021,2194,2411,3995
$GC,1768,-1.37,-121.7,209.9,-9.6,305,1775,0.22,2.08,0.00,0.000,4,0.060,0.041,2093,3764,3996
$GC,1919,-1.09,-121.7,228.8,-12.5,331,1927,0.35,1.85,0.00,0.000,6,0.162,0.021,2191,2432,3995
$GC,2266,-1.37,-121.7,261.8,-9.5,392,2273,0.20,2.03,0.00,0.000,4,0.064,0.041,2098,3752,3996
$GC,2365,-1.11,-121.7,274.4,-13.3,409,2373,0.30,1.80,0.00,0.000,6,0.162,0.021,2181,2457,3996
$GC,2714,-1.39,-121.7,306.4,-8.5,464,2719,0.20,2.00,0.00,0.000,4,0.061,0.041,2085,3763,3996
$GC,2783,-1.11,-121.7,315.0,-13.0,470,2788,0.35,1.73,0.00,0.000,6,0.163,0.021,2182,2524,3996
$GC,3115,-1.41,-121.7,347.0,-9.1,501,3119,0.22,1.90,0.00,0.000,4,0.061,0.042,2083,3761,3996
$GC,3172,-1.15,-121.7,353.7,-12.7,506,3176,0.25,1.73,0.00,0.000,6,0.160,0.022,2168,2551,3996
$GC,3503,-1.41,-121.7,383.4,-8.5,537,3507,0.20,2.08,0.00,0.000,4,0.064,0.022,2081,1090,3996
$GC,3530,-1.35,-121.7,386.4,-10.8,539,3538,0.15,2.15,0.00,0.000,6,0.166,0.030,2113,2541,3996
$GC,3856,-1.35,-121.7,421.6,-10.9,570,3859,0.00,1.85,0.00,0.000,4,0.000,0.044,2110,3765,3996
$GC,3913,-1.22,-121.7,428.4,-12.2,575,3918,0.10,1.75,0.00,0.000,6,0.160,0.023,2141,2551,3996
$GC,4246,-1.41,-121.7,464.7,-11.1,606,4251,0.15,2.08,0.00,0.000,4,0.072,0.023,2079,1097,3994
$GC,4324,-1.25,-121.7,474.7,-12.1,612,4332,0.25,2.15,0.00,0.000,6,0.165,0.031,2139,2540,3994
$GC,4661,-1.41,-121.7,503.1,-7.4,642,4665,0.15,2.10,0.00,0.000,4,0.075,0.024,2079,1094,3992
$GC,4712,-1.27,-121.7,507.9,-8.9,644,4717,0.22,2.12,0.00,0.000,6,0.165,0.030,2131,2521,3993
$GC,5032,-1.45,-121.7,538.8,-11.0,659,5034,0.15,0.00,0.00,0.000,6,0.076,0.000,2072,2523,3991
$GC,5337,-1.32,-121.7,578.1,-13.2,674,5342,0.17,2.08,0.00,0.000,4,0.173,0.025,2122,1104,3989
$GC,5446,-1.32,-121.7,590.7,-11.3,679,5449,0.00,2.12,0.00,0.000,6,0.000,0.031,2123,2519,3988
$GC,5779,-1.47,-121.7,623.7,-9.2,695,5783,0.15,2.08,0.00,0.000,4,0.075,0.024,2062,1098,3986
$GC,5864,-1.31,-121.7,633.1,-10.7,698,5871,0.25,2.05,0.00,0.000,6,0.166,0.031,2124,2466,3985
$GC,6182,-1.44,-121.7,661.1,-9.1,714,6186,0.12,2.00,0.00,0.000,4,0.082,0.025,2076,1102,3983
$GC,6222,-1.33,-121.7,665.6,-11.6,715,6230,0.17,2.03,0.00,0.000,6,0.166,0.032,2117,2447,3982
$GC,6538,-1.44,-121.7,694.9,-8.9,731,6542,0.12,2.03,0.00,0.000,4,0.084,0.048,2068,3758,3980
$GC,6573,-1.24,-121.7,698.6,-11.5,732,6578,0.28,1.88,0.00,0.000,6,0.166,0.024,2142,2451,3980
$GC,6898,-1.48,-121.7,727.2,-9.3,748,6902,0.20,1.95,0.00,0.000,4,0.068,0.025,2061,1092,3978
$GC,6976,-1.31,-121.7,736.4,-11.2,751,6981,0.25,2.03,0.00,0.000,6,0.166,0.033,2124,2437,3977
$GC,7294,-1.49,-121.7,763.0,-8.1,766,7296,0.17,0.00,0.00,0.000,6,0.075,0.000,2059,2439,3975
