version: 66.04
glider: 167
mission: 2
dive: 419
start: 7 29 109 9 48 6
data:
$ID,167
$MISSION,2
$DIVE,419
$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,-13956.929
$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,62
$R_STBD_OVSHOOT,72
$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
$GPS1,094036,2446.656,12425.493,32,1.4,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-69.8
$GPS2,094744,2446.770,12425.538,10,1.5,10,-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,257.7,69049,-24.8,-13.043
$D_GRID,997
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-35.08,0.000,2,0.000,0.000,140,2518,2172
$GC,57,-1.25,-121.7,3.0,-1.4,6,132,8.20,2.20,-61.45,0.000,4,0.232,0.037,2141,1065,3989
$GC,208,-0.96,-121.7,20.4,-17.5,31,216,0.35,2.08,0.00,0.000,6,0.161,0.027,2229,2458,3991
$GC,556,-1.13,-121.7,64.2,-10.3,92,563,0.15,1.98,0.00,0.000,4,0.069,0.042,2165,3755,3991
$GC,615,-0.93,-121.7,71.5,-14.0,102,621,0.28,1.80,0.00,0.000,6,0.163,0.021,2239,2464,3991
$GC,960,-1.29,-121.7,110.3,-10.6,163,968,0.28,2.00,0.00,0.000,4,0.054,0.050,2114,3761,3993
$GC,1026,-0.98,-121.7,119.9,-15.6,174,1033,0.40,1.73,0.00,0.000,6,0.163,0.021,2226,2515,3994
$GC,1374,-1.32,-121.7,153.3,-10.6,235,1382,0.28,2.00,0.00,0.000,4,0.056,0.022,2109,1104,3995
$GC,1428,-1.10,-121.7,161.1,-15.2,244,1435,0.32,2.05,0.00,0.000,6,0.157,0.025,2190,2507,3995
$GC,1774,-1.37,-121.7,201.5,-10.0,305,1781,0.20,1.88,0.00,0.000,4,0.063,0.042,2098,3749,3996
$GC,1799,-1.37,-121.7,204.5,-11.1,309,1805,0.00,1.75,0.00,0.000,6,0.000,0.021,2098,2471,3996
$GC,2146,-1.16,-121.7,249.8,-12.5,370,2156,0.22,1.98,0.00,0.000,4,0.164,0.040,2157,3763,3996
$GC,2338,-1.16,-121.7,269.9,-8.8,403,2345,0.00,1.73,0.00,0.000,6,0.000,0.022,2157,2523,3996
$GC,2683,-1.34,-121.7,301.8,-11.4,463,2687,0.12,2.03,0.00,0.000,4,0.077,0.022,2101,1110,3996
$GC,2763,-1.20,-121.7,312.8,-13.7,470,2768,0.22,2.05,0.00,0.000,6,0.161,0.028,2159,2489,3996
$GC,3089,-1.38,-121.7,350.0,-10.4,500,3097,0.17,2.00,0.00,0.000,4,0.069,0.021,2087,1090,3996
$GC,3172,-1.21,-121.7,360.2,-11.9,507,3177,0.25,2.03,0.00,0.000,6,0.165,0.030,2152,2460,3996
$GC,3498,-1.40,-121.7,390.3,-9.3,537,3502,0.17,1.98,0.00,0.000,4,0.069,0.043,2070,3764,3996
$GC,3601,-1.07,-121.7,405.0,-16.1,546,3605,0.45,1.85,0.00,0.000,6,0.169,0.021,2196,2445,3996
$GC,3927,-1.44,-121.7,434.7,-7.4,576,3932,0.30,2.03,0.00,0.000,4,0.058,0.044,2071,3755,3995
$GC,3949,-1.48,-121.7,437.1,-10.2,577,3955,0.00,1.83,0.00,0.000,6,0.000,0.023,2071,2458,3995
$GC,4275,-1.32,-121.7,468.7,-10.2,608,4280,0.17,1.95,0.00,0.000,4,0.166,0.023,2117,1090,3993
$GC,4292,-1.22,-121.7,470.5,-9.5,609,4299,0.15,2.05,0.00,0.000,6,0.162,0.029,2151,2473,3993
$GC,4620,-1.47,-121.7,500.6,-9.7,640,4624,0.22,2.00,0.00,0.000,4,0.066,0.025,2057,1110,3992
$GC,4682,-1.25,-121.7,508.5,-12.9,642,4688,0.30,2.03,0.00,0.000,6,0.163,0.032,2140,2451,3992
$GC,5002,-1.46,-121.7,539.6,-9.8,658,5004,0.20,0.00,0.00,0.000,6,0.069,0.000,2061,2453,3991
$GC,5307,-1.33,-121.7,573.8,-11.0,673,5312,0.20,2.03,0.00,0.000,4,0.173,0.045,2110,3768,3988
