version: 66.04
glider: 167
mission: 2
dive: 460
start: 8 5 109 13 52 5
data:
$ID,167
$MISSION,2
$DIVE,460
$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,-14816.691
$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,71
$R_STBD_OVSHOOT,54
$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
$GPS1,134431,2441.829,12357.401,38,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-57.8
$GPS2,135144,2441.806,12357.288,12,1.3,12,-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,252.7,68202,-24.8,-13.043
$D_GRID,1442
$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,-121.7,0.0,0.0,0,64,0.00,0.00,-46.25,0.000,2,0.000,0.000,139,2500,2168
$GC,69,-1.49,-121.7,3.3,-2.8,8,142,8.00,2.00,-59.30,0.000,4,0.236,0.054,2051,3757,3990
$GC,345,-0.95,-121.7,54.8,-20.0,56,352,0.65,1.85,0.00,0.000,6,0.168,0.021,2235,2437,3991
$GC,692,-1.30,-121.7,93.9,-11.9,117,698,0.28,1.90,0.00,0.000,4,0.054,0.021,2118,1096,3993
$GC,774,-1.07,-121.7,105.6,-15.4,131,781,0.32,1.98,0.00,0.000,6,0.160,0.027,2200,2441,3993
$GC,1120,-1.36,-121.7,142.8,-11.1,192,1127,0.22,1.92,0.00,0.000,4,0.061,0.021,2100,1093,3995
$GC,1212,-1.13,-121.7,156.2,-15.0,208,1219,0.30,1.98,0.00,0.000,6,0.159,0.037,2177,2432,3995
$GC,1559,-1.33,-121.7,197.7,-12.8,269,1566,0.17,1.90,0.00,0.000,4,0.067,0.021,2095,1102,3996
$GC,1658,-1.14,-121.7,211.1,-13.9,286,1666,0.30,1.85,0.00,0.000,6,0.158,0.027,2177,2372,3996
$GC,2005,-1.39,-121.7,247.5,-9.8,347,2011,0.20,2.10,0.00,0.000,4,0.064,0.041,2085,3761,3996
$GC,2036,-1.25,-121.7,251.2,-13.2,352,2043,0.20,1.92,0.00,0.000,6,0.161,0.020,2138,2367,3996
$GC,2382,-1.36,-121.7,289.1,-12.1,413,2388,0.00,1.77,0.00,0.000,4,0.000,0.023,2138,1104,3996
$GC,2480,-1.36,-121.7,300.6,-11.8,430,2487,0.00,1.83,0.00,0.000,6,0.000,0.026,2137,2353,3996
$GC,2809,-1.50,-121.7,336.7,-10.2,461,2813,0.20,1.80,0.00,0.000,4,0.061,0.021,2045,1093,3996
$GC,2859,-1.21,-121.7,343.5,-12.9,465,2866,0.40,1.83,0.00,0.000,6,0.163,0.027,2153,2340,3996
$GC,3188,-1.43,-121.7,376.0,-9.8,496,3192,0.20,1.77,0.00,0.000,4,0.064,0.022,2065,1102,3996
$GC,3211,-1.43,-121.7,379.0,-10.9,498,3215,0.00,1.77,0.00,0.000,6,0.000,0.026,2057,2321,3996
$GC,3546,-1.22,-121.7,419.2,-12.1,529,3551,0.28,2.17,0.00,0.000,4,0.160,0.041,2137,3749,3996
$GC,3635,-1.22,-121.7,429.0,-10.0,536,3641,0.00,2.00,0.00,0.000,6,0.000,0.021,2137,2318,3995
$GC,3965,-1.40,-121.7,460.4,-9.7,567,3969,0.12,1.75,0.00,0.000,4,0.076,0.023,2082,1105,3994
$GC,4038,-1.25,-121.7,469.1,-11.7,573,4044,0.22,1.77,0.00,0.000,6,0.158,0.028,2142,2313,3994
$GC,4364,-1.48,-121.7,500.3,-8.9,604,4366,0.20,0.00,0.00,0.000,6,0.068,0.000,2061,2314,3992
$GC,4673,-1.42,-121.7,531.6,-10.2,619,4677,0.00,1.75,0.00,0.000,4,0.000,0.024,2061,1097,3991
$GC,4709,-1.26,-121.7,536.0,-12.5,620,4713,0.30,1.80,0.00,0.000,6,0.163,0.030,2140,2313,3991
$GC,5031,-1.49,-121.7,568.3,-10.0,636,5033,0.22,0.00,0.00,0.000,6,0.067,0.000,2052,2315,3990
$GC,5341,-1.42,-121.7,600.2,-9.6,651,5345,0.12,1.75,0.00,0.000,4,0.170,0.023,2082,1104,3987
$GC,5410,-1.32,-121.7,607.3,-10.4,654,5415,0.10,1.80,0.00,0.000,6,0.161,0.030,2114,2295,3987
