version: 66.04
glider: 167
mission: 2
dive: 454
start: 8 4 109 8 18 45
data:
$ID,167
$MISSION,2
$DIVE,454
$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,-14697.732
$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,102
$R_STBD_OVSHOOT,41
$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
$GPS1,081101,2441.687,12402.805,37,1.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-68.9
$GPS2,081825,2441.732,12402.799,9,2.0,14,-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,259.5,4527,-24.8,-13.043
$D_GRID,1284
$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,-1.49,-121.7,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,140,2437,2265
$GC,64,-1.49,-121.7,3.2,-2.2,7,137,7.93,2.12,-57.70,0.000,4,0.232,0.053,2053,3763,3989
$GC,172,-0.85,-121.7,16.1,-24.1,25,179,0.77,1.80,0.00,0.000,6,0.174,0.020,2267,2478,3990
$GC,519,-1.29,-121.7,59.2,-9.7,86,527,0.35,1.95,0.00,0.000,4,0.052,0.022,2119,1109,3991
$GC,562,-1.08,-121.7,64.9,-13.5,93,569,0.32,2.03,0.00,0.000,6,0.162,0.027,2199,2478,3991
$GC,907,-1.21,-121.7,105.1,-11.1,154,915,0.12,1.98,0.00,0.000,4,0.074,0.021,2146,1105,3992
$GC,974,-1.08,-121.7,113.3,-12.6,165,980,0.20,1.95,0.00,0.000,6,0.163,0.025,2191,2443,3992
$GC,1321,-1.31,-121.7,152.4,-11.4,226,1329,0.17,1.92,0.00,0.000,4,0.067,0.021,2111,1094,3994
$GC,1358,-1.19,-121.7,157.3,-13.8,232,1365,0.20,1.92,0.00,0.000,6,0.158,0.026,2158,2416,3994
$GC,1705,-1.29,-121.7,196.7,-11.0,293,1711,0.00,1.88,0.00,0.000,4,0.000,0.023,2158,1102,3995
$GC,1753,-1.41,-121.7,202.3,-12.0,301,1760,0.17,1.88,0.00,0.000,6,0.065,0.028,2080,2389,3995
$GC,2100,-1.19,-121.7,244.4,-12.3,362,2108,0.28,2.08,0.00,0.000,4,0.171,0.039,2152,3760,3995
$GC,2241,-1.13,-121.7,260.8,-11.5,386,2248,0.00,1.90,0.00,0.000,6,0.000,0.021,2152,2392,3995
$GC,2588,-1.29,-121.7,293.9,-9.9,447,2594,0.00,1.83,0.00,0.000,4,0.000,0.023,2152,1094,3995
$GC,2663,-1.29,-121.7,302.2,-11.9,458,2670,0.00,1.90,0.00,0.000,6,0.000,0.027,2149,2393,3995
$GC,2992,-1.45,-121.7,338.0,-10.9,489,2997,0.17,1.85,0.00,0.000,4,0.068,0.021,2068,1101,3995
$GC,3100,-1.23,-121.7,351.8,-11.9,498,3107,0.30,1.80,0.00,0.000,6,0.160,0.027,2146,2333,3995
$GC,3425,-1.41,-121.7,381.3,-8.8,529,3430,0.17,1.77,0.00,0.000,4,0.068,0.022,2068,1100,3995
$GC,3472,-1.24,-121.7,386.4,-11.6,533,3476,0.22,1.77,0.00,0.000,6,0.155,0.028,2146,2289,3995
$GC,3804,-1.43,-121.7,419.6,-9.9,564,3808,0.17,1.70,0.00,0.000,4,0.068,0.024,2069,1106,3994
$GC,3844,-1.28,-121.7,424.3,-11.8,567,3852,0.22,1.73,0.00,0.000,6,0.162,0.029,2128,2280,3994
$GC,4170,-1.41,-121.7,456.4,-9.3,598,4172,0.12,0.00,0.00,0.000,6,0.078,0.000,2077,2281,3993
$GC,4492,-1.29,-121.7,491.4,-11.7,628,4496,0.17,2.25,0.00,0.000,4,0.163,0.044,2124,3744,3992
$GC,4582,-1.29,-121.7,502.5,-11.2,635,4586,0.00,2.10,0.00,0.000,6,0.000,0.022,2123,2266,3992
$GC,4911,-1.43,-121.7,535.6,-9.2,651,4915,0.12,1.62,0.00,0.000,4,0.077,0.024,2070,1107,3990
$GC,4935,-1.43,-121.7,537.9,-9.4,652,4939,0.00,1.70,0.00,0.000,6,0.000,0.029,2067,2256,3990
$GC,5269,-1.27,-121.7,571.7,-10.1,668,5273,0.20,2.30,0.00,0.000,4,0.165,0.043,2124,3750,3988
$GC,5355,-1.27,-121.7,579.9,-9.2,672,5358,0.00,2.12,0.00,0.000,6,0.000,0.021,2124,2262,3987
