version: 66.04
glider: 167
mission: 2
dive: 457
start: 8 4 109 23 2 59
data:
$ID,167
$MISSION,2
$DIVE,457
$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,-14741.84
$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,68
$R_STBD_OVSHOOT,48
$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
$GPS1,225506,2441.267,12359.570,36,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-67.3
$GPS2,230238,2441.290,12359.503,12,1.7,12,-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,257.4,71564,-24.8,-13.043
$D_GRID,1477
$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,-121.7,0.0,0.0,0,63,0.00,0.00,-45.67,0.000,2,0.000,0.000,140,2492,2311
$GC,68,-1.49,-121.7,3.3,-2.8,8,137,7.82,1.98,-52.22,0.000,4,0.229,0.054,2048,3743,3989
$GC,346,-0.89,-121.7,55.0,-20.1,56,354,0.73,1.83,0.00,0.000,6,0.171,0.020,2250,2427,3991
$GC,695,-1.30,-121.7,93.9,-9.6,117,701,0.30,1.92,0.00,0.000,4,0.054,0.021,2122,1074,3992
$GC,776,-1.09,-121.7,104.9,-14.8,131,783,0.28,2.05,0.00,0.000,6,0.159,0.027,2187,2466,3992
$GC,1123,-1.35,-121.7,145.6,-11.0,192,1130,0.20,2.00,0.00,0.000,4,0.061,0.021,2097,1073,3993
$GC,1171,-1.11,-121.7,151.9,-13.8,200,1179,0.35,2.00,0.00,0.000,6,0.158,0.027,2188,2441,3994
$GC,1521,-1.35,-121.7,190.3,-11.8,261,1527,0.20,1.98,0.00,0.000,4,0.061,0.021,2098,1063,3995
$GC,1615,-1.14,-121.7,204.0,-14.6,277,1621,0.28,1.95,0.00,0.000,6,0.158,0.028,2173,2394,3995
$GC,1961,-1.36,-121.7,237.8,-7.1,338,1967,0.17,2.05,0.00,0.000,4,0.066,0.040,2085,3751,3995
$GC,2010,-1.05,-121.7,242.7,-11.5,346,2016,0.43,1.98,0.00,0.000,6,0.156,0.020,2205,2320,3995
$GC,2358,-1.42,-121.7,277.1,-9.9,407,2365,0.30,1.75,0.00,0.000,4,0.057,0.022,2078,1072,3995
$GC,2456,-1.22,-121.7,290.2,-13.9,424,2464,0.28,1.90,0.00,0.000,6,0.156,0.027,2147,2371,3995
$GC,2794,-1.38,-121.7,324.8,-10.4,463,2802,0.15,1.88,0.00,0.000,4,0.071,0.022,2084,1065,3996
$GC,2845,-1.25,-121.7,330.6,-12.0,467,2849,0.20,1.88,0.00,0.000,6,0.159,0.027,2138,2340,3995
$GC,3176,-1.42,-121.7,366.7,-10.5,498,3180,0.15,1.83,0.00,0.000,4,0.070,0.022,2075,1070,3995
$GC,3211,-1.29,-121.7,370.6,-11.7,501,3215,0.20,1.85,0.00,0.000,6,0.158,0.026,2125,2330,3996
$GC,3543,-1.39,-121.7,404.7,-11.3,532,3546,0.00,1.80,0.00,0.000,4,0.000,0.022,2126,1072,3995
$GC,3601,-1.39,-121.7,411.8,-12.4,537,3604,0.00,1.83,0.00,0.000,6,0.000,0.028,2126,2290,3995
$GC,3938,-1.54,-121.7,450.8,-10.6,568,3942,0.17,1.75,0.00,0.000,4,0.071,0.022,2046,1074,3994
$GC,3977,-1.29,-121.7,456.2,-12.8,571,3984,0.30,1.77,0.00,0.000,6,0.161,0.029,2126,2275,3994
$GC,4303,-1.43,-121.7,488.3,-11.1,602,4307,0.12,1.75,0.00,0.000,4,0.079,0.024,2075,1066,3993
$GC,4342,-1.32,-121.7,493.4,-13.1,605,4349,0.17,1.75,0.00,0.000,6,0.160,0.028,2117,2254,3992
$GC,4674,-1.43,-121.7,531.1,-10.6,624,4678,0.00,2.30,0.00,0.000,4,0.000,0.044,2110,3757,3992
$GC,4708,-1.39,-121.7,535.4,-11.4,625,4712,0.00,2.20,0.00,0.000,6,0.000,0.021,2110,2205,3991
$GC,5025,-1.47,-121.7,567.1,-10.0,640,5029,0.12,1.60,0.00,0.000,4,0.080,0.025,2057,1074,3990
$GC,5094,-1.29,-121.7,575.0,-11.9,643,5099,0.28,1.67,0.00,0.000,6,0.160,0.029,2128,2211,3989
$GC,5431,-1.49,-121.7,607.6,-10.4,659,5436,0.20,2.38,0.00,0.000,4,0.067,0.044,2044,3748,3986
