version: 66.04
glider: 167
mission: 2
dive: 465
start: 8 6 109 14 40 29
data:
$ID,167
$MISSION,2
$DIVE,465
$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,-15011.018
$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,70
$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
$GPS1,142826,2442.210,12353.337,59,1.9,61,-3.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-50.0
$GPS2,144007,2442.051,12352.864,45,1.6,45,-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,241.6,61194,-24.8,-13.043
$D_GRID,1850
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.49,-121.7,0.0,0.0,0,62,0.00,0.00,-43.58,0.000,2,0.000,0.000,141,2491,2228
$GC,66,-1.49,-121.7,3.0,-2.9,7,144,7.57,1.98,-62.72,0.000,4,0.218,0.057,2056,3760,3989
$GC,354,-0.83,-121.7,60.1,-22.0,57,362,0.77,1.85,0.00,0.000,6,0.179,0.021,2270,2433,3990
$GC,702,-1.24,-121.7,99.8,-11.3,118,709,0.30,1.88,0.00,0.000,4,0.054,0.021,2139,1105,3991
$GC,806,-1.03,-121.7,113.7,-12.3,136,812,0.28,2.05,0.00,0.000,6,0.160,0.027,2208,2503,3991
$GC,1152,-1.27,-121.7,150.9,-11.9,197,1160,0.17,2.00,0.00,0.000,4,0.066,0.021,2128,1106,3991
$GC,1212,-1.10,-121.7,159.1,-14.9,207,1219,0.22,1.98,0.00,0.000,6,0.161,0.026,2184,2459,3991
$GC,1559,-1.28,-121.7,198.7,-10.1,268,1566,0.15,1.95,0.00,0.000,4,0.068,0.039,2116,3762,3992
$GC,1597,-1.04,-121.7,203.1,-13.3,274,1604,0.32,1.80,0.00,0.000,6,0.166,0.020,2205,2460,3992
$GC,1944,-1.32,-121.7,237.1,-9.8,335,1950,0.22,1.90,0.00,0.000,4,0.058,0.020,2107,1105,3992
$GC,1986,-1.13,-121.7,241.9,-11.7,342,1993,0.30,1.98,0.00,0.000,6,0.160,0.025,2181,2465,3992
$GC,2334,-1.28,-121.7,278.6,-11.0,403,2340,0.15,1.95,0.00,0.000,4,0.071,0.021,2119,1104,3992
$GC,2381,-1.13,-121.7,285.2,-13.6,411,2388,0.25,1.95,0.00,0.000,6,0.158,0.027,2179,2439,3992
$GC,2716,-1.36,-121.7,317.8,-9.1,454,2720,0.20,2.00,0.00,0.000,4,0.064,0.041,2085,3764,3992
$GC,2734,-1.41,-121.7,319.8,-9.7,455,2740,0.00,1.85,0.00,0.000,6,0.000,0.020,2085,2417,3992
$GC,3060,-1.22,-121.7,360.7,-13.2,486,3064,0.20,2.05,0.00,0.000,4,0.162,0.041,2138,3750,3992
$GC,3152,-1.11,-121.7,372.2,-12.1,494,3157,0.17,1.83,0.00,0.000,6,0.162,0.021,2183,2448,3992
$GC,3484,-1.37,-121.7,402.1,-8.0,525,3488,0.20,1.90,0.00,0.000,4,0.064,0.023,2095,1103,3991
$GC,3535,-1.19,-121.7,407.4,-11.3,529,3544,0.25,1.98,0.00,0.000,6,0.163,0.028,2161,2445,3991
$GC,3861,-1.37,-121.7,439.9,-11.6,560,3865,0.17,1.95,0.00,0.000,4,0.068,0.021,2091,1095,3990
$GC,3909,-1.20,-121.7,446.0,-14.0,564,3913,0.25,1.98,0.00,0.000,6,0.163,0.029,2152,2426,3990
$GC,4241,-1.40,-121.7,480.9,-9.0,595,4246,0.17,2.03,0.00,0.000,4,0.069,0.044,2081,3753,3989
$GC,4267,-1.35,-121.7,483.4,-9.5,597,4270,0.00,1.88,0.00,0.000,6,0.000,0.022,2081,2415,3989
$GC,4595,-1.20,-121.7,518.2,-10.9,620,4600,0.22,2.08,0.00,0.000,4,0.162,0.041,2141,3758,3987
$GC,4654,-1.20,-121.7,525.1,-11.4,622,4660,0.00,1.88,0.00,0.000,6,0.000,0.023,2141,2424,3987
$GC,4971,-1.35,-121.7,559.6,-10.9,638,4975,0.00,1.88,0.00,0.000,4,0.000,0.025,2141,1106,3985
$GC,5050,-1.40,-121.7,568.1,-10.4,641,5055,0.12,1.92,0.00,0.000,6,0.078,0.029,2087,2412,3985
$GC,5373,-1.40,-121.7,604.1,-9.8,657,5377,0.00,2.05,0.00,0.000,4,0.000,0.045,2085,3764,3982
