version: 66.04
glider: 167
mission: 2
dive: 467
start: 8 7 109 0 40 54
data:
$ID,167
$MISSION,2
$DIVE,467
$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,-4
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-15062.079
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$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
$GPS1,003157,2442.740,12350.364,33,3.1,53,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-51.1
$GPS2,004006,2442.961,12350.131,33,1.9,33,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.255,-0.040
$KALMAN_X,463.5,463.5,463.5,-3237.4,-913.7
$KALMAN_Y,618.9,618.9,618.9,-667.0,-1220.2
$MHEAD_RNG_PITCHd_Wd,264.7,57409,-24.8,-13.043
$D_GRID,1858
$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,16,-1.49,-121.7,0.0,0.0,0,70,0.00,0.00,-52.20,0.000,2,0.000,0.000,139,2404,2386
$GC,75,-1.49,-121.7,3.0,-3.1,10,142,7.80,2.15,-52.92,0.000,4,0.229,0.035,2060,968,3988
$GC,296,-1.04,-121.7,43.9,-20.6,49,303,0.57,2.10,0.00,0.000,6,0.173,0.027,2210,2385,3990
$GC,642,-1.23,-121.7,86.9,-9.6,110,649,0.17,2.05,0.00,0.000,4,0.065,0.022,2130,972,3991
$GC,724,-1.04,-121.7,97.9,-15.9,124,730,0.30,2.05,0.00,0.000,6,0.163,0.025,2206,2373,3991
$GC,1070,-1.27,-121.7,133.1,-10.0,185,1077,0.17,2.10,0.00,0.000,4,0.064,0.041,2123,3760,3992
$GC,1095,-1.27,-121.7,136.3,-11.6,189,1101,0.00,2.00,0.00,0.000,6,0.000,0.019,2123,2312,3992
$GC,1441,-1.12,-121.7,181.2,-12.0,250,1448,0.17,2.20,0.00,0.000,4,0.161,0.039,2166,3750,3992
$GC,1587,-1.06,-121.7,198.3,-12.0,275,1593,0.12,1.95,0.00,0.000,6,0.163,0.021,2197,2349,3993
$GC,1935,-1.34,-121.7,237.5,-12.4,336,1942,0.20,1.90,0.00,0.000,4,0.061,0.021,2108,1009,3994
$GC,1984,-1.16,-121.7,244.1,-13.7,344,1991,0.25,2.03,0.00,0.000,6,0.160,0.025,2168,2398,3993
$GC,2333,-1.32,-121.7,279.3,-10.2,405,2339,0.15,2.00,0.00,0.000,4,0.070,0.021,2108,1011,3993
$GC,2380,-1.17,-121.7,284.8,-11.7,413,2387,0.25,2.00,0.00,0.000,6,0.160,0.025,2167,2380,3993
$GC,2721,-1.25,-121.7,321.6,-11.7,457,2724,0.00,2.08,0.00,0.000,4,0.000,0.043,2165,3746,3993
$GC,2777,-1.25,-121.7,328.3,-11.4,462,2781,0.00,1.92,0.00,0.000,6,0.000,0.021,2165,2358,3994
$GC,3109,-1.45,-121.7,361.6,-8.7,493,3113,0.22,1.90,0.00,0.000,4,0.060,0.023,2067,1024,3993
$GC,3193,-1.19,-121.7,371.5,-12.6,500,3200,0.35,1.98,0.00,0.000,6,0.161,0.028,2158,2366,3993
$GC,3519,-1.37,-121.7,402.6,-9.5,531,3521,0.15,0.00,0.00,0.000,6,0.072,0.000,2095,2368,3993