$GC,5459,-1.32,-121.7,611.6,-13.2,660,5463,0.28,2.25,0.00,0.000,6,0.166,0.021,2120,2164,3986
$GC,5775,-1.49,-121.7,642.2,-9.0,675,5777,0.17,0.00,0.00,0.000,6,0.071,0.000,2052,2164,3984
$GC,6086,-1.37,-121.7,675.8,-10.7,690,6091,0.17,2.47,0.00,0.000,4,0.163,0.043,2098,3750,3981
$GC,6165,-1.28,-121.7,684.7,-11.5,693,6172,0.12,2.28,0.00,0.000,6,0.166,0.023,2129,2158,3981
$GC,6482,-1.51,-121.7,712.1,-8.4,709,6486,0.17,1.55,0.00,0.000,4,0.075,0.026,2054,1076,3979
$GC,6511,-1.43,-121.7,715.0,-10.8,710,6515,0.12,1.67,0.00,0.000,6,0.175,0.031,2084,2200,3979
$GC,6842,-1.48,-121.7,748.4,-11.2,726,6846,0.00,2.40,0.00,0.000,4,0.000,0.048,2084,3746,3976
$GC,6870,-1.41,-121.7,752.4,-13.0,727,6874,0.00,2.28,0.00,0.000,6,0.000,0.023,2084,2165,3976
$GC,7186,-1.41,-121.7,787.5,-10.9,742,7190,0.00,2.47,0.00,0.000,4,0.000,0.046,2084,3740,3974
$GC,7320,-1.27,-121.7,801.9,-11.5,748,7325,0.17,2.25,0.00,0.000,6,0.165,0.023,2130,2179,3973
$GC,7651,-1.50,-121.7,831.0,-8.9,764,7653,0.20,0.00,0.00,0.000,6,0.072,0.000,2054,2178,3971
$GC,7958,-1.34,-121.7,867.8,-12.4,779,7963,0.17,2.47,0.00,0.000,4,0.168,0.046,2097,3747,3969
$GC,8072,-1.25,-121.7,881.8,-11.7,784,8077,0.17,2.28,0.00,0.000,6,0.166,0.023,2143,2168,3968
$GC,8397,-1.54,-121.7,912.7,-9.4,800,8399,0.28,0.00,0.00,0.000,6,0.068,0.000,2041,2167,3966
$GC,8703,-1.34,-121.7,951.7,-13.3,815,8708,0.22,2.50,0.00,0.000,4,0.172,0.047,2097,3743,3965
$GC,8817,-1.25,-121.7,965.7,-11.9,820,8822,0.17,2.28,0.00,0.000,6,0.166,0.024,2143,2167,3965
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9074,begin apogee
$GC,9081,-0.27,0.0,990.7,9.1,833,9183,1.02,0.00,93.85,1.389,6,0.144,0.000,2454,2394,3532
$STATE,9184,end apogee,CONTROL_FINISHED_OK
$STATE,9184,begin climb
$GC,9188,1.49,121.7,997.0,0.0,838,9300,1.60,2.25,104.25,1.371,4,0.068,0.045,3018,3753,3034
$GC,9351,0.67,172.3,998.6,9.4,845,9402,1.08,2.05,43.25,1.335,6,0.223,0.021,2765,2379,2829
$GC,9714,0.80,235.5,969.1,8.5,863,9778,0.12,2.35,53.05,1.341,4,0.093,0.049,2810,3758,2569
$GC,9886,0.65,235.5,947.9,13.6,870,9893,0.22,1.98,0.00,0.000,6,0.189,0.024,2762,2427,2565
$GC,10203,0.92,279.0,915.9,9.9,886,10247,0.20,2.25,36.55,1.320,4,0.077,0.050,2839,3758,2393
$GC,10342,0.74,279.0,897.1,14.4,892,10347,0.22,1.92,0.00,0.000,6,0.189,0.024,2791,2466,2389
$GC,10676,0.94,321.2,861.0,10.0,908,10720,0.17,2.25,35.88,1.299,4,0.081,0.030,2863,1010,2220
$GC,10777,0.94,321.2,847.7,13.1,912,10781,0.00,2.28,0.00,0.000,6,0.000,0.032,2863,2475,2217
$GC,11099,0.87,321.2,804.4,13.4,928,11103,0.15,2.03,0.00,0.000,4,0.187,0.051,2827,3763,2213
$GC,11137,0.87,321.2,798.9,13.5,929,11146,0.00,1.90,0.00,0.000,6,0.000,0.026,2828,2487,2213
$GC,11455,0.95,342.8,762.1,11.5,945,11479,0.00,2.30,18.45,1.222,4,0.000,0.032,2832,1012,2134
$GC,11496,1.08,359.2,756.8,11.9,946,11517,0.17,2.30,15.68,1.182,6,0.076,0.032,2896,2494,2067
$GC,11832,0.99,359.2,706.2,16.4,962,11834,0.12,0.00,0.00,0.000,6,0.193,0.000,2867,2495,2061
$GC,12137,0.99,359.2,659.3,14.4,977,12141,0.00,2.25,0.00,0.000,4,0.000,0.033,2868,1024,2060
$GC,12176,0.99,360.0,653.9,13.0,978,12182,0.00,2.25,0.00,0.000,6,0.000,0.033,2869,2485,2059
$GC,12494,1.00,369.4,613.7,12.4,994,12508,0.00,2.28,8.85,1.053,4,0.000,0.029,2873,1014,2026