$GC,7602,-1.31,-121.7,798.0,-11.3,781,7604,0.22,0.00,0.00,0.000,6,0.180,0.000,2117,2438,3972
$GC,7913,-1.36,-121.7,827.1,-9.7,796,7917,0.00,2.05,0.00,0.000,4,0.000,0.050,2111,3754,3971
$GC,8097,-1.29,-121.7,847.0,-12.6,804,8101,0.00,1.95,0.00,0.000,6,0.000,0.027,2111,2421,3970
$GC,8432,-1.29,-121.7,881.4,-10.2,820,8435,0.00,2.12,0.00,0.000,4,0.000,0.051,2109,3760,3968
$GC,8550,-1.21,-121.7,895.1,-11.6,825,8554,0.17,1.92,0.00,0.000,6,0.170,0.026,2154,2439,3967
$GC,8880,-1.52,-121.7,923.6,-8.4,841,8884,0.25,1.98,0.00,0.000,4,0.069,0.026,2054,1100,3965
$GC,8975,-1.36,-121.7,934.6,-11.3,845,8979,0.20,2.00,0.00,0.000,6,0.177,0.037,2105,2400,3964
$STATE,9134,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9134,begin apogee
$GC,9142,-0.22,0.0,950.2,9.6,853,9244,1.23,0.00,93.35,1.351,6,0.161,0.000,2464,2401,3532
$STATE,9245,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9248,1.25,121.7,954.8,0.0,858,9358,1.35,2.28,103.30,1.331,4,0.065,0.050,2943,3761,3034
$GC,9482,0.56,131.9,945.6,12.3,868,9497,0.88,2.05,9.43,1.143,6,0.216,0.024,2730,2394,2994
$GC,9822,0.72,192.0,915.0,8.7,885,9877,0.12,2.28,49.70,1.308,4,0.089,0.051,2776,3759,2749
$GC,10001,0.62,204.7,893.9,12.1,893,10019,0.15,2.03,11.90,1.179,6,0.194,0.025,2750,2399,2697
$GC,10330,0.78,230.7,858.1,11.2,909,10360,0.15,2.25,22.90,1.253,4,0.084,0.051,2806,3751,2590
$GC,10448,0.63,230.7,841.1,14.1,914,10452,0.22,1.95,0.00,0.000,6,0.189,0.025,2756,2444,2588
$GC,10776,0.90,297.8,809.5,8.2,930,10841,0.20,2.28,56.17,1.265,4,0.077,0.033,2845,1017,2316
$GC,10887,0.90,297.8,796.0,13.8,935,10891,0.00,2.28,0.00,0.000,6,0.000,0.035,2845,2455,2312
$GC,11215,0.85,298.4,753.8,13.0,951,11219,0.00,2.20,0.00,0.000,4,0.000,0.032,2854,1009,2308
$GC,11271,0.85,298.4,746.0,14.0,953,11276,0.15,2.20,0.00,0.000,6,0.187,0.034,2818,2442,2308
$GC,11588,0.92,313.2,709.1,12.0,968,11609,0.00,2.15,12.48,1.140,4,0.000,0.052,2818,3762,2254
$GC,11730,0.92,313.2,689.6,13.7,974,11733,0.00,1.92,0.00,0.000,6,0.000,0.027,2825,2456,2252
$GC,12057,0.98,320.3,647.2,12.5,990,12071,0.00,2.25,7.22,1.016,4,0.000,0.034,2829,1003,2225
$GC,12174,1.09,350.4,633.4,10.9,995,12207,0.20,2.20,26.65,1.154,6,0.078,0.033,2902,2440,2103
$GC,12520,0.97,350.4,581.8,14.7,1011,12524,0.17,2.20,0.00,0.000,4,0.193,0.030,2862,995,2097
$GC,12589,0.97,350.4,572.4,13.2,1014,12593,0.00,2.17,0.00,0.000,6,0.000,0.033,2862,2417,2096
$GC,12916,0.97,350.4,528.6,13.1,1030,12919,0.00,2.12,0.00,0.000,4,0.000,0.031,2869,1010,2095
$GC,12956,0.98,351.5,523.5,13.0,1031,12963,0.00,2.10,0.00,0.000,6,0.000,0.033,2869,2389,2095
$GC,13277,1.00,371.6,484.4,11.6,1053,13300,0.00,2.22,17.77,1.043,4,0.000,0.051,2869,3759,2016
