version: 66.04
glider: 167
mission: 2
dive: 456
start: 8 4 109 18 7 13
data:
$ID,167
$MISSION,2
$DIVE,456
$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,-14728.82
$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,95
$R_STBD_OVSHOOT,36
$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
$GPS1,175931,2441.499,12400.442,40,1.5,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.2
$GPS2,180650,2441.496,12400.438,14,1.8,14,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$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,253.6,73185,-24.8,-13.043
$D_GRID,1336
$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,-1.49,-121.7,0.0,0.0,0,46,0.00,0.00,-28.77,0.000,2,0.000,0.000,139,2480,2189
$GC,49,-1.49,-121.7,3.1,-2.2,5,123,7.90,1.98,-58.92,0.000,4,0.231,0.054,2047,3761,3989
$GC,260,-0.85,-121.7,38.5,-21.2,40,267,0.77,1.80,0.00,0.000,6,0.173,0.020,2263,2470,3990
$GC,607,-1.22,-121.7,79.2,-9.9,101,613,0.28,1.95,0.00,0.000,4,0.056,0.022,2145,1103,3991
$GC,643,-1.17,-121.7,83.9,-13.7,107,650,0.12,2.05,0.00,0.000,6,0.170,0.027,2167,2490,3991
$GC,990,-1.26,-121.7,125.4,-11.1,168,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2490,3992
$GC,1334,-1.41,-121.7,162.8,-10.0,229,1340,0.20,1.90,0.00,0.000,4,0.063,0.041,2070,3750,3994
$GC,1535,-1.04,-121.7,192.5,-15.6,264,1542,0.47,1.80,0.00,0.000,6,0.162,0.021,2205,2447,3994
$GC,1882,-1.36,-121.7,224.3,-9.3,325,1892,0.25,2.00,0.00,0.000,4,0.058,0.041,2094,3753,3995
$GC,1961,-1.10,-121.7,234.8,-14.0,338,1969,0.35,1.75,0.00,0.000,6,0.160,0.021,2192,2488,3995
$GC,2310,-1.38,-121.7,270.9,-9.1,399,2317,0.22,1.95,0.00,0.000,4,0.060,0.021,2093,1105,3995
$GC,2423,-1.19,-121.7,283.4,-11.5,418,2431,0.25,1.98,0.00,0.000,6,0.156,0.027,2153,2458,3995
$GC,2767,-1.34,-121.7,318.9,-10.1,463,2771,0.12,1.95,0.00,0.000,4,0.079,0.021,2101,1103,3995
$GC,2846,-1.20,-121.7,327.7,-11.0,470,2850,0.22,1.92,0.00,0.000,6,0.156,0.027,2159,2415,3995
$GC,3177,-1.43,-121.7,358.5,-9.8,501,3181,0.20,2.03,0.00,0.000,4,0.064,0.042,2070,3747,3995
$GC,3216,-1.15,-121.7,363.4,-13.6,504,3222,0.35,1.88,0.00,0.000,6,0.159,0.021,2169,2402,3995
$GC,3542,-1.42,-121.7,394.3,-9.4,535,3546,0.20,1.85,0.00,0.000,4,0.064,0.022,2082,1095,3994
$GC,3581,-1.30,-121.7,398.9,-11.6,538,3589,0.17,1.92,0.00,0.000,6,0.163,0.028,2121,2409,3994
$GC,3907,-1.43,-121.7,431.9,-10.3,569,3911,0.12,1.88,0.00,0.000,4,0.076,0.023,2069,1106,3994
$GC,3942,-1.31,-121.7,435.6,-11.2,572,3946,0.22,1.90,0.00,0.000,6,0.160,0.028,2124,2400,3993
$GC,4273,-1.40,-121.7,467.4,-8.6,603,4277,0.00,1.90,0.00,0.000,4,0.000,0.024,2124,1103,3992
$GC,4290,-1.52,-121.7,468.9,-8.5,604,4297,0.20,1.88,0.00,0.000,6,0.064,0.028,2045,2376,3992
$GC,4627,-1.37,-121.7,505.6,-12.0,634,4631,0.17,2.10,0.00,0.000,4,0.173,0.041,2087,3751,3991
$GC,4689,-1.19,-121.7,513.3,-12.2,637,4694,0.28,1.95,0.00,0.000,6,0.160,0.023,2162,2373,3991
$GC,5026,-1.48,-121.7,542.3,-7.7,653,5030,0.22,1.80,0.00,0.000,4,0.064,0.024,2064,1110,3990
$GC,5060,-1.35,-121.7,546.1,-10.0,654,5064,0.20,1.88,0.00,0.000,6,0.163,0.028,2112,2378,3990