$GC,5416,-1.24,-121.7,585.4,-10.8,677,5422,0.12,1.90,0.00,0.000,6,0.168,0.024,2141,2441,3987
$GC,5732,-1.46,-121.7,614.0,-9.4,693,5736,0.17,1.95,0.00,0.000,4,0.072,0.025,2064,1091,3985
$GC,5817,-1.31,-121.7,623.7,-12.3,696,5824,0.22,2.00,0.00,0.000,6,0.166,0.031,2117,2426,3985
$GC,6136,-1.45,-121.7,655.5,-9.9,712,6138,0.12,0.00,0.00,0.000,6,0.081,0.000,2069,2428,3982
$GC,6443,-1.45,-121.7,691.4,-11.7,727,6447,0.00,1.95,0.00,0.000,4,0.000,0.027,2069,1096,3980
$GC,6544,-1.33,-121.7,704.9,-13.1,731,6549,0.17,1.98,0.00,0.000,6,0.169,0.035,2110,2408,3979
$GC,6868,-1.46,-121.7,736.7,-9.3,747,6871,0.00,1.92,0.00,0.000,4,0.000,0.027,2110,1090,3977
$GC,6918,-1.46,-121.7,742.2,-10.4,749,6921,0.00,1.95,0.00,0.000,6,0.000,0.035,2110,2384,3976
$GC,7246,-1.46,-121.7,776.4,-10.7,765,7250,0.00,2.15,0.00,0.000,4,0.000,0.051,2110,3764,3974
$GC,7331,-1.40,-121.7,786.5,-11.7,768,7337,0.00,2.00,0.00,0.000,6,0.000,0.025,2110,2369,3973
$GC,7648,-1.52,-121.7,819.6,-10.1,784,7653,0.15,2.20,0.00,0.000,4,0.080,0.049,2054,3761,3972
$GC,7828,-1.25,-121.7,843.5,-12.9,792,7833,0.32,1.98,0.00,0.000,6,0.174,0.025,2142,2396,3970
$GC,8152,-1.44,-121.7,873.1,-8.6,808,8157,0.17,2.15,0.00,0.000,4,0.076,0.049,2068,3754,3968
$GC,8328,-1.23,-121.7,894.1,-12.3,816,8332,0.28,1.92,0.00,0.000,6,0.172,0.024,2141,2423,3967
$GC,8665,-1.39,-121.7,926.0,-9.8,832,8670,0.12,2.12,0.00,0.000,4,0.084,0.051,2093,3758,3965
$GC,8751,-1.28,-121.7,937.3,-12.9,836,8755,0.15,1.92,0.00,0.000,6,0.175,0.025,2130,2433,3965
$GC,9087,-1.36,-121.7,973.4,-10.3,852,9091,0.00,2.10,0.00,0.000,4,0.000,0.051,2126,3757,3963
$STATE,9124,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9124,begin apogee
$GC,9133,-0.22,0.0,978.4,12.1,853,9228,1.15,0.00,91.72,1.397,6,0.165,0.000,2462,2382,3531
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9232,1.25,121.7,984.2,0.0,858,9343,1.35,2.30,104.38,1.355,4,0.066,0.046,2941,3755,3034
$GC,9356,0.80,257.7,990.1,3.3,864,9478,0.57,2.08,114.47,1.335,6,0.214,0.025,2811,2407,2481
$GC,9786,0.83,282.3,943.8,11.3,885,9812,0.00,2.15,21.25,1.266,4,0.000,0.032,2815,1011,2381
$GC,9908,0.86,305.1,929.5,11.4,890,9936,0.00,2.15,20.52,1.256,6,0.000,0.034,2815,2401,2287
$GC,10245,0.87,313.7,888.6,12.4,907,10260,0.00,2.15,8.02,1.114,4,0.000,0.032,2815,1021,2253
$GC,10335,1.03,313.7,874.9,14.1,911,10340,0.17,2.10,0.00,0.000,6,0.076,0.035,2880,2381,2252
$GC,10664,0.89,314.3,829.8,13.0,927,10669,0.17,2.15,0.00,0.000,4,0.189,0.051,2836,3755,2250
$GC,10687,0.78,320.0,826.6,12.6,928,10704,0.17,2.05,6.72,1.061,6,0.189,0.025,2801,2373,2227
$GC,11016,0.96,346.7,791.4,11.1,944,11046,0.15,2.12,24.12,1.248,4,0.084,0.032,2862,1005,2118
$GC,11144,0.96,346.7,773.4,14.0,949,11150,0.00,2.08,0.00,0.000,6,0.000,0.033,2861,2349,2114
$GC,11460,0.98,360.0,732.9,12.1,965,11481,0.00,2.30,12.07,1.154,4,0.000,0.051,2861,3758,2063
$GC,11533,0.87,360.0,722.5,14.5,968,11537,0.17,2.08,0.00,0.000,6,0.191,0.026,2828,2375,2061
$GC,11860,0.98,365.6,681.9,12.6,984,11871,0.00,2.08,6.35,0.995,4,0.000,0.032,2833,997,2041
$GC,11995,1.12,368.2,665.9,12.9,990,11999,0.20,2.05,0.00,0.000,6,0.076,0.034,2909,2331,2039
