version: 66.04
glider: 167
mission: 2
dive: 459
start: 8 5 109 8 54 3
data:
$ID,167
$MISSION,2
$DIVE,459
$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,-14803.116
$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,84
$R_STBD_OVSHOOT,58
$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
$GPS1,084606,2441.801,12358.228,36,1.3,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.5
$GPS2,085343,2441.799,12358.181,13,1.7,30,-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,249.1,69648,-24.8,-13.043
$D_GRID,1583
$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,-121.7,0.0,0.0,0,52,0.00,0.00,-33.72,0.000,2,0.000,0.000,140,2506,2164
$GC,56,-1.49,-121.7,3.0,-1.6,6,132,7.75,1.98,-61.53,0.000,4,0.225,0.055,2051,3742,3989
$GC,385,-0.96,-121.7,60.4,-18.8,63,393,0.62,1.80,0.00,0.000,6,0.161,0.031,2228,2465,3991
$GC,733,-1.26,-121.7,99.5,-10.3,124,740,0.22,1.98,0.00,0.000,4,0.060,0.041,2124,3746,3992
$GC,765,-1.21,-121.7,103.3,-13.0,129,772,0.12,1.77,0.00,0.000,6,0.169,0.021,2155,2463,3992
$GC,1112,-1.28,-121.7,144.5,-11.6,190,1117,0.00,1.92,0.00,0.000,4,0.000,0.022,2154,1106,3994
$GC,1175,-1.28,-121.7,152.4,-12.5,201,1181,0.00,1.98,0.00,0.000,6,0.000,0.025,2149,2457,3994
$GC,1522,-1.40,-121.7,192.5,-11.2,262,1529,0.15,1.92,0.00,0.000,4,0.069,0.021,2082,1110,3995
$GC,1620,-1.12,-121.7,206.7,-14.1,279,1628,0.38,1.92,0.00,0.000,6,0.157,0.028,2182,2428,3996
$GC,1969,-1.40,-121.7,245.8,-10.4,340,1976,0.22,1.90,0.00,0.000,4,0.064,0.021,2083,1101,3995
$GC,1996,-1.40,-121.7,248.9,-11.9,344,2006,0.00,1.90,0.00,0.000,6,0.000,0.026,2075,2406,3995
$GC,2345,-1.21,-121.7,293.3,-11.8,405,2352,0.25,2.05,0.00,0.000,4,0.159,0.040,2142,3758,3996
$GC,2420,-1.21,-121.7,301.5,-10.5,417,2426,0.00,1.90,0.00,0.000,6,0.000,0.021,2142,2386,3995
$GC,2751,-1.38,-121.7,334.7,-10.4,448,2755,0.12,1.80,0.00,0.000,4,0.078,0.022,2087,1108,3995
$GC,2831,-1.23,-121.7,345.2,-12.5,455,2836,0.15,1.90,0.00,0.000,6,0.151,0.027,2142,2383,3995
$GC,3163,-1.41,-121.7,379.5,-9.9,486,3167,0.15,1.83,0.00,0.000,4,0.074,0.021,2080,1109,3995
$GC,3213,-1.27,-121.7,385.2,-11.0,490,3220,0.22,1.83,0.00,0.000,6,0.155,0.026,2135,2360,3996
$GC,3539,-1.44,-121.7,415.5,-9.2,521,3543,0.15,1.80,0.00,0.000,4,0.071,0.022,2073,1107,3995
$GC,3562,-1.44,-121.7,417.9,-10.2,523,3566,0.00,1.80,0.00,0.000,6,0.000,0.028,2071,2327,3995
$GC,3893,-1.30,-121.7,455.0,-11.2,554,3898,0.20,2.17,0.00,0.000,4,0.159,0.041,2124,3754,3994
$GC,3972,-1.30,-121.7,463.4,-10.8,560,3978,0.00,2.00,0.00,0.000,6,0.000,0.021,2124,2321,3994
$GC,4303,-1.45,-121.7,494.4,-9.3,591,4307,0.12,1.73,0.00,0.000,4,0.078,0.023,2070,1105,3992
$GC,4338,-1.36,-121.7,498.5,-11.1,594,4342,0.10,1.85,0.00,0.000,6,0.156,0.029,2100,2329,3992
$GC,4674,-1.41,-121.7,533.4,-10.4,611,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2330,3991
$GC,4979,-1.49,-121.7,561.9,-8.9,626,4983,0.12,1.77,0.00,0.000,4,0.080,0.023,2051,1103,3990
$GC,5026,-1.31,-121.7,566.6,-10.5,628,5031,0.28,1.80,0.00,0.000,6,0.163,0.028,2120,2318,3990
$GC,5364,-1.48,-121.7,598.2,-9.5,644,5368,0.15,1.77,0.00,0.000,4,0.074,0.024,2061,1117,3987
$GC,5397,-1.38,-121.7,602.3,-11.3,645,5402,0.12,1.77,0.00,0.000,6,0.160,0.029,2095,2293,3987