$GC,5402,-1.25,-121.7,607.4,-11.9,658,5406,0.20,1.92,0.00,0.000,6,0.164,0.021,2137,2403,3981
$GC,5733,-1.41,-121.7,640.7,-10.5,674,5737,0.15,1.85,0.00,0.000,4,0.073,0.024,2078,1107,3979
$GC,5807,-1.25,-121.7,650.1,-12.4,677,5811,0.25,1.88,0.00,0.000,6,0.158,0.029,2140,2370,3979
$GC,6138,-1.45,-121.7,683.1,-9.5,693,6142,0.17,1.83,0.00,0.000,4,0.072,0.023,2064,1101,3977
$GC,6183,-1.27,-121.7,688.5,-11.3,695,6188,0.22,1.88,0.00,0.000,6,0.158,0.029,2137,2340,3976
$GC,6520,-1.44,-121.7,717.1,-8.4,711,6524,0.17,1.80,0.00,0.000,4,0.071,0.024,2061,1106,3974
$GC,6567,-1.25,-121.7,722.4,-11.4,713,6571,0.30,1.83,0.00,0.000,6,0.163,0.030,2140,2324,3973
$GC,6902,-1.46,-121.7,754.2,-9.7,729,6906,0.17,1.77,0.00,0.000,4,0.073,0.024,2064,1104,3971
$GC,6942,-1.31,-121.7,759.0,-12.0,730,6949,0.22,1.80,0.00,0.000,6,0.165,0.029,2117,2313,3971
$GC,7259,-1.44,-121.7,792.0,-10.2,746,7261,0.12,0.00,0.00,0.000,6,0.081,0.000,2069,2314,3968
$GC,7570,-1.32,-121.7,827.4,-11.4,761,7575,0.17,2.25,0.00,0.000,4,0.174,0.045,2111,3761,3966
$GC,7666,-1.23,-121.7,837.9,-10.4,765,7670,0.15,2.10,0.00,0.000,6,0.167,0.023,2148,2306,3966
$GC,7983,-1.47,-121.7,864.3,-8.0,780,7987,0.20,1.73,0.00,0.000,4,0.071,0.024,2064,1104,3964
$GC,8079,-1.30,-121.7,874.9,-11.1,784,8088,0.25,1.75,0.00,0.000,6,0.166,0.033,2124,2269,3963
$GC,8414,-1.35,-121.7,905.7,-9.2,800,8418,0.00,2.33,0.00,0.000,4,0.000,0.049,2124,3757,3962
$GC,8600,-1.35,-121.7,925.8,-11.4,808,8603,0.00,2.10,0.00,0.000,6,0.000,0.023,2124,2302,3960
$GC,8923,-1.41,-121.7,958.4,-10.4,824,8927,0.00,2.30,0.00,0.000,4,0.000,0.049,2124,3750,3959
$GC,9024,-1.41,-121.7,969.9,-11.7,828,9030,0.00,2.05,0.00,0.000,6,0.000,0.024,2124,2327,3957
$STATE,9131,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9131,begin apogee
$GC,9139,-0.27,0.0,981.3,10.4,834,9241,1.12,0.00,92.60,1.387,6,0.156,0.000,2455,2392,3532
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9245,1.49,121.7,987.8,0.0,839,9356,1.60,2.25,103.82,1.371,4,0.068,0.046,3019,3758,3036
$GC,9418,0.71,181.7,989.5,8.7,847,9476,1.00,2.00,51.08,1.343,6,0.219,0.022,2779,2415,2791
$GC,9785,0.78,243.0,958.1,8.6,864,9842,0.00,2.22,51.47,1.339,4,0.000,0.048,2779,3757,2540
$GC,9960,0.82,275.6,938.9,10.7,871,9999,0.00,1.95,28.05,1.300,6,0.000,0.024,2786,2440,2407
$GC,10310,1.06,313.2,902.9,10.3,888,10352,0.25,2.20,32.20,1.307,4,0.069,0.048,2886,3751,2254
$GC,10434,0.84,313.2,884.0,16.2,893,10438,0.30,1.88,0.00,0.000,6,0.186,0.022,2817,2475,2250
$GC,10756,0.96,322.8,843.1,12.4,909,10771,0.10,2.25,8.75,1.143,4,0.094,0.031,2859,1018,2216
$GC,10850,0.96,322.8,830.1,13.1,913,10854,0.00,2.25,0.00,0.000,6,0.000,0.033,2859,2477,2214
$GC,11172,0.96,322.8,787.4,13.1,929,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2477,2212
$GC,11481,0.96,327.9,747.6,12.7,944,11488,0.00,0.00,5.57,0.992,6,0.000,0.000,2859,2477,2195
$GC,11792,0.97,336.7,709.4,12.4,959,11806,0.00,2.05,9.25,1.120,4,0.000,0.052,2859,3749,2159
$GC,11852,0.90,336.7,700.5,14.6,961,11859,0.12,1.90,0.00,0.000,6,0.189,0.023,2839,2442,2158
$GC,12170,1.01,347.1,660.9,12.3,977,12185,0.00,2.12,10.48,1.118,4,0.000,0.029,2847,1017,2115
