version: 66.04
glider: 167
mission: 2
dive: 452
start: 8 3 109 22 24 24
data:
$ID,167
$MISSION,2
$DIVE,452
$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,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,-14663.859
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,51
$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
$GPS1,221337,2441.410,12404.500,27,1.3,28,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.7
$GPS2,222402,2441.426,12404.464,15,1.4,15,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2441.100,12400.200
$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,274.9,7200,-24.8,-13.043
$D_GRID,1021
$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,-1.49,-121.7,0.0,0.0,0,59,0.00,0.00,-39.10,0.000,2,0.000,0.000,141,2493,2249
$GC,63,-1.49,-121.7,3.3,-2.2,6,133,7.88,2.15,-55.70,0.000,4,0.232,0.035,2057,1057,3989
$GC,235,-0.96,-121.7,29.2,-21.2,35,242,0.65,2.12,0.00,0.000,6,0.170,0.027,2230,2491,3990
$GC,582,-1.22,-121.7,72.3,-11.1,96,589,0.20,2.05,0.00,0.000,4,0.061,0.021,2141,1068,3991
$GC,664,-1.03,-121.7,83.5,-14.2,110,672,0.28,2.03,0.00,0.000,6,0.157,0.028,2208,2450,3992
$GC,1013,-1.28,-121.7,123.2,-10.2,171,1019,0.20,2.00,0.00,0.000,4,0.063,0.022,2119,1061,3992
$GC,1049,-1.17,-121.7,127.4,-11.6,177,1056,0.20,2.00,0.00,0.000,6,0.160,0.025,2164,2435,3992
$GC,1396,-1.30,-121.7,166.0,-12.2,238,1404,0.12,1.98,0.00,0.000,4,0.077,0.021,2110,1057,3993
$GC,1495,-1.10,-121.7,179.9,-14.7,255,1502,0.30,1.95,0.00,0.000,6,0.153,0.026,2186,2395,3993
$GC,1842,-1.38,-121.7,217.4,-11.2,316,1848,0.22,1.90,0.00,0.000,4,0.060,0.021,2088,1064,3994
$GC,1885,-1.20,-121.7,222.9,-13.6,323,1892,0.25,1.90,0.00,0.000,6,0.160,0.026,2153,2369,3994
$GC,2234,-1.34,-121.7,260.2,-10.2,384,2240,0.12,2.10,0.00,0.000,4,0.077,0.041,2098,3762,3994
$GC,2277,-1.13,-121.7,265.7,-12.9,391,2283,0.30,2.00,0.00,0.000,6,0.156,0.020,2182,2319,3995
$GC,2629,-1.38,-121.7,301.1,-9.8,452,2633,0.20,1.77,0.00,0.000,4,0.061,0.022,2094,1058,3994
$GC,2699,-1.21,-121.7,309.6,-13.0,458,2704,0.22,1.90,0.00,0.000,6,0.157,0.027,2155,2366,3994
$GC,3032,-1.42,-121.7,343.9,-10.5,489,3038,0.20,0.00,0.00,0.000,6,0.063,0.000,2073,2368,3994
$GC,3358,-1.26,-121.7,381.3,-10.9,520,3363,0.20,2.10,0.00,0.000,4,0.158,0.040,2125,3753,3994
$GC,3410,-1.19,-121.7,386.8,-10.4,524,3414,0.12,2.05,0.00,0.000,6,0.160,0.021,2156,2287,3994
$GC,3741,-1.41,-121.7,417.6,-9.5,555,3745,0.20,1.73,0.00,0.000,4,0.065,0.023,2071,1064,3993
$GC,3791,-1.27,-121.7,423.6,-11.7,559,3798,0.25,1.85,0.00,0.000,6,0.164,0.028,2132,2325,3993
$GC,4117,-1.41,-121.7,457.7,-10.3,590,4121,0.12,1.80,0.00,0.000,4,0.079,0.022,2081,1073,3992
$GC,4157,-1.30,-121.7,462.5,-12.1,593,4163,0.17,1.77,0.00,0.000,6,0.170,0.029,2125,2279,3992
$GC,4483,-1.46,-121.7,496.6,-9.4,624,4487,0.15,1.75,0.00,0.000,4,0.075,0.024,2067,1067,3991
$GC,4533,-1.29,-121.7,502.2,-11.3,628,4538,0.25,1.75,0.00,0.000,6,0.167,0.028,2126,2261,3991
$GC,4864,-1.48,-121.7,532.7,-9.5,644,4866,0.17,0.00,0.00,0.000,6,0.071,0.000,2058,2263,3989
$GC,5171,-1.40,-121.7,566.7,-11.0,659,5175,0.15,2.28,0.00,0.000,4,0.173,0.042,2086,3747,3987
$GC,5222,-1.25,-121.7,572.4,-11.4,661,5227,0.20,2.17,0.00,0.000,6,0.169,0.021,2139,2213,3986