$GC,5721,-1.47,-121.7,634.9,-9.9,661,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2294,3985
$GC,6029,-1.57,-121.7,663.7,-9.0,676,6033,0.17,1.73,0.00,0.000,4,0.070,0.024,2028,1106,3982
$GC,6068,-1.32,-121.7,668.1,-11.0,677,6075,0.32,1.75,0.00,0.000,6,0.171,0.031,2117,2282,3981
$GC,6386,-1.49,-121.7,697.7,-9.6,693,6391,0.15,2.28,0.00,0.000,4,0.077,0.045,2057,3753,3979
$GC,6409,-1.49,-121.7,700.4,-11.0,694,6413,0.00,2.10,0.00,0.000,6,0.000,0.021,2057,2280,3979
$GC,6737,-1.35,-121.7,740.5,-12.2,710,6742,0.17,2.33,0.00,0.000,4,0.166,0.044,2100,3750,3977
$GC,6816,-1.26,-121.7,750.5,-12.3,713,6823,0.15,2.08,0.00,0.000,6,0.163,0.023,2138,2301,3976
$GC,7134,-1.50,-121.7,782.5,-9.7,729,7138,0.20,1.70,0.00,0.000,4,0.071,0.025,2057,1117,3975
$GC,7213,-1.35,-121.7,792.2,-12.1,732,7217,0.20,1.73,0.00,0.000,6,0.165,0.032,2110,2266,3974
$GC,7537,-1.49,-121.7,823.3,-9.3,748,7541,0.15,1.67,0.00,0.000,4,0.079,0.025,2054,1120,3972
$GC,7571,-1.36,-121.7,827.2,-11.3,749,7575,0.20,1.70,0.00,0.000,6,0.170,0.033,2106,2249,3971
$GC,7893,-1.42,-121.7,859.8,-10.1,765,7897,0.00,2.33,0.00,0.000,4,0.000,0.048,2098,3746,3970
$GC,8042,-1.31,-121.7,877.3,-13.0,771,8049,0.00,2.10,0.00,0.000,6,0.000,0.022,2098,2282,3969
$GC,8358,-1.31,-121.7,913.0,-10.7,787,8362,0.00,2.33,0.00,0.000,4,0.000,0.048,2097,3753,3966
$GC,8478,-1.22,-121.7,926.4,-11.6,792,8483,0.20,2.10,0.00,0.000,6,0.164,0.023,2150,2298,3966
$GC,8795,-1.54,-121.7,952.2,-7.7,807,8799,0.25,1.70,0.00,0.000,4,0.068,0.025,2049,1121,3965
$GC,8842,-1.37,-121.7,957.0,-12.2,809,8846,0.22,1.75,0.00,0.000,6,0.172,0.033,2103,2279,3964
$STATE,9130,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9130,begin apogee
$GC,9137,-0.27,0.0,984.5,9.2,823,9240,1.20,0.00,94.28,1.387,6,0.157,0.000,2455,2399,3532
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9245,1.49,121.7,989.9,0.0,828,9357,1.60,2.17,104.50,1.367,4,0.065,0.028,3029,1029,3034
$GC,9460,0.85,180.8,988.0,8.8,838,9517,0.82,2.10,50.10,1.337,6,0.216,0.031,2824,2396,2793
$GC,9835,0.78,229.6,952.8,9.5,856,9881,0.00,2.20,41.40,1.328,4,0.000,0.048,2824,3744,2594
$GC,9927,0.58,234.3,942.1,12.7,860,9939,0.38,1.95,4.93,0.931,6,0.191,0.021,2733,2440,2576
$GC,10252,0.98,304.5,915.6,8.0,876,10325,0.32,2.17,62.00,1.294,4,0.069,0.048,2862,3747,2289
$GC,10433,0.77,304.5,890.8,14.6,884,10438,0.30,1.92,0.00,0.000,6,0.187,0.022,2794,2439,2283
$GC,10756,0.93,346.8,857.8,10.0,900,10799,0.15,2.15,35.65,1.290,4,0.086,0.048,2849,3748,2116
$GC,10857,0.84,346.8,844.1,14.4,904,10861,0.17,1.90,0.00,0.000,6,0.189,0.024,2816,2488,2112
$GC,11179,0.98,370.4,807.3,11.4,920,11205,0.12,2.25,20.62,1.239,4,0.090,0.030,2871,1012,2021
$GC,11298,0.98,370.4,791.0,13.8,925,11302,0.00,2.25,0.00,0.000,6,0.000,0.031,2871,2464,2018
$GC,11614,0.98,370.4,746.7,14.1,940,11618,0.00,2.20,0.00,0.000,4,0.000,0.031,2871,1016,2014
$GC,11660,0.98,370.4,740.2,13.7,942,11664,0.00,2.20,0.00,0.000,6,0.000,0.033,2871,2448,2014
$GC,11994,0.98,370.4,689.5,15.6,958,11997,0.00,2.05,0.00,0.000,4,0.000,0.051,2871,3754,2014
$GC,12040,0.89,370.4,681.9,16.7,960,12045,0.17,1.88,0.00,0.000,6,0.187,0.025,2836,2466,2013
$GC,12374,1.03,376.7,637.5,12.6,976,12385,0.12,2.17,5.15,0.912,4,0.089,0.032,2885,1012,1998
