version: 66.04
glider: 167
mission: 2
dive: 421
start: 7 29 109 19 49 7
data:
$ID,167
$MISSION,2
$DIVE,421
$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,-14006.499
$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,74
$R_STBD_OVSHOOT,53
$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
$GPS1,193855,2447.856,12423.528,37,1.4,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-63.6
$GPS2,194844,2448.007,12423.519,15,1.2,15,-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,252.7,66104,-24.8,-13.043
$D_GRID,956
$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,16,-1.25,-121.7,0.0,0.0,0,94,0.00,0.00,-76.05,0.000,2,0.000,0.000,141,2498,2363
$GC,98,-1.25,-121.7,3.3,-3.2,13,164,8.15,2.08,-50.38,0.000,4,0.232,0.037,2140,1078,3987
$GC,223,-0.99,-121.7,18.6,-18.5,34,229,0.32,2.10,0.00,0.000,6,0.162,0.028,2224,2486,3988
$GC,569,-1.19,-121.7,69.8,-10.7,95,576,0.17,1.92,0.00,0.000,4,0.065,0.042,2146,3754,3989
$GC,656,-0.88,-121.7,82.3,-15.8,110,663,0.40,1.83,0.00,0.000,6,0.160,0.021,2259,2448,3988
$GC,1002,-1.33,-121.7,114.6,-10.2,171,1010,0.35,2.00,0.00,0.000,4,0.051,0.042,2109,3753,3989
$GC,1053,-0.97,-121.7,122.1,-17.5,179,1061,0.43,1.75,0.00,0.000,6,0.160,0.021,2229,2490,3989
$GC,1402,-1.32,-121.7,154.7,-7.5,240,1409,0.28,1.95,0.00,0.000,4,0.054,0.041,2102,3767,3989
$GC,1439,-1.07,-121.7,158.7,-12.4,246,1446,0.35,1.77,0.00,0.000,6,0.159,0.020,2199,2480,3989
$GC,1785,-1.35,-121.7,197.0,-11.3,307,1793,0.22,1.95,0.00,0.000,4,0.057,0.021,2099,1097,3990
$GC,1845,-1.14,-121.7,204.9,-13.4,317,1852,0.28,2.03,0.00,0.000,6,0.157,0.028,2174,2476,3990
$GC,2191,-1.31,-121.7,234.1,-8.8,378,2197,0.15,1.95,0.00,0.000,4,0.071,0.021,2110,1112,3990
$GC,2222,-1.31,-121.7,237.1,-10.5,383,2229,0.00,1.98,0.00,0.000,6,0.000,0.028,2110,2461,3990
$GC,2569,-1.18,-121.7,279.6,-12.6,444,2575,0.17,1.95,0.00,0.000,4,0.160,0.040,2154,3761,3990
$GC,2599,-1.13,-121.7,283.4,-11.7,449,2605,0.00,1.83,0.00,0.000,6,0.000,0.021,2154,2436,3990
$GC,2944,-1.33,-121.7,312.4,-7.8,496,2948,0.10,1.85,0.00,0.000,4,0.082,0.024,2109,1116,3990
$GC,2980,-1.28,-121.7,315.8,-9.3,499,2984,0.12,1.95,0.00,0.000,6,0.163,0.027,2131,2451,3990
$GC,3310,-1.38,-121.7,349.2,-11.1,530,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2451,3990
$GC,3631,-1.49,-121.7,383.2,-9.2,560,3636,0.20,1.98,0.00,0.000,4,0.065,0.043,2041,3755,3989
$GC,3656,-1.33,-121.7,386.0,-10.4,562,3661,0.28,1.83,0.00,0.000,6,0.177,0.021,2114,2451,3989
$GC,3987,-1.33,-121.7,417.1,-11.2,593,3991,0.00,2.00,0.00,0.000,4,0.000,0.042,2110,3757,3988
$GC,4062,-1.19,-121.7,426.6,-13.8,599,4069,0.17,1.85,0.00,0.000,6,0.159,0.022,2156,2442,3988
$GC,4387,-1.43,-121.7,463.4,-10.6,630,4391,0.20,1.92,0.00,0.000,4,0.064,0.024,2070,1092,3987
$GC,4423,-1.27,-121.7,467.5,-12.3,633,4428,0.25,2.00,0.00,0.000,6,0.162,0.029,2131,2444,3987
$GC,4751,-1.43,-121.7,500.8,-10.5,663,4756,0.15,2.00,0.00,0.000,4,0.075,0.044,2070,3757,3984
$GC,4781,-1.29,-121.7,504.4,-12.2,664,4785,0.22,1.88,0.00,0.000,6,0.170,0.022,2130,2430,3984
$GC,5111,-1.45,-121.7,538.2,-10.0,680,5115,0.15,1.90,0.00,0.000,4,0.072,0.024,2069,1100,3981
$GC,5128,-1.51,-121.7,540.4,-10.2,680,5134,0.00,1.98,0.00,0.000,6,0.000,0.030,2063,2433,3981