$GC,5382,-1.46,-121.7,573.4,-8.3,670,5386,0.12,1.85,0.00,0.000,4,0.080,0.023,2062,1100,3987
$GC,5462,-1.29,-121.7,581.7,-11.2,673,5466,0.25,1.85,0.00,0.000,6,0.160,0.028,2126,2346,3987
$GC,5783,-1.47,-121.7,611.1,-9.2,689,5787,0.17,1.80,0.00,0.000,4,0.073,0.023,2051,1105,3985
$GC,5831,-1.30,-121.7,616.2,-11.3,691,5836,0.30,1.83,0.00,0.000,6,0.165,0.028,2127,2335,3985
$GC,6169,-1.49,-121.7,648.8,-9.4,707,6173,0.17,2.20,0.00,0.000,4,0.072,0.046,2057,3757,3982
$GC,6210,-1.26,-121.7,653.7,-12.2,709,6215,0.28,2.05,0.00,0.000,6,0.164,0.022,2132,2324,3981
$GC,6540,-1.48,-121.7,684.1,-8.8,725,6542,0.20,0.00,0.00,0.000,6,0.071,0.000,2054,2324,3979
$GC,6848,-1.42,-121.7,714.0,-9.5,740,6850,0.12,0.00,0.00,0.000,6,0.169,0.000,2086,2324,3977
$GC,7156,-1.42,-121.7,741.9,-9.5,755,7159,0.00,1.75,0.00,0.000,4,0.000,0.025,2086,1103,3975
$GC,7202,-1.42,-121.7,746.5,-10.2,757,7206,0.00,1.83,0.00,0.000,6,0.000,0.031,2085,2319,3975
$GC,7536,-1.42,-121.7,783.3,-11.5,773,7540,0.00,1.77,0.00,0.000,4,0.000,0.025,2085,1119,3973
$GC,7564,-1.42,-121.7,786.9,-12.4,774,7567,0.00,1.75,0.00,0.000,6,0.000,0.031,2084,2288,3973
$GC,7891,-1.42,-121.7,824.6,-11.5,790,7899,0.00,2.28,0.00,0.000,4,0.000,0.049,2084,3746,3971
$GC,8043,-1.28,-121.7,843.4,-12.7,796,8048,0.17,2.05,0.00,0.000,6,0.165,0.024,2129,2309,3969
$GC,8366,-1.50,-121.7,873.7,-9.1,812,8367,0.20,0.00,0.00,0.000,6,0.074,0.000,2054,2309,3968
$GC,8676,-1.34,-121.7,910.0,-11.4,827,8678,0.22,0.00,0.00,0.000,6,0.169,0.000,2115,2309,3966
$GC,8984,-1.40,-121.7,940.2,-9.6,842,8988,0.00,2.28,0.00,0.000,4,0.000,0.050,2111,3742,3965
$STATE,9126,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9130,begin apogee
$GC,9139,-0.27,0.0,955.3,10.6,848,9245,1.15,0.00,93.78,1.362,6,0.166,0.000,2447,2410,3532
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9246,begin climb
$GC,9249,1.49,121.7,961.7,0.0,854,9360,1.67,2.28,103.40,1.345,4,0.070,0.044,3028,3750,3034
$GC,9546,0.63,156.7,947.1,10.5,867,9582,1.12,1.98,29.50,1.297,6,0.223,0.021,2756,2412,2893
$GC,9908,0.78,241.2,920.4,7.0,885,9985,0.12,2.25,70.43,1.322,4,0.095,0.048,2801,3739,2547
$GC,10046,0.69,253.4,906.5,12.2,891,10064,0.17,2.00,10.95,1.162,6,0.194,0.023,2768,2397,2499
$GC,10377,0.93,317.2,876.0,8.5,907,10437,0.22,2.25,54.67,1.296,4,0.077,0.048,2852,3754,2237
$GC,10472,0.78,317.2,862.7,15.7,912,10477,0.25,2.00,0.00,0.000,6,0.192,0.023,2799,2426,2233
$GC,10804,0.94,348.2,825.7,10.8,928,10835,0.15,2.17,26.25,1.250,4,0.086,0.031,2859,1000,2112
$GC,10852,0.94,348.2,818.8,13.3,930,10856,0.00,2.22,0.00,0.000,6,0.000,0.032,2859,2422,2110
$GC,11169,0.95,359.3,779.1,12.2,945,11184,0.00,2.12,10.23,1.137,4,0.000,0.050,2859,3758,2067
$GC,11269,0.86,359.3,764.4,14.4,948,11276,0.17,1.98,0.00,0.000,6,0.191,0.025,2825,2424,2064
$GC,11586,0.97,359.3,723.9,13.1,964,11590,0.00,2.12,0.00,0.000,4,0.000,0.049,2825,3765,2062
$GC,11632,0.97,359.3,717.3,13.9,966,11635,0.00,1.92,0.00,0.000,6,0.000,0.025,2828,2466,2062
$GC,11965,1.09,366.0,675.5,12.6,982,11979,0.20,2.25,6.82,1.018,4,0.079,0.031,2911,1007,2039
$GC,12013,1.01,366.0,668.1,16.1,984,12018,0.15,2.22,0.00,0.000,6,0.184,0.032,2874,2462,2038