$GC,12425,1.03,376.7,630.6,13.2,978,12429,0.00,2.22,0.00,0.000,6,0.000,0.033,2885,2464,1997
$GC,12741,1.04,387.5,590.5,12.3,993,12757,0.00,2.03,11.35,1.077,4,0.000,0.048,2885,3753,1951
$GC,12828,0.93,387.5,579.0,13.5,996,12832,0.20,1.88,0.00,0.000,6,0.187,0.024,2843,2467,1949
$GC,13161,1.25,416.1,541.5,11.0,1012,13193,0.25,2.08,25.88,1.098,4,0.071,0.049,2947,3748,1834
$GC,13264,1.00,416.1,526.1,15.9,1016,13270,0.35,1.80,0.00,0.000,6,0.187,0.025,2865,2520,1830
$GC,13586,1.32,445.0,489.3,11.0,1036,13619,0.28,1.98,25.40,1.049,4,0.068,0.048,2975,3754,1715
$GC,13644,1.08,445.0,480.5,17.0,1041,13649,0.35,1.92,0.00,0.000,6,0.186,0.024,2893,2453,1714
$GC,13970,1.34,459.9,440.9,12.0,1071,13992,0.20,2.22,13.35,0.970,4,0.074,0.031,2985,1018,1656
$GC,14118,1.20,459.9,417.4,16.4,1084,14123,0.22,2.10,0.00,0.000,6,0.186,0.031,2929,2391,1653
$GC,14445,1.35,484.0,376.1,11.3,1114,14472,0.15,2.15,21.38,0.953,4,0.077,0.031,2996,1013,1557
$GC,14607,1.22,484.0,352.3,15.0,1128,14613,0.22,2.22,0.00,0.000,6,0.186,0.031,2940,2462,1552
$GC,14932,1.42,484.0,308.1,13.2,1159,14936,0.17,2.03,0.00,0.000,4,0.070,0.047,3008,3761,1550
$GC,14994,1.16,484.0,297.8,18.0,1165,15001,0.38,1.85,0.00,0.000,6,0.185,0.023,2918,2476,1550
$GC,15340,1.48,515.1,254.2,10.8,1226,15377,0.25,2.22,26.58,0.854,4,0.067,0.028,3027,1019,1430
$GC,15397,1.39,515.1,246.6,14.6,1235,15405,0.15,2.12,0.00,0.000,6,0.183,0.030,2992,2411,1429
$GC,15747,1.48,526.7,198.8,12.2,1296,15764,0.00,2.10,11.05,0.755,4,0.000,0.028,2999,1017,1382
$GC,15902,1.48,526.7,177.4,14.2,1323,15910,0.00,2.03,0.00,0.000,6,0.000,0.030,2999,2361,1380
$GC,16249,1.48,526.7,128.4,14.9,1384,16255,0.00,2.15,0.00,0.000,4,0.000,0.047,2999,3751,1380
$GC,16296,1.41,526.7,121.4,15.7,1392,16302,0.00,1.98,0.00,0.000,6,0.000,0.021,3008,2388,1380
$GC,16642,1.56,546.8,75.4,11.6,1453,16667,0.10,2.05,17.85,0.679,4,0.091,0.027,3065,996,1300
$GC,16687,1.49,546.8,69.8,14.0,1460,16694,0.15,2.12,0.00,0.000,6,0.184,0.027,3028,2417,1299
$GC,17035,1.79,618.2,29.8,7.9,1521,17101,0.22,2.20,59.28,0.643,4,0.064,0.027,3131,1006,1010
$GC,17173,1.63,618.2,10.2,15.6,1544,17179,0.22,2.10,0.00,0.000,6,0.173,0.028,3071,2394,1007
$STATE,17228,end climb,SURFACE_DEPTH_REACHED
$STATE,17228,begin surface coast
$FINISH,1.6,1.008543
$STATE,17272,end surface coast,CONTROL_FINISHED_OK
$STATE,17272,begin surface
$SM_CCo,17352,0.00,0.000,0,0,1004,620.12
$SM_GC,2.29,7.95,0.00,0.00,0.055,0.000,0.000,139,2499,1004,-7.50,0.45,620.12
$IRIDIUM_FIX,2434.69,12358.51,301098,040434
$TT8_MAMPS,0.029146
$HUMID,1705
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.10
$XPDR_PINGS,4
$24V_AH,23.2,78.775
$10V_AH,10.6,42.356
$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,31.225,159.550,630.725,0.000,0.000,28.494,42.150,200.646,9.000,0.000,0.000,32.600,2808.249,10656.399,732.818,2832.081,760.368,0.000,2214.316,0.000,2747.721,0.000,57.716,0.000
$DEVICE_MAMPS,225.498,75.166,1386.736,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.731,1072.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85258,1561
$CAP_FILE_SIZE,191148,0
$CFSIZE,260165632,189378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080, 57.3,1
$GPS,050809,134431,2441.829,12357.401,38,1.1,39,-3.6