$GC,5446,-1.34,-121.7,577.5,-11.7,696,5450,0.17,2.03,0.00,0.000,4,0.173,0.044,2111,3753,3979
$GC,5563,-1.27,-121.7,589.9,-9.9,701,5567,0.00,1.90,0.00,0.000,6,0.000,0.023,2111,2434,3978
$GC,5892,-1.38,-121.7,615.8,-7.9,717,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2434,3976
$GC,6201,-1.49,-121.7,646.9,-11.0,732,6203,0.12,0.00,0.00,0.000,6,0.078,0.000,2060,2434,3973
$GC,6511,-1.35,-121.7,685.6,-12.3,747,6515,0.17,2.08,0.00,0.000,4,0.178,0.045,2101,3763,3972
$GC,6578,-1.25,-121.7,693.8,-12.2,750,6582,0.15,1.90,0.00,0.000,6,0.165,0.025,2139,2439,3971
$GC,6908,-1.48,-121.7,722.6,-8.2,766,6913,0.20,1.95,0.00,0.000,4,0.070,0.025,2058,1089,3968
$GC,6955,-1.32,-121.7,727.7,-11.5,768,6960,0.22,2.00,0.00,0.000,6,0.169,0.033,2117,2417,3968
$GC,7286,-1.39,-121.7,757.3,-9.1,784,7290,0.00,2.08,0.00,0.000,4,0.000,0.049,2111,3755,3966
$GC,7387,-1.39,-121.7,767.9,-10.1,788,7391,0.00,1.95,0.00,0.000,6,0.000,0.025,2111,2418,3965
$GC,7709,-1.39,-121.7,798.7,-9.6,804,7713,0.00,2.10,0.00,0.000,4,0.000,0.050,2111,3749,3963
$GC,7858,-1.33,-121.7,814.1,-11.0,810,7862,0.00,1.92,0.00,0.000,6,0.000,0.026,2111,2443,3962
$GC,8180,-1.33,-121.7,848.3,-10.4,826,8184,0.00,2.08,0.00,0.000,4,0.000,0.051,2111,3755,3961
$GC,8304,-1.26,-121.7,861.9,-11.5,831,8308,0.00,1.88,0.00,0.000,6,0.000,0.027,2111,2462,3960
$GC,8626,-1.26,-121.7,898.3,-11.5,847,8630,0.00,2.05,0.00,0.000,4,0.000,0.051,2111,3756,3958
$GC,8728,-1.20,-121.7,910.6,-11.8,851,8733,0.17,1.88,0.00,0.000,6,0.168,0.027,2155,2470,3957
$GC,9050,-1.52,-121.7,941.1,-9.0,867,9055,0.25,2.03,0.00,0.000,4,0.067,0.028,2056,1087,3955
$GC,9073,-1.52,-121.7,943.6,-11.3,868,9077,0.00,2.12,0.00,0.000,6,0.000,0.037,2056,2474,3955
$STATE,9130,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9130,begin apogee
$GC,9137,-0.22,0.0,951.2,13.0,871,9233,1.45,0.00,89.12,1.371,6,0.175,0.000,2465,2474,3532
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9237,1.25,121.7,956.8,0.0,876,9347,1.38,2.12,103.30,1.333,4,0.064,0.048,2947,3761,3035
$GC,9544,0.62,183.7,943.9,8.6,890,9603,0.82,2.03,51.33,1.307,6,0.214,0.024,2746,2390,2783
$GC,9913,0.84,259.7,916.3,7.6,908,9984,0.20,2.33,63.30,1.305,4,0.077,0.050,2825,3760,2472
$GC,10032,0.68,259.7,902.4,13.6,913,10037,0.25,2.00,0.00,0.000,6,0.187,0.025,2768,2427,2468
$GC,10355,0.95,317.8,872.0,8.9,929,10410,0.20,2.25,48.80,1.288,4,0.077,0.051,2851,3756,2235
$GC,10450,0.79,317.8,859.3,15.4,933,10454,0.22,1.98,0.00,0.000,6,0.190,0.026,2803,2460,2232
$GC,10772,0.94,365.7,826.3,9.6,949,10819,0.12,2.25,40.62,1.262,4,0.092,0.030,2857,999,2041
$GC,10841,0.96,381.2,817.4,11.9,952,10861,0.00,2.33,14.55,1.166,6,0.000,0.034,2857,2470,1977
$GC,11184,0.96,381.2,768.0,15.6,969,11188,0.00,2.25,0.00,0.000,4,0.000,0.032,2866,1004,1969
$GC,11230,0.96,381.2,760.6,16.3,971,11234,0.00,2.25,0.00,0.000,6,0.000,0.035,2866,2452,1968
$GC,11557,0.96,381.2,710.9,14.8,987,11560,0.00,2.20,0.00,0.000,4,0.000,0.035,2868,1013,1966
$GC,11630,0.96,381.2,700.5,13.6,990,11634,0.00,2.17,0.00,0.000,6,0.000,0.035,2868,2436,1966
$GC,11956,0.96,381.2,653.4,15.1,1006,11960,0.00,2.17,0.00,0.000,4,0.000,0.033,2868,1003,1965
