version: 66.04
glider: 167
mission: 2
dive: 461
start: 8 5 109 18 48 56
data:
$ID,167
$MISSION,2
$DIVE,461
$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,-14855.102
$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,80
$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
$GPS1,184107,2442.012,12356.737,51,1.5,52,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-55.9
$GPS2,184836,2441.965,12356.701,31,1.6,35,-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,245.0,67331,-24.8,-13.043
$D_GRID,1656
$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,-121.7,0.0,0.0,0,49,0.00,0.00,-31.52,0.000,2,0.000,0.000,140,2500,2131
$GC,54,-1.49,-121.7,3.1,-2.2,5,126,7.85,2.00,-58.40,0.000,4,0.228,0.056,2053,3754,3989
$GC,290,-0.91,-121.7,46.5,-19.6,45,297,0.70,1.83,0.00,0.000,6,0.168,0.020,2249,2442,3990
$GC,636,-1.27,-121.7,83.3,-9.8,106,644,0.30,1.88,0.00,0.000,4,0.054,0.021,2122,1118,3992
$GC,702,-1.08,-121.7,92.2,-15.0,117,708,0.30,1.95,0.00,0.000,6,0.157,0.026,2196,2450,3992
$GC,1048,-1.34,-121.7,129.5,-10.7,178,1056,0.20,1.98,0.00,0.000,4,0.063,0.042,2106,3753,3994
$GC,1075,-1.34,-121.7,132.7,-12.1,182,1084,0.00,1.83,0.00,0.000,6,0.000,0.021,2106,2430,3994
$GC,1424,-1.16,-121.7,179.6,-12.6,243,1431,0.20,1.85,0.00,0.000,4,0.166,0.021,2164,1113,3995
$GC,1460,-1.16,-121.7,184.2,-11.4,249,1466,0.00,2.00,0.00,0.000,6,0.000,0.027,2164,2471,3995
$GC,1806,-1.31,-121.7,216.5,-8.7,310,1813,0.12,0.00,0.00,0.000,6,0.076,0.000,2109,2473,3996
$GC,2152,-1.31,-121.7,257.6,-13.3,371,2158,0.00,1.95,0.00,0.000,4,0.000,0.023,2109,1113,3996
$GC,2244,-1.19,-121.7,270.0,-12.9,387,2251,0.20,2.00,0.00,0.000,6,0.156,0.026,2154,2481,3996
$GC,2587,-1.35,-121.7,307.0,-10.8,442,2591,0.15,1.98,0.00,0.000,4,0.071,0.021,2093,1111,3996
$GC,2661,-1.19,-121.7,316.2,-12.7,448,2668,0.28,1.98,0.00,0.000,6,0.153,0.027,2161,2453,3996
$GC,2987,-1.43,-121.7,346.8,-8.8,479,2991,0.20,1.92,0.00,0.000,4,0.064,0.021,2074,1117,3996
$GC,3034,-1.28,-121.7,351.8,-11.1,483,3038,0.22,1.95,0.00,0.000,6,0.158,0.028,2132,2441,3996
$GC,3365,-1.43,-121.7,383.8,-9.2,514,3369,0.15,1.90,0.00,0.000,4,0.074,0.021,2071,1115,3996
$GC,3468,-1.23,-121.7,396.0,-12.4,523,3473,0.30,1.90,0.00,0.000,6,0.158,0.028,2148,2421,3996
$GC,3799,-1.44,-121.7,429.4,-10.0,554,3803,0.20,1.88,0.00,0.000,4,0.066,0.021,2061,1117,3995
$GC,3859,-1.24,-121.7,436.4,-12.9,559,3863,0.30,1.88,0.00,0.000,6,0.158,0.028,2141,2389,3996
$GC,4191,-1.44,-121.7,467.2,-8.1,590,4195,0.17,2.08,0.00,0.000,4,0.071,0.042,2057,3753,3994
$GC,4219,-1.30,-121.7,470.4,-10.7,592,4225,0.25,1.92,0.00,0.000,6,0.166,0.021,2125,2378,3994
$GC,4546,-1.45,-121.7,498.3,-8.4,623,4550,0.15,1.80,0.00,0.000,4,0.075,0.023,2063,1111,3993
$GC,4641,-1.26,-121.7,509.4,-11.9,628,4646,0.28,1.85,0.00,0.000,6,0.155,0.028,2134,2362,3992
$GC,4972,-1.46,-121.7,541.9,-10.0,644,4976,0.17,1.80,0.00,0.000,4,0.071,0.023,2057,1110,3991
$GC,5006,-1.29,-121.7,546.1,-12.4,645,5010,0.28,1.85,0.00,0.000,6,0.163,0.031,2129,2358,3991
$GC,5331,-1.47,-121.7,579.1,-9.6,661,5333,0.17,0.00,0.00,0.000,6,0.071,0.000,2060,2360,3989
$GC,5638,-1.47,-121.7,610.0,-9.7,676,5642,0.00,1.80,0.00,0.000,4,0.000,0.025,2060,1115,3986