$GC,12531,1.00,371.6,608.6,12.9,995,12537,0.00,2.22,0.00,0.000,6,0.000,0.031,2874,2468,2025
$GC,12847,1.00,374.5,567.5,12.8,1011,12858,0.00,2.03,5.88,0.923,4,0.000,0.049,2873,3760,2005
$GC,12904,0.94,374.5,559.3,14.3,1013,12912,0.12,1.90,0.00,0.000,6,0.189,0.025,2853,2483,2004
$GC,13221,1.23,405.0,522.3,10.9,1029,13254,0.22,2.25,27.60,1.088,4,0.074,0.028,2952,1005,1879
$GC,13367,1.09,405.6,502.5,13.0,1035,13374,0.22,2.22,0.00,0.000,6,0.185,0.032,2896,2446,1874
$GC,13692,1.28,418.9,462.4,12.1,1065,13709,0.17,2.08,12.12,0.987,4,0.081,0.050,2967,3757,1823
$GC,13739,1.03,418.9,455.3,16.2,1068,13745,0.38,1.95,0.00,0.000,6,0.189,0.025,2878,2436,1822
$GC,14064,1.29,428.3,414.4,12.4,1099,14080,0.20,2.17,9.35,0.918,4,0.077,0.031,2968,1016,1785
$GC,14126,1.16,428.3,405.4,14.9,1104,14133,0.20,2.17,0.00,0.000,6,0.187,0.031,2919,2440,1783
$GC,14453,1.28,429.4,363.3,13.0,1135,14458,0.12,2.05,0.00,0.000,4,0.081,0.047,2967,3755,1781
$GC,14476,1.23,429.4,359.7,13.7,1137,14480,0.15,1.88,0.00,0.000,6,0.193,0.023,2941,2450,1781
$GC,14808,1.25,440.1,315.2,12.3,1168,14823,0.00,2.08,11.00,0.863,4,0.000,0.046,2941,3761,1737
$GC,14885,1.15,440.1,304.4,13.8,1174,14892,0.12,1.90,0.00,0.000,6,0.193,0.024,2920,2448,1736
$GC,15229,1.40,451.7,263.0,12.2,1232,15254,0.17,2.12,13.60,0.725,4,0.075,0.048,2995,3752,1689
$GC,15278,1.21,451.7,255.8,15.8,1240,15285,0.28,1.83,0.00,0.000,6,0.186,0.023,2933,2491,1688
$GC,15624,1.37,463.9,213.8,12.2,1301,15644,0.15,2.25,11.40,0.776,4,0.078,0.028,3002,1007,1639
$GC,15744,1.29,463.9,197.7,13.7,1321,15752,0.15,2.22,0.00,0.000,6,0.183,0.028,2966,2478,1638
$GC,16091,1.31,474.8,156.1,12.3,1382,16108,0.00,2.03,10.05,0.709,4,0.000,0.046,2966,3760,1595
$GC,16126,1.31,474.8,151.3,13.2,1388,16132,0.00,1.85,0.00,0.000,6,0.000,0.023,2974,2465,1596
$GC,16473,1.42,495.6,108.9,11.6,1449,16498,0.00,2.22,18.77,0.704,4,0.000,0.028,2980,1009,1510
$GC,16610,1.63,531.6,93.6,10.5,1472,16647,0.25,2.22,30.60,0.693,6,0.064,0.027,3080,2488,1363
$GC,16988,1.53,531.6,38.6,14.2,1538,16995,0.15,2.22,0.00,0.000,4,0.187,0.025,3052,995,1358
$GC,17133,1.56,556.8,19.9,11.2,1563,17163,0.00,2.17,20.80,0.617,6,0.000,0.027,3052,2453,1261
$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17277,begin surface coast
$FINISH,1.7,0.998438
$STATE,17304,end surface coast,CONTROL_FINISHED_OK
$STATE,17304,begin surface
$SM_CCo,17384,0.00,0.000,0,0,1256,558.30
$SM_GC,2.54,7.93,0.00,0.00,0.059,0.000,0.000,141,2459,1256,-7.49,-0.65,558.30
$IRIDIUM_FIX,2432.32,12403.76,291098,181805
$TT8_MAMPS,0.029146
$HUMID,1682
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,23.3,78.348
$10V_AH,10.6,42.156
$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,31.950,161.750,580.975,0.000,0.000,28.813,30.935,227.263,8.250,0.000,0.000,12.389,2854.083,10681.092,725.840,2780.146,777.204,0.000,2180.057,0.000,2717.236,0.000,54.439,0.000
$DEVICE_MAMPS,228.566,54.457,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.734,1093.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85181,1593
$CAP_FILE_SIZE,190926,0
$CFSIZE,260165632,189571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085, 37.2,1
$GPS,050809,035401,2441.661,12358.374,40,1.1,41,-3.6