$GC,5688,-1.46,-121.7,614.8,-11.1,688,5692,0.15,1.62,0.00,0.000,4,0.073,0.025,2062,1111,3986
$GC,5738,-1.31,-121.7,621.2,-13.1,690,5742,0.22,1.67,0.00,0.000,6,0.163,0.030,2118,2244,3985
$GC,6069,-1.49,-121.7,657.0,-10.4,706,6073,0.15,1.65,0.00,0.000,4,0.075,0.025,2059,1107,3982
$GC,6125,-1.33,-121.7,664.2,-12.4,708,6129,0.22,1.65,0.00,0.000,6,0.163,0.031,2117,2216,3981
$GC,6449,-1.49,-121.7,693.8,-8.8,724,6453,0.15,2.38,0.00,0.000,4,0.076,0.046,2057,3745,3979
$GC,6472,-1.42,-121.7,696.4,-10.0,725,6477,0.12,2.20,0.00,0.000,6,0.179,0.021,2086,2202,3979
$GC,6803,-1.37,-121.7,728.7,-9.9,741,6807,0.00,2.42,0.00,0.000,4,0.000,0.046,2084,3753,3977
$GC,6887,-1.22,-121.7,738.2,-11.1,744,6894,0.25,2.20,0.00,0.000,6,0.158,0.022,2153,2216,3976
$GC,7205,-1.49,-121.7,763.4,-7.7,760,7209,0.22,1.58,0.00,0.000,4,0.067,0.025,2059,1114,3974
$GC,7267,-1.34,-121.7,770.2,-10.8,762,7274,0.20,1.62,0.00,0.000,6,0.168,0.032,2110,2201,3974
$GC,7585,-1.41,-121.7,802.2,-10.4,778,7589,0.00,2.40,0.00,0.000,4,0.000,0.048,2110,3741,3972
$GC,7677,-1.41,-121.7,813.0,-11.5,782,7680,0.00,2.17,0.00,0.000,6,0.000,0.024,2110,2244,3971
$GC,8004,-1.46,-121.7,847.3,-10.1,798,8009,0.12,2.40,0.00,0.000,4,0.084,0.048,2057,3747,3968
$GC,8142,-1.21,-121.7,865.6,-13.9,804,8147,0.35,2.15,0.00,0.000,6,0.169,0.023,2153,2252,3968
$GC,8466,-1.49,-121.7,894.2,-7.6,820,8470,0.22,1.65,0.00,0.000,4,0.071,0.027,2063,1112,3966
$GC,8490,-1.49,-121.7,896.8,-9.8,821,8494,0.00,1.67,0.00,0.000,6,0.000,0.033,2057,2221,3966
$GC,8824,-1.33,-121.7,937.7,-12.3,837,8828,0.17,2.40,0.00,0.000,4,0.178,0.048,2098,3750,3965
$GC,8958,-1.24,-121.7,953.5,-12.3,843,8962,0.17,2.17,0.00,0.000,6,0.170,0.024,2142,2254,3964
$STATE,9137,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9137,begin apogee
$GC,9144,-0.27,0.0,971.3,8.8,852,9247,1.02,0.00,93.88,1.369,6,0.141,0.000,2457,2392,3532
$STATE,9247,end apogee,CONTROL_FINISHED_OK
$STATE,9247,begin climb
$GC,9250,1.49,121.7,977.2,0.0,857,9367,1.62,2.20,104.05,1.348,4,0.065,0.028,3033,1040,3034
$GC,9437,0.83,168.4,976.4,9.7,866,9485,0.88,2.12,40.28,1.312,6,0.217,0.035,2815,2396,2844
$GC,9813,0.76,218.5,941.8,9.5,884,9859,0.00,2.20,41.67,1.315,4,0.000,0.048,2815,3753,2641
$GC,9966,0.58,218.5,923.1,13.3,891,9971,0.35,2.00,0.00,0.000,6,0.192,0.022,2733,2403,2637
$GC,10303,0.87,269.7,893.4,9.4,907,10353,0.22,2.30,42.85,1.305,4,0.076,0.049,2823,3760,2430
$GC,10429,0.74,269.7,876.5,15.1,912,10435,0.17,1.98,0.00,0.000,6,0.193,0.024,2787,2447,2427
$GC,10747,0.89,313.1,843.4,9.9,928,10790,0.12,2.28,36.97,1.278,4,0.088,0.032,2842,1021,2255
$GC,10846,0.90,320.9,831.3,12.5,932,10861,0.00,2.20,7.88,1.077,6,0.000,0.034,2842,2427,2223
$GC,11190,0.90,320.9,789.2,13.0,949,11194,0.00,2.10,0.00,0.000,4,0.000,0.052,2842,3755,2217
$GC,11263,0.80,320.9,778.4,14.9,952,11268,0.17,1.92,0.00,0.000,6,0.189,0.025,2808,2437,2217
$GC,11592,0.93,341.4,740.4,11.6,968,11617,0.12,2.20,18.08,1.201,4,0.092,0.051,2855,3764,2138
$GC,11640,0.84,341.4,733.0,14.5,970,11645,0.17,1.92,0.00,0.000,6,0.191,0.025,2822,2456,2136
$GC,11969,0.96,358.1,692.8,11.8,986,11992,0.00,2.20,15.38,1.162,4,0.000,0.032,2829,1012,2071
$GC,12016,1.11,364.5,686.9,12.6,988,12031,0.20,2.28,7.32,1.014,6,0.077,0.032,2903,2475,2045