$GC,5695,-1.30,-121.7,616.6,-11.7,678,5699,0.25,1.90,0.00,0.000,6,0.166,0.032,2125,2362,3986
$GC,6018,-1.48,-121.7,644.8,-8.4,694,6022,0.17,1.80,0.00,0.000,4,0.074,0.024,2048,1116,3984
$GC,6051,-1.33,-121.7,648.2,-10.3,695,6055,0.25,1.85,0.00,0.000,6,0.168,0.031,2112,2356,3984
$GC,6378,-1.48,-121.7,676.4,-8.7,711,6383,0.15,2.17,0.00,0.000,4,0.077,0.046,2053,3763,3981
$GC,6413,-1.28,-121.7,680.6,-11.4,712,6419,0.28,2.00,0.00,0.000,6,0.169,0.022,2128,2361,3981
$GC,6730,-1.49,-121.7,711.5,-10.7,728,6734,0.17,1.77,0.00,0.000,4,0.076,0.025,2054,1125,3979
$GC,6809,-1.34,-121.7,722.1,-13.7,731,6814,0.15,1.83,0.00,0.000,6,0.160,0.032,2114,2320,3978
$GC,7134,-1.50,-121.7,756.7,-10.2,747,7138,0.15,1.75,0.00,0.000,4,0.082,0.024,2056,1120,3976
$GC,7192,-1.34,-121.7,763.8,-12.2,749,7196,0.20,1.77,0.00,0.000,6,0.167,0.031,2109,2306,3975
$GC,7514,-1.51,-121.7,793.3,-8.6,765,7518,0.15,1.73,0.00,0.000,4,0.076,0.024,2051,1120,3973
$GC,7537,-1.51,-121.7,795.8,-11.0,766,7540,0.00,1.75,0.00,0.000,6,0.000,0.030,2044,2290,3973
$GC,7871,-1.32,-121.7,832.8,-11.7,782,7876,0.22,2.28,0.00,0.000,4,0.176,0.047,2109,3753,3971
$GC,8019,-1.32,-121.7,849.3,-10.9,788,8027,0.00,2.08,0.00,0.000,6,0.000,0.025,2109,2312,3970
$GC,8345,-1.38,-121.7,883.6,-10.7,804,8349,0.00,2.28,0.00,0.000,4,0.000,0.049,2109,3759,3968
$GC,8390,-1.38,-121.7,888.9,-12.3,806,8394,0.00,2.05,0.00,0.000,6,0.000,0.024,2110,2342,3968
$GC,8726,-1.47,-121.7,926.0,-10.8,822,8728,0.12,0.00,0.00,0.000,6,0.086,0.000,2059,2341,3966
$GC,9033,-1.33,-121.7,965.8,-13.3,837,9037,0.20,2.25,0.00,0.000,4,0.173,0.048,2110,3756,3965
$STATE,9124,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9124,begin apogee
$GC,9135,-0.27,0.0,978.0,12.5,841,9231,1.15,0.00,92.30,1.406,6,0.165,0.000,2448,2410,3532
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9235,1.49,121.7,985.3,0.0,846,9347,1.67,2.28,103.97,1.365,4,0.068,0.045,3029,3747,3035
$GC,9478,0.68,191.8,982.0,8.0,857,9545,1.08,2.00,58.45,1.345,6,0.222,0.021,2770,2389,2749
$GC,9862,0.83,260.9,952.3,8.1,876,9928,0.12,2.25,57.83,1.337,4,0.093,0.047,2817,3756,2467
$GC,10069,0.71,260.9,926.9,13.6,885,10073,0.20,1.98,0.00,0.000,6,0.188,0.022,2775,2418,2462
$GC,10398,0.90,313.9,895.6,9.2,901,10450,0.17,2.22,44.97,1.317,4,0.083,0.047,2846,3744,2251
$GC,10496,0.76,313.9,883.1,13.1,905,10500,0.25,1.92,0.00,0.000,6,0.187,0.022,2792,2449,2248
$GC,10818,0.97,360.2,851.0,9.7,921,10864,0.17,2.28,39.70,1.292,4,0.081,0.031,2872,1021,2062
$GC,10881,0.97,360.2,842.6,14.0,923,10887,0.00,2.25,0.00,0.000,6,0.000,0.033,2871,2447,2059
$GC,11197,0.97,360.2,796.0,15.3,939,11201,0.00,2.05,0.00,0.000,4,0.000,0.051,2871,3747,2054
$GC,11215,0.90,360.2,793.0,15.8,939,11222,0.17,1.90,0.00,0.000,6,0.187,0.024,2836,2444,2054
$GC,11532,0.99,360.2,748.8,13.5,955,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2443,2052
$GC,11841,1.08,372.9,709.2,12.1,970,11857,0.17,2.10,10.73,1.137,4,0.081,0.050,2910,3752,2010
$GC,11914,0.87,372.9,697.3,15.7,972,11919,0.35,1.92,0.00,0.000,6,0.186,0.024,2826,2427,2008
$GC,12236,1.04,394.1,659.5,11.5,988,12261,0.15,2.20,19.25,1.173,4,0.086,0.034,2884,1015,1924