$GC,5541,-1.49,-121.7,602.2,-9.4,676,5545,0.17,1.62,0.00,0.000,4,0.071,0.024,2063,1068,3984
$GC,5588,-1.34,-121.7,607.6,-11.2,678,5592,0.20,1.75,0.00,0.000,6,0.173,0.029,2109,2249,3984
$GC,5923,-1.47,-121.7,642.2,-10.0,694,5927,0.12,1.75,0.00,0.000,4,0.081,0.025,2061,1038,3981
$GC,5969,-1.34,-121.7,647.5,-11.5,696,5973,0.17,1.77,0.00,0.000,6,0.167,0.030,2119,2210,3980
$GC,6304,-1.52,-121.7,680.4,-9.8,712,6308,0.17,2.38,0.00,0.000,4,0.071,0.045,2044,3744,3978
$GC,6321,-1.52,-121.7,682.6,-10.0,713,6325,0.00,2.25,0.00,0.000,6,0.000,0.021,2044,2170,3977
$GC,6649,-1.32,-121.7,721.1,-11.2,729,6654,0.25,2.47,0.00,0.000,4,0.176,0.044,2110,3744,3975
$GC,6761,-1.32,-121.7,732.9,-10.3,734,6765,0.00,2.22,0.00,0.000,6,0.000,0.023,2110,2190,3974
$GC,7084,-1.44,-121.7,763.6,-9.7,750,7087,0.00,1.60,0.00,0.000,4,0.000,0.026,2110,1081,3973
$GC,7123,-1.49,-121.7,768.0,-10.7,751,7130,0.12,1.67,0.00,0.000,6,0.084,0.031,2062,2209,3972
$GC,7444,-1.35,-121.7,805.5,-12.4,767,7449,0.17,2.40,0.00,0.000,4,0.175,0.046,2110,3747,3970
$GC,7690,-1.35,-121.7,833.6,-11.1,778,7694,0.00,2.25,0.00,0.000,6,0.000,0.023,2110,2185,3968
$GC,8012,-1.35,-121.7,866.7,-10.5,794,8016,0.00,2.47,0.00,0.000,4,0.000,0.049,2110,3747,3967
$GC,8155,-1.30,-121.7,883.4,-11.8,800,8159,0.00,2.20,0.00,0.000,6,0.000,0.024,2110,2225,3966
$GC,8478,-1.30,-121.7,918.9,-11.0,816,8482,0.00,2.40,0.00,0.000,4,0.000,0.049,2110,3739,3964
$GC,8644,-1.30,-121.7,938.8,-11.5,823,8647,0.00,2.15,0.00,0.000,6,0.000,0.025,2110,2265,3963
$GC,8974,-1.30,-121.7,975.6,-10.7,839,8978,0.00,2.38,0.00,0.000,4,0.000,0.050,2110,3752,3962
$GC,9081,-1.30,-121.7,987.8,-11.8,844,9085,0.00,2.15,0.00,0.000,6,0.000,0.025,2110,2277,3961
$STATE,9102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9102,begin apogee
$GC,9109,-0.27,0.0,990.1,10.0,845,9211,1.17,0.00,93.68,1.381,6,0.161,0.000,2451,2387,3532
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9216,1.49,121.7,995.8,0.0,850,9331,1.65,2.30,104.03,1.363,4,0.064,0.047,3032,3750,3034
$GC,9508,0.63,162.4,984.3,10.1,863,9549,1.15,2.03,34.35,1.325,6,0.224,0.022,2755,2368,2870
$GC,9868,0.79,252.9,960.8,6.6,881,9953,0.12,2.35,75.55,1.345,4,0.094,0.049,2800,3748,2498
$GC,10032,0.69,255.1,942.3,12.9,888,10037,0.15,1.98,0.00,0.000,6,0.195,0.024,2773,2418,2494
$GC,10355,0.82,263.3,903.9,12.5,904,10369,0.10,2.17,8.95,1.154,4,0.097,0.049,2809,3748,2458
$GC,10400,0.71,263.3,897.3,16.1,906,10404,0.17,1.92,0.00,0.000,6,0.192,0.024,2776,2441,2457
$GC,10734,0.86,278.5,854.8,12.0,922,10756,0.12,0.00,14.45,1.234,6,0.087,0.000,2821,2439,2395
$GC,11065,0.89,302.8,814.4,11.3,938,11089,0.00,0.00,21.88,1.254,6,0.000,0.000,2821,2439,2297
$GC,11394,0.91,316.7,775.3,12.0,954,11416,0.00,2.17,12.65,1.180,4,0.000,0.051,2821,3755,2239
$GC,11440,0.91,316.7,769.2,14.9,956,11443,0.00,1.92,0.00,0.000,6,0.000,0.025,2829,2460,2238
$GC,11773,0.91,316.7,725.1,13.4,972,11777,0.00,2.15,0.00,0.000,4,0.000,0.031,2832,1018,2236
$GC,11824,1.01,327.9,718.3,12.2,974,11843,0.10,2.17,10.38,1.127,6,0.091,0.033,2871,2440,2195
$GC,12154,0.94,327.9,672.3,13.8,990,12157,0.00,2.08,0.00,0.000,4,0.000,0.051,2871,3764,2192
$GC,12182,0.79,327.9,667.2,15.2,991,12186,0.25,1.90,0.00,0.000,6,0.189,0.025,2808,2477,2192
