version: 66.04
glider: 167
mission: 2
dive: 468
start: 8 7 109 5 45 38
data:
$ID,167
$MISSION,2
$DIVE,468
$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,-15098.29
$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,72
$R_STBD_OVSHOOT,47
$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
$GPS1,053227,2444.182,12349.949,28,2.8,48,-3.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-46.7
$GPS2,054446,2444.680,12349.941,15,2.3,34,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.253,-0.051
$KALMAN_X,2520.2,774.8,1055.9,-6510.2,-1752.8
$KALMAN_Y,3028.4,939.0,1023.2,-600.9,-1707.7
$MHEAD_RNG_PITCHd_Wd,262.2,58328,-24.8,-13.043
$D_GRID,1829
$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,-121.7,0.0,0.0,0,60,0.00,0.00,-42.25,0.000,2,0.000,0.000,141,2377,2210
$GC,64,-1.49,-121.7,3.1,-3.9,8,140,7.47,2.05,-62.25,0.000,4,0.216,0.036,2059,964,3988
$GC,288,-1.04,-121.7,42.8,-17.6,48,295,0.57,2.10,0.00,0.000,6,0.173,0.026,2209,2389,3989
$GC,635,-1.27,-121.7,91.0,-11.7,109,641,0.17,2.05,0.00,0.000,4,0.065,0.022,2129,974,3989
$GC,671,-1.11,-121.7,95.9,-14.2,115,678,0.22,2.08,0.00,0.000,6,0.165,0.025,2183,2391,3989
$GC,1018,-1.23,-121.7,138.8,-10.8,176,1024,0.12,2.05,0.00,0.000,4,0.075,0.021,2130,969,3990
$GC,1055,-1.12,-121.7,143.1,-12.2,182,1062,0.20,2.05,0.00,0.000,6,0.163,0.025,2177,2369,3990
$GC,1403,-1.31,-121.7,182.8,-12.0,243,1409,0.15,2.00,0.00,0.000,4,0.070,0.021,2114,968,3991
$GC,1423,-1.37,-121.7,185.4,-12.1,246,1429,0.00,2.00,0.00,0.000,6,0.000,0.025,2110,2336,3991
$GC,1768,-1.22,-121.7,223.5,-10.5,307,1775,0.15,2.15,0.00,0.000,4,0.170,0.038,2140,3762,3991
$GC,1919,-1.07,-121.7,242.3,-12.6,333,1926,0.22,2.03,0.00,0.000,6,0.158,0.020,2201,2299,3991
$GC,2269,-1.33,-121.7,282.9,-10.9,394,2275,0.22,1.85,0.00,0.000,4,0.060,0.021,2103,978,3991
$GC,2344,-1.15,-121.7,292.6,-12.3,407,2351,0.28,2.00,0.00,0.000,6,0.162,0.025,2173,2347,3991
$GC,2682,-1.37,-121.7,319.9,-8.1,445,2686,0.17,1.98,0.00,0.000,4,0.064,0.021,2093,967,3991
$GC,2730,-1.15,-121.7,325.3,-12.3,449,2735,0.30,1.95,0.00,0.000,6,0.157,0.025,2168,2299,3991
$GC,3056,-1.36,-121.7,358.2,-10.3,479,3061,0.17,2.22,0.00,0.000,4,0.067,0.041,2094,3763,3991
$GC,3107,-1.09,-121.7,364.5,-13.1,483,3111,0.35,2.12,0.00,0.000,6,0.164,0.019,2190,2230,3991
$GC,3433,-1.38,-121.7,393.1,-7.7,513,3437,0.22,1.77,0.00,0.000,4,0.062,0.022,2094,976,3991
$GC,3457,-1.42,-121.7,395.5,-10.1,515,3460,0.00,1.90,0.00,0.000,6,0.000,0.026,2093,2275,3991
$GC,3788,-1.28,-121.7,437.3,-13.8,546,3792,0.15,2.25,0.00,0.000,4,0.166,0.041,2124,3754,3990
$GC,3902,-1.17,-121.7,451.8,-12.1,555,3909,0.17,2.12,0.00,0.000,6,0.161,0.021,2170,2234,3990
$GC,4228,-1.44,-121.7,482.5,-7.7,586,4232,0.25,2.33,0.00,0.000,4,0.061,0.042,2057,3749,3989
$GC,4263,-1.18,-121.7,485.8,-10.1,589,4268,0.38,2.12,0.00,0.000,6,0.163,0.021,2162,2240,3989
$GC,4599,-1.41,-121.7,508.4,-6.6,614,4603,0.17,1.80,0.00,0.000,4,0.067,0.024,2083,971,3988
$GC,4645,-1.25,-121.7,512.7,-9.6,616,4649,0.22,1.95,0.00,0.000,6,0.160,0.029,2142,2289,3988
$GC,4981,-1.43,-121.7,544.7,-10.7,632,4986,0.17,2.25,0.00,0.000,4,0.072,0.043,2057,3754,3985