$GC,5747,-1.46,-121.7,640.5,-9.6,670,5751,0.12,1.73,0.00,0.000,4,0.084,0.023,2065,1102,3985
$GC,5828,-1.31,-121.7,650.0,-11.6,673,5832,0.22,1.73,0.00,0.000,6,0.163,0.028,2120,2272,3984
$GC,6151,-1.48,-121.7,681.9,-9.3,689,6155,0.15,1.70,0.00,0.000,4,0.074,0.023,2060,1097,3982
$GC,6207,-1.33,-121.7,688.3,-11.5,691,6211,0.20,1.70,0.00,0.000,6,0.165,0.030,2110,2242,3981
$GC,6529,-1.49,-121.7,718.9,-8.8,707,6534,0.15,1.67,0.00,0.000,4,0.076,0.024,2052,1107,3978
$GC,6564,-1.37,-121.7,722.4,-10.3,708,6568,0.22,1.65,0.00,0.000,6,0.170,0.030,2105,2224,3978
$GC,6889,-1.51,-121.7,750.4,-8.9,724,6893,0.15,2.38,0.00,0.000,4,0.074,0.045,2042,3757,3976
$GC,6929,-1.24,-121.7,755.3,-12.6,725,6936,0.38,2.20,0.00,0.000,6,0.168,0.021,2145,2217,3976
$GC,7246,-1.53,-121.7,785.3,-9.9,741,7251,0.25,2.42,0.00,0.000,4,0.068,0.047,2041,3758,3974
$GC,7296,-1.26,-121.7,792.1,-13.2,743,7301,0.35,2.17,0.00,0.000,6,0.167,0.022,2138,2236,3973
$GC,7614,-1.52,-121.7,821.9,-9.1,758,7618,0.22,1.62,0.00,0.000,4,0.071,0.025,2049,1103,3971
$GC,7682,-1.35,-121.7,829.9,-12.0,761,7686,0.20,1.70,0.00,0.000,6,0.165,0.031,2103,2218,3971
$GC,8018,-1.49,-121.7,863.8,-10.3,777,8022,0.12,1.62,0.00,0.000,4,0.081,0.025,2055,1105,3968
$GC,8041,-1.49,-121.7,867.0,-11.9,778,8045,0.00,1.67,0.00,0.000,6,0.000,0.033,2055,2196,3969
$GC,8375,-1.35,-121.7,910.4,-13.0,794,8380,0.20,2.42,0.00,0.000,4,0.174,0.047,2110,3743,3966
$GC,8531,-1.35,-121.7,929.2,-11.8,801,8535,0.00,2.20,0.00,0.000,6,0.000,0.023,2110,2218,3966
$GC,8855,-1.41,-121.7,961.5,-9.8,817,8859,0.00,2.42,0.00,0.000,4,0.000,0.048,2110,3746,3964
$GC,8927,-1.41,-121.7,969.2,-11.0,820,8931,0.00,2.17,0.00,0.000,6,0.000,0.024,2110,2239,3964
$STATE,9143,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9143,begin apogee
$GC,9152,-0.27,0.0,989.0,8.9,831,9255,1.17,0.00,94.12,1.383,6,0.157,0.000,2455,2402,3532
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9258,1.49,121.7,993.7,0.0,836,9370,1.60,2.25,104.15,1.364,4,0.066,0.045,3020,3756,3035
$GC,9432,0.63,142.7,991.5,11.5,844,9458,1.12,2.00,18.75,1.274,6,0.222,0.021,2753,2407,2949
$GC,9783,0.72,211.6,963.3,8.1,861,9848,0.00,2.22,57.85,1.341,4,0.000,0.048,2752,3754,2669
$GC,9983,0.76,249.1,942.5,10.4,870,10020,0.00,1.95,31.90,1.304,6,0.000,0.022,2759,2443,2516
$GC,10341,1.06,291.3,906.2,10.0,887,10384,0.32,2.20,36.50,1.303,4,0.070,0.048,2886,3751,2343
$GC,10502,0.74,291.3,880.4,17.1,894,10507,0.43,1.88,0.00,0.000,6,0.194,0.021,2784,2469,2338
$GC,10824,0.93,318.1,843.7,11.1,910,10852,0.17,2.25,22.80,1.262,4,0.083,0.031,2863,998,2234
$GC,10870,0.93,318.1,837.2,15.4,912,10874,0.00,2.33,0.00,0.000,6,0.000,0.034,2863,2480,2232
$GC,11191,0.86,318.1,792.1,13.1,928,11193,0.15,0.00,0.00,0.000,6,0.191,0.000,2827,2482,2229
$GC,11502,0.93,326.0,755.3,12.5,943,11516,0.00,2.30,7.00,1.058,4,0.000,0.031,2834,1011,2203
$GC,11569,1.01,326.0,746.0,13.3,946,11573,0.10,2.25,0.00,0.000,6,0.097,0.032,2872,2472,2202
$GC,11901,0.95,329.5,700.3,12.8,962,11911,0.00,2.03,4.80,0.900,4,0.000,0.052,2873,3755,2188
$GC,11964,0.74,329.5,691.4,14.5,964,11970,0.35,1.90,0.00,0.000,6,0.186,0.024,2788,2452,2188