$GC,12296,1.04,394.1,651.0,14.1,990,12303,0.00,2.20,0.00,0.000,6,0.000,0.032,2885,2438,1922
$GC,12612,1.04,394.1,603.3,15.1,1006,12615,0.00,2.08,0.00,0.000,4,0.000,0.049,2885,3762,1919
$GC,12658,0.95,394.1,596.1,15.9,1008,12662,0.17,1.95,0.00,0.000,6,0.189,0.026,2850,2438,1918
$GC,12994,1.10,407.4,552.6,12.1,1024,13019,0.15,2.17,13.90,0.937,4,0.084,0.031,2916,1016,1871
$GC,13031,1.05,407.4,547.1,14.5,1025,13037,0.12,2.22,0.00,0.000,6,0.185,0.033,2887,2463,1871
$GC,13348,1.09,435.6,509.0,11.0,1041,13378,0.00,2.22,25.42,1.085,4,0.000,0.029,2894,1020,1755
$GC,13396,1.15,441.1,502.9,12.7,1043,13408,0.00,2.22,6.32,0.878,6,0.000,0.031,2894,2451,1733
$GC,13726,1.41,442.0,462.4,13.0,1073,13731,0.25,2.20,0.00,0.000,4,0.071,0.030,3002,1009,1727
$GC,13890,1.18,442.0,435.0,16.6,1087,13894,0.30,2.15,0.00,0.000,6,0.190,0.032,2926,2420,1727
$GC,14220,1.18,442.0,386.9,13.4,1118,14223,0.00,2.08,0.00,0.000,4,0.000,0.049,2927,3751,1726
$GC,14270,1.08,442.0,379.5,14.5,1122,14278,0.17,2.00,0.00,0.000,6,0.184,0.024,2890,2370,1725
$GC,14596,1.41,464.4,342.2,11.4,1153,14631,0.28,2.22,22.02,0.881,4,0.068,0.047,3001,3764,1637
$GC,14643,1.17,464.4,335.2,16.2,1157,14648,0.32,1.95,0.00,0.000,6,0.191,0.025,2926,2440,1636
$GC,14974,1.41,479.5,291.5,12.0,1193,14995,0.20,2.10,13.45,0.871,4,0.070,0.028,3020,1018,1577
$GC,15095,1.24,479.5,272.9,15.6,1213,15102,0.28,2.20,0.00,0.000,6,0.180,0.031,2949,2460,1574
$GC,15442,1.47,491.2,226.4,12.2,1274,15461,0.17,2.05,11.32,0.801,4,0.071,0.046,3022,3752,1528
$GC,15542,1.22,491.2,210.8,15.9,1291,15548,0.35,1.98,0.00,0.000,6,0.178,0.022,2938,2411,1527
$GC,15890,1.57,524.3,168.9,10.7,1352,15926,0.28,2.10,28.92,0.786,4,0.068,0.026,3060,1002,1392
$GC,16062,1.40,524.3,142.0,16.8,1382,16070,0.25,2.05,0.00,0.000,6,0.181,0.028,2996,2357,1389
$GC,16412,1.60,552.9,94.6,11.0,1443,16443,0.17,2.17,23.95,0.709,4,0.076,0.044,3072,3749,1277
$GC,16547,1.42,552.9,73.8,16.6,1466,16555,0.30,2.00,0.00,0.000,6,0.185,0.021,3002,2379,1274
$GC,16896,1.72,569.9,32.4,11.8,1527,16920,0.22,2.20,15.12,0.627,4,0.067,0.044,3097,3774,1207
$GC,16991,1.69,607.7,19.7,10.3,1543,17032,0.00,2.10,32.78,0.629,6,0.000,0.021,3109,2308,1052
$STATE,17103,end climb,SURFACE_DEPTH_REACHED
$STATE,17103,begin surface coast
$FINISH,1.7,1.005267
$STATE,17123,end surface coast,CONTROL_FINISHED_OK
$STATE,17124,begin surface
$SM_CCo,17205,0.00,0.000,0,0,1047,609.57
$SM_GC,2.44,8.15,0.00,0.00,0.061,0.000,0.000,141,2484,1047,-7.49,0.03,609.57
$IRIDIUM_FIX,2432.32,12358.51,301098,131352
$TT8_MAMPS,0.028379
$HUMID,1713
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,5
$24V_AH,22.5,79.206
$10V_AH,10.6,42.554
$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,33.450,157.200,620.425,0.000,0.000,31.476,31.735,196.580,9.250,0.000,0.000,37.782,2812.173,10548.453,722.960,2812.485,739.868,0.000,2191.019,0.000,2718.470,0.000,54.438,0.000
$DEVICE_MAMPS,227.799,55.991,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.511,1074.029,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85181,1566
$CAP_FILE_SIZE,189516,0
$CFSIZE,260165632,189190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.089, 60.3,1
$GPS,050809,233701,2441.679,12356.330,42,1.5,43,-3.6