$GC,3841,-1.24,-121.7,439.5,-12.8,561,3845,0.17,1.95,0.00,0.000,4,0.163,0.023,2147,1031,3992
$GC,3875,-1.24,-121.7,443.9,-11.0,564,3879,0.00,1.95,0.00,0.000,6,0.000,0.028,2146,2343,3993
$GC,4207,-1.41,-121.7,477.0,-10.3,595,4212,0.15,1.92,0.00,0.000,4,0.071,0.023,2082,1016,3992
$GC,4247,-1.25,-121.7,481.9,-12.3,598,4253,0.22,1.98,0.00,0.000,6,0.160,0.028,2142,2350,3992
$GC,4582,-1.43,-121.7,518.1,-10.9,622,4586,0.17,2.15,0.00,0.000,4,0.071,0.043,2057,3755,3991
$GC,4639,-1.13,-121.7,526.0,-14.4,624,4646,0.43,1.98,0.00,0.000,6,0.164,0.021,2177,2356,3990
$GC,4956,-1.44,-121.7,556.2,-9.6,640,4960,0.25,1.95,0.00,0.000,4,0.062,0.024,2071,1013,3989
$GC,5013,-1.24,-121.7,562.9,-12.4,642,5018,0.28,2.00,0.00,0.000,6,0.160,0.030,2145,2345,3988
$GC,5332,-1.44,-121.7,594.4,-10.1,657,5334,0.20,0.00,0.00,0.000,6,0.068,0.000,2065,2347,3986
$GC,5640,-1.28,-121.7,631.1,-12.2,672,5645,0.20,2.17,0.00,0.000,4,0.166,0.044,2124,3757,3984
$GC,5686,-1.24,-121.7,636.6,-12.1,674,5690,0.00,2.05,0.00,0.000,6,0.000,0.022,2124,2309,3984
$GC,6021,-1.37,-121.7,670.7,-10.2,690,6024,0.00,1.88,0.00,0.000,4,0.000,0.025,2124,1005,3982
$GC,6089,-1.37,-121.7,678.4,-11.4,693,6093,0.00,1.95,0.00,0.000,6,0.000,0.031,2123,2307,3981
$GC,6425,-1.52,-121.7,714.9,-11.0,709,6426,0.20,0.00,0.00,0.000,6,0.067,0.000,2044,2308,3979
$GC,6736,-1.30,-121.7,752.0,-11.7,724,6740,0.25,2.25,0.00,0.000,4,0.167,0.045,2110,3755,3976
$GC,6821,-1.21,-121.7,761.8,-10.5,728,6826,0.17,2.10,0.00,0.000,6,0.163,0.023,2155,2298,3976
$GC,7157,-1.50,-121.7,790.1,-8.5,744,7161,0.22,1.88,0.00,0.000,4,0.067,0.025,2060,1008,3973
$GC,7197,-1.31,-121.7,794.8,-11.4,745,7204,0.22,1.92,0.00,0.000,6,0.165,0.031,2117,2288,3973
$GC,7518,-1.45,-121.7,826.7,-10.0,761,7523,0.12,2.30,0.00,0.000,4,0.083,0.048,2069,3761,3971
$GC,7574,-1.21,-121.7,834.1,-13.2,763,7582,0.30,2.12,0.00,0.000,6,0.166,0.023,2150,2289,3971
$GC,7891,-1.46,-121.7,864.7,-9.2,779,7896,0.20,1.85,0.00,0.000,4,0.072,0.027,2067,1017,3968
$GC,7942,-1.30,-121.7,870.7,-11.4,781,7947,0.22,1.90,0.00,0.000,6,0.167,0.033,2126,2275,3968
$GC,8274,-1.47,-121.7,903.0,-9.7,797,8278,0.15,1.88,0.00,0.000,4,0.083,0.026,2070,1009,3967
$GC,8313,-1.31,-121.7,907.9,-12.1,798,8319,0.20,1.88,0.00,0.000,6,0.170,0.034,2119,2246,3967
$GC,8629,-1.31,-121.7,942.0,-11.2,814,8633,0.00,2.35,0.00,0.000,4,0.000,0.048,2111,3754,3965
$GC,8808,-1.23,-121.7,962.9,-12.8,822,8813,0.15,2.17,0.00,0.000,6,0.167,0.025,2148,2264,3964