$GC,12322,1.00,368.2,611.4,17.2,1006,12326,0.17,2.25,0.00,0.000,4,0.192,0.051,2864,3758,2037
$GC,12355,0.93,368.2,605.8,16.0,1007,12362,0.00,2.10,0.00,0.000,6,0.000,0.026,2871,2347,2036
$GC,12672,0.95,382.9,566.2,12.0,1023,12694,0.00,2.28,15.50,1.088,4,0.000,0.049,2871,3764,1969
$GC,12734,0.90,382.9,557.6,13.6,1025,12741,0.15,2.08,0.00,0.000,6,0.193,0.025,2836,2359,1968
$GC,13051,1.14,408.1,522.6,11.2,1041,13082,0.17,2.33,22.73,1.069,4,0.077,0.050,2911,3759,1867
$GC,13121,1.00,408.1,512.1,15.8,1044,13126,0.20,2.00,0.00,0.000,6,0.184,0.026,2870,2420,1864
$GC,13445,1.23,425.4,470.9,11.8,1070,13469,0.17,2.15,15.38,1.003,4,0.077,0.050,2943,3755,1796
$GC,13508,1.04,425.4,460.5,17.8,1075,13516,0.28,1.92,0.00,0.000,6,0.186,0.025,2880,2470,1794
$GC,13834,1.28,456.1,423.5,10.8,1106,13869,0.20,2.10,27.38,0.991,4,0.075,0.050,2962,3764,1671
$GC,13975,1.09,456.1,402.6,15.4,1118,13980,0.28,2.03,0.00,0.000,6,0.188,0.025,2901,2407,1667
$GC,14300,1.20,456.1,360.2,13.1,1148,14304,0.00,2.08,0.00,0.000,4,0.000,0.030,2910,1006,1665
$GC,14444,1.33,465.3,341.8,12.4,1160,14461,0.17,2.10,7.88,0.821,6,0.075,0.031,2977,2395,1634
$GC,14782,1.22,465.3,292.6,16.2,1196,14789,0.15,2.08,0.00,0.000,4,0.187,0.028,2949,1003,1632
$GC,14830,1.22,465.3,285.5,14.5,1204,14836,0.00,2.05,0.00,0.000,6,0.000,0.030,2950,2368,1632
$GC,15175,1.22,465.3,232.7,14.8,1265,15181,0.00,2.05,0.00,0.000,4,0.000,0.029,2955,993,1632
$GC,15243,1.22,465.3,223.0,13.2,1277,15250,0.00,2.05,0.00,0.000,6,0.000,0.030,2955,2354,1632
$GC,15589,1.31,488.4,178.9,11.4,1338,15614,0.00,2.10,20.27,0.771,4,0.000,0.028,2963,996,1541
$GC,15737,1.43,523.1,162.6,10.6,1363,15774,0.12,2.00,30.05,0.756,6,0.087,0.029,3010,2322,1398
$GC,16117,1.43,523.1,107.4,14.0,1429,16123,0.00,1.98,0.00,0.000,4,0.000,0.028,3018,995,1394
$GC,16180,1.43,523.1,97.1,14.3,1440,16186,0.00,2.00,0.00,0.000,6,0.000,0.029,3018,2326,1393
$GC,16525,1.54,550.4,53.3,11.1,1501,16555,0.00,2.00,22.58,0.649,4,0.000,0.027,3026,987,1286
$GC,16635,1.65,556.6,40.0,12.6,1520,16648,0.15,1.98,6.35,0.536,6,0.074,0.026,3086,2310,1262
$STATE,16883,end climb,SURFACE_DEPTH_REACHED
$STATE,16883,begin surface coast
$FINISH,1.8,0.997884
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16986,0.00,0.000,0,0,1258,557.57
$SM_GC,2.71,8.00,0.00,0.00,0.059,0.000,0.000,140,2491,1258,-7.50,0.23,557.57
$IRIDIUM_FIX,2434.69,12425.50,231098,040413
$TT8_MAMPS,0.029146
$HUMID,1679
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,23.2,71.140
$10V_AH,10.7,38.741
$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,30.000,158.950,577.750,0.000,0.000,29.930,35.687,202.298,8.250,0.000,0.000,12.271,2823.587,10289.117,718.563,2834.869,732.382,0.000,2190.500,0.000,2774.559,0.000,54.443,0.000
$DEVICE_MAMPS,232.401,51.389,1396.707,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.288,1090.670,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85112,1568
$CAP_FILE_SIZE,188442,0
$CFSIZE,260165632,192724992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 36.9,1
$GPS,290709,143230,2447.469,12424.331,40,1.1,41,-3.7