$GC,12350,1.00,364.5,636.5,15.2,1004,12355,0.15,2.22,0.00,0.000,4,0.189,0.030,2871,1015,2040
$GC,12395,1.00,364.5,629.9,13.3,1006,12399,0.00,2.20,0.00,0.000,6,0.000,0.033,2871,2448,2040
$GC,12716,1.00,364.5,586.1,13.6,1022,12719,0.00,2.05,0.00,0.000,4,0.000,0.051,2871,3759,2039
$GC,12750,0.90,364.5,581.1,13.9,1023,12754,0.17,1.92,0.00,0.000,6,0.189,0.025,2834,2435,2038
$GC,13073,1.15,382.8,543.1,11.7,1039,13095,0.20,2.12,15.73,1.075,4,0.075,0.048,2917,3762,1970
$GC,13159,0.95,382.8,530.3,14.6,1042,13167,0.28,1.88,0.00,0.000,6,0.186,0.026,2853,2497,1967
$GC,13477,1.22,438.8,499.4,9.0,1058,13534,0.22,2.08,48.45,1.071,4,0.077,0.048,2943,3761,1740
$GC,13609,1.05,438.8,481.7,14.2,1069,13616,0.25,1.80,0.00,0.000,6,0.184,0.025,2888,2549,1736
$GC,13935,1.32,454.0,445.3,12.0,1100,13951,0.20,0.00,13.12,0.965,6,0.076,0.000,2972,2547,1681
$GC,14266,1.18,454.0,389.7,16.9,1131,14271,0.17,2.30,0.00,0.000,4,0.184,0.029,2938,1013,1677
$GC,14344,1.18,454.0,378.1,13.4,1137,14350,0.00,2.22,0.00,0.000,6,0.000,0.032,2938,2467,1676
$GC,14674,1.19,457.2,333.4,12.8,1168,14678,0.00,2.17,0.00,0.000,4,0.000,0.030,2943,1019,1675
$GC,14758,1.19,464.0,321.9,12.6,1175,14775,0.00,2.12,9.25,0.845,6,0.000,0.031,2943,2424,1639
$GC,15105,1.27,474.1,273.5,12.3,1223,15122,0.00,2.12,9.60,0.809,4,0.000,0.049,2944,3757,1598
$GC,15152,1.27,474.1,267.0,13.9,1231,15158,0.00,1.92,0.00,0.000,6,0.000,0.024,2953,2441,1597
$GC,15497,1.27,474.1,221.2,13.5,1292,15503,0.00,2.08,0.00,0.000,4,0.000,0.048,2953,3759,1595
$GC,15612,1.27,474.1,204.0,15.7,1312,15618,0.00,2.00,0.00,0.000,6,0.000,0.024,2963,2387,1596
$GC,15957,1.44,496.6,160.0,11.4,1373,15984,0.12,2.05,20.10,0.759,4,0.084,0.028,3022,1007,1507
$GC,16002,1.36,496.6,154.2,13.2,1380,16009,0.15,2.15,0.00,0.000,6,0.175,0.028,2986,2432,1505
$GC,16350,1.54,516.9,111.0,11.6,1441,16375,0.15,2.15,18.27,0.701,4,0.075,0.027,3053,999,1423
$GC,16524,1.42,516.9,86.5,15.2,1471,16531,0.20,2.08,0.00,0.000,6,0.176,0.029,3002,2383,1420
$GC,16870,1.71,547.7,47.0,10.8,1532,16901,0.22,2.12,25.62,0.645,4,0.067,0.027,3104,1004,1299
$GC,17013,1.58,547.7,27.4,14.7,1556,17020,0.20,2.15,0.00,0.000,6,0.186,0.029,3052,2433,1297
$STATE,17193,end climb,SURFACE_DEPTH_REACHED
$STATE,17193,begin surface coast
$FINISH,1.7,1.002529
$STATE,17217,end surface coast,CONTROL_FINISHED_OK
$STATE,17217,begin surface
$SM_CCo,17296,0.00,0.000,0,0,1294,548.98
$SM_GC,2.66,7.82,0.00,0.00,0.054,0.000,0.000,141,2438,1294,-7.50,-1.27,548.98
$IRIDIUM_FIX,2432.32,12401.80,291098,030301
$TT8_MAMPS,0.028379
$HUMID,1701
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,2
$24V_AH,23.3,77.734
$10V_AH,10.6,41.863
$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,30.775,161.875,568.500,0.000,0.000,30.430,37.586,199.785,8.250,0.000,0.000,16.932,2869.549,10523.177,709.526,2848.966,769.957,0.000,2192.671,0.000,2783.011,0.000,52.762,0.000
$DEVICE_MAMPS,232.401,60.593,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.863,1108.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85356,1592
$CAP_FILE_SIZE,191131,0
$CFSIZE,260165632,189841408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036, 88.2,1
$GPS,040809,130807,2441.616,12401.504,28,1.3,29,-3.6