$GC,12024,0.96,381.2,642.7,15.3,1009,12028,0.00,2.17,0.00,0.000,6,0.000,0.034,2868,2427,1965
$GC,12358,0.96,381.2,594.4,13.3,1025,12362,0.00,2.15,0.00,0.000,4,0.000,0.033,2868,998,1964
$GC,12442,1.03,389.6,583.7,12.4,1028,12453,0.00,2.12,6.70,0.968,6,0.000,0.034,2868,2399,1942
$GC,12779,1.08,392.5,539.0,12.8,1045,12788,0.00,2.17,4.18,0.768,4,0.000,0.052,2868,3752,1931
$GC,12823,1.08,392.5,532.3,14.0,1047,12827,0.00,2.03,0.00,0.000,6,0.000,0.026,2877,2381,1930
$GC,13147,1.09,399.0,492.3,12.6,1065,13159,0.00,2.25,7.35,0.940,4,0.000,0.050,2878,3760,1905
$GC,13206,1.09,399.0,484.2,14.8,1070,13210,0.00,2.00,0.00,0.000,6,0.000,0.026,2882,2403,1903
$GC,13537,1.14,399.0,438.4,13.4,1101,13541,0.00,2.10,0.00,0.000,4,0.000,0.033,2892,989,1902
$GC,13562,1.14,399.0,435.0,14.0,1103,13565,0.00,2.20,0.00,0.000,6,0.000,0.031,2892,2437,1902
$GC,13892,1.19,438.9,396.6,10.2,1134,13939,0.00,2.25,36.42,0.950,4,0.000,0.031,2894,1004,1741
$GC,14041,1.30,442.8,380.0,12.8,1147,14054,0.20,2.15,4.00,0.644,6,0.070,0.031,2969,2414,1727
$GC,14371,1.17,442.8,325.1,15.6,1178,14376,0.20,2.10,0.00,0.000,4,0.187,0.047,2915,3752,1724
$GC,14390,1.06,442.8,322.5,15.0,1179,14394,0.15,2.03,0.00,0.000,6,0.184,0.025,2886,2373,1723
$GC,14723,1.32,463.5,286.2,11.6,1220,14748,0.20,2.28,18.67,0.869,4,0.070,0.049,2973,3760,1641
$GC,14772,1.16,463.5,278.7,16.2,1228,14779,0.25,2.00,0.00,0.000,6,0.186,0.025,2917,2418,1639
$GC,15119,1.42,480.4,231.5,11.8,1289,15139,0.20,2.17,14.77,0.807,4,0.070,0.030,3010,1002,1572
$GC,15270,1.29,480.4,209.6,14.5,1315,15278,0.20,2.10,0.00,0.000,6,0.182,0.031,2961,2391,1569
$GC,15618,1.34,480.4,162.5,15.1,1376,15624,0.00,2.08,0.00,0.000,4,0.000,0.030,2967,1002,1568
$GC,15644,1.41,480.4,158.8,14.6,1380,15650,0.00,2.08,0.00,0.000,6,0.000,0.028,2967,2390,1568
$GC,15988,1.51,501.2,116.4,11.6,1441,16013,0.17,2.08,18.08,0.713,4,0.077,0.028,3048,996,1487
$GC,16137,1.43,501.2,93.8,13.7,1467,16145,0.17,2.00,0.00,0.000,6,0.183,0.028,3005,2331,1485
$GC,16485,1.53,502.5,51.0,12.9,1528,16491,0.00,1.98,0.00,0.000,4,0.000,0.028,3012,995,1485
$GC,16539,1.64,520.4,44.6,11.8,1537,16563,0.17,2.03,17.02,0.638,6,0.072,0.028,3083,2357,1409
$STATE,16853,end climb,SURFACE_DEPTH_REACHED
$STATE,16853,begin surface coast
$FINISH,1.7,0.997568
$STATE,16880,end surface coast,CONTROL_FINISHED_OK
$STATE,16880,begin surface
$SM_CCo,16960,0.00,0.000,0,0,1405,521.75
$SM_GC,2.71,7.95,0.00,0.00,0.057,0.000,0.000,140,2504,1405,-7.50,0.59,521.75
$IRIDIUM_FIX,2439.44,12421.58,231098,141452
$TT8_MAMPS,0.029146
$HUMID,1698
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,4
$24V_AH,23.3,71.587
$10V_AH,10.7,38.946
$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,29.125,159.125,538.225,0.000,0.000,29.002,36.056,359.628,8.750,0.000,0.000,15.783,2858.467,10275.529,674.436,2841.549,883.986,0.000,2151.338,0.000,2768.820,0.000,54.809,0.000
$DEVICE_MAMPS,232.401,55.224,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.202,1112.532,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85238,1597
$CAP_FILE_SIZE,190458,0
$CFSIZE,260165632,192540672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075, 66.0,1
$GPS,300709,003306,2448.135,12422.403,37,1.4,43,-3.7