$STATE,9069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9070,begin apogee
$GC,9077,-0.27,0.0,990.6,10.2,835,9180,1.00,0.00,94.20,1.392,6,0.140,0.000,2456,2365,3532
$STATE,9180,end apogee,CONTROL_FINISHED_OK
$STATE,9180,begin climb
$GC,9185,1.49,121.7,998.1,0.0,840,9298,1.65,2.33,104.40,1.376,4,0.067,0.047,3030,3743,3035
$GC,9463,0.68,181.7,992.3,8.7,853,9520,1.08,2.00,50.47,1.350,6,0.222,0.022,2772,2384,2791
$GC,9842,0.83,266.1,966.4,7.0,872,9919,0.12,2.20,70.90,1.352,4,0.092,0.031,2823,987,2447
$GC,10082,0.94,300.3,942.6,10.6,882,10119,0.00,2.22,29.88,1.305,6,0.000,0.032,2823,2425,2306
$GC,10432,1.02,324.2,902.8,11.3,899,10458,0.15,2.12,20.25,1.276,4,0.076,0.051,2882,3754,2211
$GC,10493,0.83,324.2,893.4,15.6,902,10498,0.30,1.98,0.00,0.000,6,0.186,0.024,2814,2427,2208
$GC,10822,0.98,345.3,854.8,11.5,918,10847,0.12,2.20,19.20,1.260,4,0.090,0.051,2861,3753,2124
$GC,10888,0.87,345.3,844.9,16.1,921,10892,0.17,1.95,0.00,0.000,6,0.188,0.023,2826,2451,2121
$GC,11221,0.98,345.3,802.1,13.1,937,11225,0.10,2.20,0.00,0.000,4,0.096,0.030,2871,982,2119
$GC,11243,0.98,345.3,798.8,14.1,938,11247,0.00,2.28,0.00,0.000,6,0.000,0.032,2871,2464,2118
$GC,11565,0.98,345.3,752.9,13.5,954,11568,0.00,2.25,0.00,0.000,4,0.000,0.031,2875,986,2117
$GC,11626,0.98,345.3,744.6,13.1,956,11632,0.00,2.28,0.00,0.000,6,0.000,0.032,2875,2465,2117
$GC,11943,0.98,345.3,702.9,13.2,972,11946,0.00,2.25,0.00,0.000,4,0.000,0.031,2883,984,2116
$GC,11971,0.99,348.9,699.1,12.8,973,11975,0.00,2.28,0.00,0.000,6,0.000,0.034,2883,2460,2116
$GC,12292,0.99,348.9,653.3,14.1,989,12295,0.00,2.00,0.00,0.000,4,0.000,0.050,2883,3751,2116
$GC,12406,0.87,348.9,636.4,15.0,994,12411,0.25,1.83,0.00,0.000,6,0.186,0.025,2827,2494,2115
$GC,12740,1.20,402.6,602.5,9.2,1010,12795,0.25,2.10,48.40,1.160,4,0.071,0.051,2930,3742,1889
$GC,12878,1.04,402.6,584.0,14.0,1016,12882,0.22,1.92,0.00,0.000,6,0.186,0.025,2880,2448,1884
$GC,13205,1.28,435.7,547.0,10.7,1032,13240,0.17,2.15,28.23,1.095,4,0.080,0.050,2955,3740,1754
$GC,13287,1.09,435.7,535.1,15.4,1035,13293,0.25,1.98,0.00,0.000,6,0.188,0.025,2901,2439,1751
$GC,13604,1.30,437.8,495.5,12.9,1052,13609,0.17,2.10,0.00,0.000,4,0.077,0.048,2969,3755,1748
$GC,13700,1.07,437.8,479.6,17.6,1060,13707,0.32,2.08,0.00,0.000,6,0.183,0.024,2892,2350,1748
$GC,14026,1.38,450.2,437.3,12.2,1091,14048,0.22,2.28,13.02,0.969,4,0.071,0.046,2986,3752,1695