$GC,5022,-1.13,-121.7,550.2,-13.6,634,5027,0.43,2.17,0.00,0.000,6,0.166,0.021,2176,2223,3985
$GC,5353,-1.44,-121.7,584.6,-9.8,650,5355,0.28,0.00,0.00,0.000,6,0.061,0.000,2068,2222,3983
$GC,5658,-1.35,-121.7,617.4,-10.1,665,5663,0.15,2.38,0.00,0.000,4,0.164,0.043,2097,3747,3980
$GC,5776,-1.21,-121.7,628.3,-9.7,670,5780,0.20,2.17,0.00,0.000,6,0.164,0.021,2150,2213,3979
$GC,6097,-1.45,-121.7,655.5,-9.0,686,6099,0.20,0.00,0.00,0.000,6,0.068,0.000,2071,2212,3977
$GC,6408,-1.38,-121.7,690.3,-11.5,701,6413,0.12,2.40,0.00,0.000,4,0.166,0.044,2097,3747,3974
$GC,6493,-1.24,-121.7,700.8,-12.6,705,6498,0.17,2.15,0.00,0.000,6,0.168,0.021,2142,2239,3974
$GC,6824,-1.47,-121.7,732.0,-9.0,721,6828,0.20,1.83,0.00,0.000,4,0.072,0.025,2058,979,3972
$GC,6852,-1.38,-121.7,735.3,-11.2,722,6856,0.17,1.95,0.00,0.000,6,0.168,0.031,2102,2278,3971
$GC,7181,-1.45,-121.7,769.3,-11.1,738,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2279,3969
$GC,7489,-1.52,-121.7,805.7,-12.2,753,7494,0.15,1.90,0.00,0.000,4,0.074,0.025,2045,990,3967
$GC,7584,-1.30,-121.7,820.1,-15.4,757,7589,0.30,1.90,0.00,0.000,6,0.172,0.033,2124,2250,3966
$GC,7916,-1.37,-121.7,861.1,-12.1,773,7920,0.00,2.33,0.00,0.000,4,0.000,0.048,2124,3743,3964
$GC,8039,-1.37,-121.7,877.3,-13.0,778,8043,0.00,2.15,0.00,0.000,6,0.000,0.022,2123,2258,3963
$GC,8363,-1.44,-121.7,911.4,-10.0,794,8367,0.12,2.38,0.00,0.000,4,0.084,0.047,2071,3744,3962
$GC,8511,-1.22,-121.7,929.8,-12.6,800,8518,0.30,2.12,0.00,0.000,6,0.170,0.022,2152,2262,3962
$GC,8829,-1.45,-121.7,956.6,-7.7,816,8834,0.17,2.38,0.00,0.000,4,0.075,0.049,2080,3756,3960
$GC,8862,-1.25,-121.7,960.1,-10.3,817,8869,0.22,2.17,0.00,0.000,6,0.173,0.023,2139,2252,3959
$STATE,9134,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9134,begin apogee
$GC,9143,-0.27,0.0,984.5,8.7,831,9244,1.05,0.00,92.93,1.391,6,0.151,0.000,2453,2374,3532
$STATE,9245,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9248,1.49,121.7,990.0,0.0,836,9357,1.62,0.00,104.22,1.373,6,0.067,0.000,3024,2374,3035
$GC,9663,0.85,175.4,968.1,9.2,856,9714,0.75,2.25,45.10,1.343,4,0.212,0.048,2828,3746,2816
$GC,9762,0.66,218.7,959.2,9.9,860,9809,0.30,2.08,37.62,1.319,6,0.199,0.021,2761,2348,2639
$GC,10121,0.88,279.3,929.5,8.7,878,10178,0.20,2.10,50.78,1.328,4,0.077,0.028,2845,996,2392
$GC,10324,0.91,302.1,905.6,11.4,886,10349,0.00,2.17,20.15,1.263,6,0.000,0.032,2845,2405,2300
$GC,10662,0.92,313.5,864.4,12.2,902,10677,0.00,2.15,10.38,1.177,4,0.000,0.051,2845,3752,2253
$GC,10728,0.83,313.5,855.2,14.7,904,10732,0.15,1.98,0.00,0.000,6,0.188,0.024,2819,2400,2252
$GC,11056,0.95,337.2,818.7,11.3,920,11082,0.00,2.20,21.55,1.257,4,0.000,0.049,2818,3758,2156
$GC,11100,1.04,343.7,813.1,12.6,922,11116,0.15,2.00,6.97,1.046,6,0.081,0.025,2883,2410,2130
$GC,11429,0.97,343.7,764.7,15.1,938,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2409,2126
$GC,11735,0.90,343.7,719.1,14.8,953,11739,0.17,2.12,0.00,0.000,4,0.184,0.028,2847,980,2125
$GC,11843,1.02,353.8,704.9,12.3,958,11858,0.00,2.20,9.65,1.119,6,0.000,0.030,2847,2427,2089
$GC,12176,1.11,365.4,662.5,12.2,974,12190,0.15,0.00,11.12,1.120,6,0.081,0.000,2905,2427,2043