$GC,12509,0.97,346.2,628.0,11.7,1007,12532,0.15,2.28,16.70,1.138,4,0.084,0.031,2871,1012,2120
$GC,12637,0.98,352.1,611.1,12.6,1012,12649,0.00,2.20,6.38,0.956,6,0.000,0.032,2871,2441,2096
$GC,12958,0.98,354.0,567.9,12.9,1028,12962,0.00,2.15,0.00,0.000,4,0.000,0.029,2875,1014,2093
$GC,12992,0.98,354.0,563.2,14.2,1029,12996,0.00,2.17,0.00,0.000,6,0.000,0.031,2875,2438,2093
$GC,13314,0.98,357.2,521.8,12.8,1045,13324,0.00,2.15,5.62,0.880,4,0.000,0.029,2880,1018,2075
$GC,13364,0.99,363.6,515.2,12.6,1047,13376,0.00,2.15,7.35,0.940,6,0.000,0.032,2881,2429,2049
$GC,13694,1.03,396.4,477.4,10.7,1072,13728,0.00,2.17,28.38,1.049,4,0.000,0.050,2881,3755,1915
$GC,13801,1.03,396.4,463.7,13.3,1081,13807,0.00,1.90,0.00,0.000,6,0.000,0.024,2891,2461,1912
$GC,14130,1.10,412.2,422.5,11.9,1112,14152,0.00,2.20,14.45,0.967,4,0.000,0.031,2894,1026,1850
$GC,14262,1.22,430.5,406.8,11.7,1123,14284,0.12,2.20,16.50,0.953,6,0.086,0.031,2944,2460,1776
$GC,14604,1.15,441.8,364.1,12.2,1155,14619,0.00,2.20,10.57,0.886,4,0.000,0.029,2951,1017,1730
$GC,14678,1.10,441.8,354.2,14.5,1161,14683,0.20,2.20,0.00,0.000,6,0.175,0.032,2899,2447,1728
$GC,15004,1.38,457.0,313.1,11.9,1191,15026,0.22,2.17,14.32,0.871,4,0.070,0.029,3002,1018,1667
$GC,15164,1.22,457.0,289.7,13.9,1211,15170,0.25,2.25,0.00,0.000,6,0.183,0.033,2939,2485,1664
$GC,15510,1.40,457.0,245.7,13.2,1272,15517,0.17,2.20,0.00,0.000,4,0.068,0.027,3017,1014,1663
$GC,15704,1.23,457.0,216.2,14.1,1306,15712,0.28,2.15,0.00,0.000,6,0.179,0.033,2946,2434,1663
$GC,16054,1.33,472.9,174.6,11.9,1367,16073,0.00,2.15,13.62,0.749,4,0.000,0.028,2954,1004,1603
$GC,16103,1.46,472.9,167.6,13.4,1375,16110,0.17,2.15,0.00,0.000,6,0.074,0.029,3019,2426,1602
$GC,16451,1.36,488.1,120.3,11.9,1436,16471,0.15,2.12,14.12,0.699,4,0.176,0.047,2982,3757,1541
$GC,16541,1.30,496.7,108.6,12.4,1451,16558,0.00,1.98,8.65,0.642,6,0.000,0.023,2989,2389,1506
$GC,16899,1.54,556.5,65.2,8.8,1514,16954,0.15,2.22,49.17,0.670,4,0.077,0.043,3052,3751,1262
$GC,16985,1.44,556.5,55.1,14.4,1528,16992,0.20,1.90,0.00,0.000,6,0.181,0.022,3011,2439,1260
$GC,17332,1.83,598.5,14.3,10.0,1589,17374,0.30,2.10,35.05,0.608,4,0.062,0.044,3133,3764,1092
$STATE,17406,end climb,SURFACE_DEPTH_REACHED
$STATE,17406,begin surface coast
$FINISH,1.6,0.997220
$STATE,17426,end surface coast,CONTROL_FINISHED_OK
$STATE,17427,begin surface
$SM_CCo,17509,0.00,0.000,0,0,1086,600.00
$SM_GC,2.69,8.12,0.00,0.00,0.054,0.000,0.000,141,2472,1086,-7.50,-0.31,600.00
$IRIDIUM_FIX,2432.32,12351.92,281098,222258
$TT8_MAMPS,0.029146
$HUMID,1718
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,23.4,77.318
$10V_AH,10.6,41.662
$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,30.250,161.575,616.800,0.000,0.000,60.848,79.992,256.095,9.000,0.000,0.000,15.109,2886.477,10695.902,736.637,2901.025,902.424,0.000,2239.596,0.000,2832.569,0.000,54.431,0.000
$DEVICE_MAMPS,231.634,63.661,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.062,1108.529,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85261,1605
$CAP_FILE_SIZE,193497,0
$CFSIZE,260165632,190021632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045, 88.7,1
$GPS,040809,031731,2441.671,12403.255,40,0.9,41,-3.6