$GC,12280,1.16,384.4,662.0,9.1,980,12336,0.32,2.20,47.65,1.196,4,0.067,0.048,2917,3757,1962
$GC,12433,0.94,384.4,638.5,17.9,987,12437,0.30,1.85,0.00,0.000,6,0.185,0.025,2848,2512,1956
$GC,12766,1.23,412.0,598.8,11.1,1003,12796,0.22,2.05,23.80,1.121,4,0.075,0.049,2938,3751,1851
$GC,12843,0.97,412.0,586.7,17.2,1006,12847,0.32,1.80,0.00,0.000,6,0.186,0.025,2863,2533,1848
$GC,13165,1.25,420.3,546.4,12.5,1022,13179,0.20,2.03,7.60,0.960,4,0.080,0.051,2944,3757,1818
$GC,13255,1.04,420.3,531.9,15.9,1026,13259,0.28,1.88,0.00,0.000,6,0.190,0.025,2882,2481,1816
$GC,13582,1.29,437.6,490.5,11.8,1045,13606,0.20,2.03,16.05,1.029,4,0.077,0.048,2964,3752,1747
$GC,13723,1.04,437.6,467.7,16.7,1057,13728,0.35,1.98,0.00,0.000,6,0.185,0.025,2882,2414,1744
$GC,14051,1.33,449.4,426.6,12.2,1087,14067,0.22,2.12,11.40,0.949,4,0.074,0.046,2975,3751,1699
$GC,14174,1.09,449.4,406.3,16.6,1097,14178,0.32,1.88,0.00,0.000,6,0.188,0.024,2895,2484,1697
$GC,14505,1.42,473.8,365.1,11.3,1128,14532,0.28,2.22,21.30,0.946,4,0.069,0.028,3015,1006,1600
$GC,14656,1.20,473.8,341.6,16.8,1141,14661,0.32,2.17,0.00,0.000,6,0.187,0.030,2932,2434,1595
$GC,14983,1.40,483.4,298.3,12.4,1172,15002,0.17,2.10,8.90,0.820,4,0.074,0.048,3005,3751,1561
$GC,15112,1.14,483.4,276.7,17.5,1194,15120,0.38,1.88,0.00,0.000,6,0.183,0.023,2914,2464,1559
$GC,15460,1.48,497.1,232.9,12.1,1255,15479,0.28,2.10,13.30,0.806,4,0.064,0.048,3026,3755,1504
$GC,15514,1.22,497.1,223.9,17.2,1264,15521,0.35,1.98,0.00,0.000,6,0.182,0.022,2941,2398,1503
$GC,15863,1.55,522.0,182.0,11.3,1325,15893,0.25,2.17,22.12,0.782,4,0.066,0.048,3048,3755,1402
$GC,15972,1.32,522.0,164.2,18.4,1343,15978,0.32,2.08,0.00,0.000,6,0.183,0.022,2973,2348,1400
$GC,16320,1.53,524.4,115.8,12.9,1404,16327,0.17,2.22,0.00,0.000,4,0.077,0.044,3048,3764,1399
$GC,16413,1.30,524.4,99.8,17.5,1420,16420,0.35,2.00,0.00,0.000,6,0.182,0.021,2964,2380,1398
$GC,16759,1.73,537.7,58.8,12.1,1481,16780,0.32,2.03,13.50,0.644,4,0.063,0.029,3110,1009,1340
$GC,16918,1.58,537.7,34.4,14.0,1508,16925,0.20,2.00,0.00,0.000,6,0.182,0.028,3058,2354,1339
$STATE,17147,end climb,SURFACE_DEPTH_REACHED
$STATE,17148,begin surface coast
$FINISH,1.7,1.012508
$STATE,17171,end surface coast,CONTROL_FINISHED_OK
$STATE,17172,begin surface
$SM_CCo,17253,0.00,0.000,0,0,1335,538.68
$SM_GC,2.66,7.90,0.00,0.00,0.059,0.000,0.000,140,2500,1335,-7.50,0.48,538.68
$IRIDIUM_FIX,2432.32,12355.22,301098,080834
$TT8_MAMPS,0.029146
$HUMID,1723
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.70
$XPDR_PINGS,2
$24V_AH,23.3,78.985
$10V_AH,10.6,42.455
$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,35.450,150.875,563.500,0.000,0.000,22.381,32.628,209.257,8.500,0.000,0.000,12.946,2826.414,10605.906,674.984,2800.118,760.359,0.000,2135.195,0.000,2737.990,0.000,54.430,0.000
$DEVICE_MAMPS,236.236,59.826,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.525,1065.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85200,1553
$CAP_FILE_SIZE,189519,0
$CFSIZE,260165632,189284352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102, 40.8,1
$GPS,050809,184107,2442.012,12356.737,51,1.5,52,-3.6