$GC,12242,1.17,359.9,651.6,12.1,979,12261,0.20,2.20,12.45,1.125,6,0.077,0.032,2922,2453,2064
$GC,12587,1.04,359.9,599.8,14.8,996,12591,0.15,2.15,0.00,0.000,4,0.181,0.029,2893,1025,2060
$GC,12655,1.04,359.9,590.1,13.1,999,12659,0.00,2.15,0.00,0.000,6,0.000,0.032,2893,2430,2060
$GC,12988,1.04,359.9,545.2,13.9,1015,12992,0.00,2.08,0.00,0.000,4,0.000,0.050,2893,3757,2058
$GC,13036,0.93,359.9,538.2,15.3,1017,13040,0.22,1.95,0.00,0.000,6,0.181,0.025,2844,2421,2058
$GC,13371,1.23,385.5,499.2,11.2,1033,13398,0.25,2.17,21.77,1.078,4,0.069,0.049,2944,3768,1959
$GC,13523,1.00,385.5,476.8,14.3,1046,13531,0.32,1.92,0.00,0.000,6,0.183,0.025,2868,2456,1956
$GC,13849,1.33,428.4,443.5,10.0,1077,13893,0.28,2.12,36.85,1.039,4,0.067,0.048,2978,3761,1783
$GC,13930,1.09,428.4,432.3,15.0,1084,13935,0.35,2.03,0.00,0.000,6,0.183,0.024,2897,2400,1780
$GC,14257,1.39,452.0,395.5,11.4,1114,14284,0.22,2.12,20.55,0.971,4,0.074,0.031,2998,1021,1688
$GC,14359,1.23,452.0,380.0,16.8,1123,14364,0.22,2.10,0.00,0.000,6,0.187,0.031,2943,2392,1685
$GC,14684,1.23,452.0,333.9,14.1,1153,14685,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2392,1682
$GC,15007,1.25,466.3,290.0,12.0,1190,15026,0.00,2.08,12.30,0.854,4,0.000,0.029,2950,1018,1630
$GC,15067,1.26,477.6,282.8,12.2,1200,15085,0.00,2.10,11.07,0.830,6,0.000,0.031,2950,2402,1583
$GC,15427,1.45,477.6,237.0,13.7,1263,15434,0.17,2.10,0.00,0.000,4,0.071,0.046,3023,3751,1579
$GC,15475,1.21,477.6,228.7,17.5,1271,15482,0.35,1.95,0.00,0.000,6,0.176,0.022,2939,2406,1579
$GC,15824,1.54,501.8,186.8,11.3,1332,15854,0.25,2.17,21.17,0.792,4,0.066,0.045,3045,3752,1485
$GC,15861,1.38,501.8,181.1,14.8,1338,15869,0.25,2.10,0.00,0.000,6,0.186,0.021,2991,2318,1484
$GC,16209,1.38,502.3,128.8,13.0,1399,16215,0.00,1.92,0.00,0.000,4,0.000,0.028,2999,1002,1482
$GC,16280,1.40,513.4,119.8,12.2,1411,16297,0.00,2.03,10.62,0.692,6,0.000,0.026,2999,2357,1439
$GC,16640,1.51,520.5,72.2,12.5,1474,16653,0.00,2.03,7.32,0.611,4,0.000,0.028,3002,999,1411
$GC,16697,1.66,554.6,65.1,10.6,1483,16734,0.20,1.98,29.52,0.685,6,0.069,0.027,3082,2327,1270
$GC,17076,1.56,554.6,16.8,19.5,1549,17082,0.15,1.98,0.00,0.000,4,0.183,0.025,3053,993,1264
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,1.5,1.021904
$STATE,17186,end surface coast,CONTROL_FINISHED_OK
$STATE,17186,begin surface
$SM_CCo,17268,0.00,0.000,0,0,1261,557.08
$SM_GC,2.29,7.85,0.00,0.00,0.055,0.000,0.000,139,2502,1261,-7.51,0.54,557.08
$IRIDIUM_FIX,2434.69,12355.22,311098,141401
$TT8_MAMPS,0.029146
$HUMID,1729
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,12
$24V_AH,23.3,80.086
$10V_AH,10.6,42.955
$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,31.425,156.525,576.925,0.000,0.000,58.129,71.267,301.321,11.000,0.000,0.000,45.462,2822.738,10645.218,716.721,2832.699,935.182,0.000,2172.747,0.000,2730.947,0.000,56.633,0.000
$DEVICE_MAMPS,218.595,82.069,1386.736,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.812,1069.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85145,1568
$CAP_FILE_SIZE,190712,0
$CFSIZE,260165632,188821504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094, 23.4,1
$GPS,060809,193001,2442.178,12351.797,66,1.3,67,-3.6