$GC,12508,1.03,365.4,616.0,14.7,990,12512,0.00,2.17,0.00,0.000,4,0.000,0.031,2911,993,2039
$GC,12577,0.96,365.4,605.8,15.0,993,12582,0.20,2.17,0.00,0.000,6,0.174,0.033,2859,2412,2039
$GC,12904,1.06,365.4,562.7,13.1,1009,12908,0.00,2.10,0.00,0.000,4,0.000,0.050,2859,3751,2038
$GC,12989,1.06,365.4,550.8,14.2,1012,12995,0.00,1.92,0.00,0.000,6,0.000,0.025,2858,2439,2038
$GC,13305,1.29,409.0,515.6,9.9,1028,13349,0.25,2.20,37.58,1.103,4,0.070,0.048,2963,3755,1863
$GC,13397,1.00,409.0,503.0,15.3,1032,13401,0.38,1.90,0.00,0.000,6,0.186,0.025,2874,2478,1860
$GC,13722,1.22,435.7,469.1,11.1,1061,13754,0.20,2.33,22.90,1.038,4,0.076,0.029,2965,986,1753
$GC,13884,1.12,435.7,444.9,15.1,1075,13891,0.22,2.42,0.00,0.000,6,0.186,0.032,2909,2552,1750
$GC,14211,1.33,447.9,401.9,12.2,1106,14227,0.17,1.90,10.95,0.936,4,0.074,0.048,2982,3761,1706
$GC,14289,1.12,447.9,389.0,15.8,1112,14296,0.32,1.92,0.00,0.000,6,0.183,0.025,2906,2444,1705
$GC,14615,1.41,478.9,351.7,10.8,1143,14648,0.22,2.17,27.05,0.954,4,0.072,0.049,2997,3755,1578
$GC,14724,1.17,478.9,335.7,16.7,1152,14731,0.32,1.85,0.00,0.000,6,0.184,0.025,2922,2499,1575
$GC,15053,1.49,502.6,295.2,11.3,1186,15081,0.25,2.03,20.65,0.892,4,0.066,0.048,3025,3756,1482
$GC,15088,1.37,502.6,290.2,15.2,1192,15095,0.17,1.98,0.00,0.000,6,0.190,0.024,2991,2434,1482
$GC,15434,1.32,502.6,236.7,15.2,1253,15440,0.00,2.15,0.00,0.000,4,0.000,0.029,2999,980,1479
$GC,15476,1.27,502.6,230.5,14.5,1260,15483,0.17,2.20,0.00,0.000,6,0.184,0.028,2957,2434,1477
$GC,15822,1.53,533.1,185.2,10.9,1321,15856,0.20,2.10,26.17,0.803,4,0.066,0.048,3041,3762,1357
$GC,15874,1.40,533.1,177.9,14.9,1330,15881,0.20,1.98,0.00,0.000,6,0.185,0.023,3000,2433,1356
$GC,16220,1.40,533.1,130.7,16.1,1391,16226,0.00,2.08,0.00,0.000,4,0.000,0.046,3000,3752,1354
$GC,16339,1.40,533.1,111.7,15.1,1412,16345,0.00,1.92,0.00,0.000,6,0.000,0.022,3008,2420,1352
$GC,16685,1.56,570.8,69.3,10.3,1473,16724,0.10,2.12,31.45,0.696,4,0.092,0.045,3049,3758,1204
$GC,16849,1.56,572.4,46.7,12.9,1502,16855,0.00,1.98,0.00,0.000,6,0.000,0.021,3059,2393,1201
$STATE,17112,end climb,SURFACE_DEPTH_REACHED
$STATE,17112,begin surface coast
$FINISH,1.6,1.018427
$STATE,17136,end surface coast,CONTROL_FINISHED_OK
$STATE,17136,begin surface
$SM_CCo,17216,0.00,0.000,0,0,1196,572.78
$SM_GC,2.42,7.88,0.00,0.00,0.056,0.000,0.000,140,2388,1196,-7.50,0.14,572.78
$IRIDIUM_FIX,2437.06,12303.22,011198,050550
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.60
$XPDR_PINGS,5
$24V_AH,23.2,80.762
$10V_AH,10.6,43.261
$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,31.575,150.550,587.225,0.000,0.000,47.259,88.095,347.954,9.250,0.000,0.000,35.582,2573.032,10905.113,687.516,2796.150,974.733,31.429,2137.197,0.000,2708.381,0.000,54.424,0.000
$DEVICE_MAMPS,215.527,63.661,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.197,1059.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85197,1553
$CAP_FILE_SIZE,190609,0
$CFSIZE,260165632,188538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070809,103415,2445.942,12350.403,43,2.5,63,-3.6