$GC,12334,1.01,366.0,623.8,13.6,1000,12337,0.00,2.03,0.00,0.000,4,0.000,0.050,2874,3761,2037
$GC,12367,0.91,366.0,618.8,15.6,1001,12372,0.17,1.92,0.00,0.000,6,0.188,0.025,2839,2443,2037
$GC,12691,1.16,379.7,578.5,12.1,1017,12709,0.22,0.00,12.77,1.084,6,0.072,0.000,2924,2441,1983
$GC,13018,1.03,379.7,531.7,13.9,1033,13020,0.17,0.00,0.00,0.000,6,0.181,0.000,2879,2441,1981
$GC,13330,1.14,394.8,494.3,12.0,1050,13353,0.00,2.22,14.12,1.036,4,0.000,0.033,2885,1011,1921
$GC,13366,1.24,408.5,489.9,12.1,1053,13390,0.17,2.28,13.57,1.008,6,0.080,0.031,2950,2491,1864
$GC,13707,1.08,408.5,439.9,14.1,1085,13711,0.20,2.00,0.00,0.000,4,0.186,0.048,2894,3765,1859
$GC,13757,1.08,408.5,433.1,13.2,1089,13764,0.00,1.90,0.00,0.000,6,0.000,0.025,2901,2464,1858
$GC,14086,1.25,433.6,396.3,11.2,1120,14113,0.15,2.08,21.48,0.979,4,0.081,0.048,2961,3758,1763
$GC,14212,1.04,433.6,376.8,16.1,1130,14220,0.32,1.80,0.00,0.000,6,0.185,0.024,2885,2524,1760
$GC,14538,1.35,466.4,339.7,10.7,1161,14573,0.22,2.00,28.35,0.938,4,0.072,0.047,2978,3765,1628
$GC,14590,1.18,466.4,332.6,15.4,1165,14597,0.25,1.95,0.00,0.000,6,0.185,0.023,2925,2443,1627
$GC,14920,1.42,466.4,290.8,13.5,1202,14927,0.17,2.10,0.00,0.000,4,0.077,0.047,2999,3767,1622
$GC,14990,1.18,466.4,278.9,18.6,1214,14998,0.30,2.03,0.00,0.000,6,0.182,0.022,2929,2387,1622
$GC,15341,1.43,489.0,236.4,11.4,1275,15366,0.17,2.12,18.98,0.831,4,0.077,0.029,3010,997,1536
$GC,15450,1.32,489.0,221.0,15.4,1293,15457,0.15,2.05,0.00,0.000,6,0.180,0.028,2975,2355,1534
$GC,15799,1.49,508.1,177.6,11.7,1354,15824,0.15,2.05,17.00,0.769,4,0.077,0.028,3038,999,1459
$GC,15943,1.36,508.1,156.7,14.7,1378,15950,0.20,2.17,0.00,0.000,6,0.178,0.030,2989,2437,1456
$GC,16290,1.54,533.0,110.3,11.3,1439,16321,0.15,2.20,21.58,0.713,4,0.078,0.028,3054,1004,1357
$GC,16440,1.45,533.0,88.1,15.5,1465,16447,0.17,2.08,0.00,0.000,6,0.177,0.028,3010,2391,1355
$GC,16789,1.75,581.4,43.5,9.6,1526,16837,0.22,2.10,40.67,0.657,4,0.065,0.026,3115,998,1160
$GC,16909,1.63,581.4,28.3,14.7,1546,16917,0.17,2.00,0.00,0.000,6,0.183,0.027,3070,2331,1157
$STATE,17095,end climb,SURFACE_DEPTH_REACHED
$STATE,17095,begin surface coast
$FINISH,1.7,1.000142
$STATE,17113,end surface coast,CONTROL_FINISHED_OK
$STATE,17113,begin surface
$SM_CCo,17194,0.00,0.000,0,0,1153,583.32
$SM_GC,2.68,7.95,0.00,0.00,0.057,0.000,0.000,140,2492,1153,-7.50,0.25,583.32
$IRIDIUM_FIX,2432.32,12400.47,291098,131334
$TT8_MAMPS,0.029146
$HUMID,1719
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,78.138
$10V_AH,10.6,42.056
$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,32.875,144.250,594.550,0.000,0.000,30.758,41.514,199.867,7.750,0.000,0.000,14.810,2831.380,10558.293,722.480,2752.308,754.899,0.000,2146.918,0.000,2684.178,0.000,52.780,0.000
$DEVICE_MAMPS,230.867,53.690,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.099,1082.376,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85108,1582
$CAP_FILE_SIZE,185423,0
$CFSIZE,260165632,189661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071, 68.2,1
$GPS,040809,225506,2441.267,12359.570,36,1.1,42,-3.6