$GC,14119,1.16,450.2,422.5,17.6,1099,14123,0.30,2.03,0.00,0.000,6,0.185,0.023,2917,2385,1694
$GC,14445,1.32,462.7,381.6,12.1,1129,14463,0.15,2.22,11.73,0.913,4,0.077,0.046,2976,3751,1644
$GC,14550,1.15,462.7,364.7,16.4,1137,14556,0.28,1.92,0.00,0.000,6,0.183,0.024,2914,2426,1642
$GC,14875,1.44,467.6,321.9,12.7,1168,14888,0.22,2.17,5.25,0.725,4,0.069,0.028,3017,963,1625
$GC,14961,1.26,467.6,308.7,15.1,1175,14968,0.25,2.22,0.00,0.000,6,0.186,0.028,2954,2436,1624
$GC,15303,1.27,476.0,263.8,12.4,1231,15320,0.00,2.12,8.52,0.787,4,0.000,0.047,2954,3763,1590
$GC,15373,1.27,476.0,254.2,14.7,1243,15379,0.00,1.95,0.00,0.000,6,0.000,0.025,2962,2418,1590
$GC,15717,1.37,485.2,211.0,12.4,1304,15734,0.00,2.12,9.62,0.759,4,0.000,0.046,2962,3745,1552
$GC,15746,1.37,485.2,207.2,13.5,1309,15752,0.00,1.80,0.00,0.000,6,0.000,0.023,2971,2494,1551
$GC,16091,1.51,495.5,158.9,12.3,1370,16109,0.17,2.28,10.40,0.720,4,0.074,0.028,3057,966,1510
$GC,16155,1.31,495.5,148.9,16.4,1381,16162,0.32,2.30,0.00,0.000,6,0.183,0.029,2972,2485,1508
$GC,16501,1.55,535.3,106.2,10.2,1442,16541,0.17,2.05,33.58,0.723,4,0.071,0.046,3046,3759,1348
$GC,16631,1.41,548.1,88.8,12.1,1464,16649,0.22,1.98,11.73,0.656,6,0.183,0.021,2998,2411,1296
$GC,16992,1.70,580.5,45.3,10.7,1527,17027,0.22,2.20,27.95,0.657,4,0.067,0.026,3104,967,1163
$GC,17163,1.62,580.5,21.0,13.7,1557,17169,0.15,2.10,0.00,0.000,6,0.180,0.028,3066,2365,1161
$STATE,17306,end climb,SURFACE_DEPTH_REACHED
$STATE,17306,begin surface coast
$FINISH,1.6,1.011718
$STATE,17328,end surface coast,CONTROL_FINISHED_OK
$STATE,17328,begin surface
$SM_CCo,17407,0.00,0.000,0,0,1156,582.59
$SM_GC,2.20,7.88,0.00,0.00,0.054,0.000,0.000,141,2377,1156,-7.49,-0.17,582.59
$IRIDIUM_FIX,2432.32,12349.96,311098,191912
$TT8_MAMPS,0.028379
$HUMID,1740
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.3,80.535
$10V_AH,10.6,43.160
$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,32.325,161.475,597.725,0.000,0.000,25.673,40.375,229.389,8.250,0.000,0.000,33.349,2627.720,10868.662,708.346,2866.704,803.469,30.192,2200.692,0.000,2787.530,0.000,54.426,0.000
$DEVICE_MAMPS,229.333,70.564,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.472,1090.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85211,1586
$CAP_FILE_SIZE,191886,0
$CFSIZE,260165632,188633088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070809,053227,2444.182,12349.949,28,2.8,48,-3.6