$GC,13391,0.95,377.5,469.8,12.6,1063,13404,0.00,2.03,6.45,0.877,6,0.000,0.027,2872,2401,1992
$GC,13722,1.03,394.1,429.0,11.9,1094,13746,0.00,2.15,15.05,0.983,4,0.000,0.034,2872,1011,1924
$GC,13832,1.18,418.7,416.0,11.3,1103,13861,0.15,2.15,21.75,0.983,6,0.080,0.031,2930,2415,1825
$GC,14180,1.13,418.7,365.3,14.7,1136,14184,0.00,2.15,0.00,0.000,4,0.000,0.031,2937,998,1819
$GC,14265,1.08,418.7,352.7,13.6,1143,14273,0.17,2.08,0.00,0.000,6,0.180,0.032,2893,2362,1819
$GC,14591,1.23,445.1,312.2,11.1,1174,14619,0.15,2.08,22.77,0.903,4,0.083,0.030,2957,999,1716
$GC,14773,1.18,445.1,286.5,15.2,1197,14780,0.12,2.17,0.00,0.000,6,0.183,0.032,2927,2420,1712
$GC,15118,1.25,445.1,236.0,14.1,1258,15125,0.00,2.12,0.00,0.000,4,0.000,0.029,2937,996,1710
$GC,15177,1.25,445.1,227.9,13.8,1268,15183,0.00,2.10,0.00,0.000,6,0.000,0.031,2937,2383,1710
$GC,15522,1.33,467.1,188.2,11.5,1329,15547,0.10,2.10,18.80,0.785,4,0.087,0.028,2987,989,1625
$GC,15591,1.26,467.1,179.6,13.2,1340,15598,0.15,2.05,0.00,0.000,6,0.183,0.030,2952,2345,1623
$GC,15938,1.35,472.7,135.4,12.6,1401,15950,0.00,2.20,5.28,0.593,4,0.000,0.046,2952,3757,1605
$GC,16035,1.35,474.5,122.4,12.9,1418,16041,0.00,2.08,0.00,0.000,6,0.000,0.022,2960,2321,1605
$GC,16380,1.58,499.9,79.3,11.2,1479,16411,0.22,1.95,23.70,0.683,4,0.067,0.028,3070,989,1494
$GC,16488,1.46,500.7,64.0,13.0,1497,16495,0.20,2.20,0.00,0.000,6,0.189,0.029,3020,2447,1492
$GC,16834,1.50,530.8,24.4,10.9,1558,16870,0.00,2.22,26.15,0.623,4,0.000,0.028,3028,995,1367
$GC,16997,1.66,557.0,5.0,11.2,1586,17018,0.15,2.08,15.38,0.580,2,0.074,0.028,3088,2386,1291
$STATE,17018,end climb,SURFACE_DEPTH_REACHED
$STATE,17019,begin surface coast
$FINISH,1.7,1.001887
$STATE,17046,end surface coast,CONTROL_FINISHED_OK
$STATE,17046,begin surface
$SM_CCo,17127,0.00,0.000,0,0,1288,550.45
$SM_GC,2.65,7.95,0.00,0.00,0.053,0.000,0.000,140,2518,1288,-7.50,1.02,550.45
$IRIDIUM_FIX,2437.06,12428.80,231098,000044
$TT8_MAMPS,0.029146
$HUMID,1664
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,23.4,70.931
$10V_AH,10.7,38.643
$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,29.700,157.000,566.200,0.000,0.000,27.482,34.410,237.849,8.000,0.000,0.000,15.723,2871.524,10373.288,688.105,2893.351,749.093,0.000,2175.863,0.000,2821.158,0.000,52.778,0.000
$DEVICE_MAMPS,231.634,67.496,1350.687,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.059,1105.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85229,1594
$CAP_FILE_SIZE,190026,0
$CFSIZE,260165632,192819200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 65.7,1
$GPS,290709,094036,2446.656,12425.493,32,1.4,33,-3.7