version: 66.04
glider: 167
mission: 2
dive: 469
start: 8 7 109 10 49 57
data:
$ID,167
$MISSION,2
$DIVE,469
$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,-15145.59
$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,84
$R_STBD_OVSHOOT,41
$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
$GPS1,103415,2445.942,12350.403,43,2.5,63,-3.6
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-57.6
$GPS2,104907,2446.206,12350.949,46,1.8,46,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.210,-0.150
$KALMAN_X,7480.3,791.6,887.4,-9636.3,760.2
$KALMAN_Y,7211.9,430.9,435.0,-855.0,1098.2
$MHEAD_RNG_PITCHd_Wd,238.2,61056,-24.8,-13.043
$D_GRID,1889
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.49,-121.7,0.0,0.0,0,58,0.00,0.00,-37.20,0.000,2,0.000,0.000,140,2388,2137
$GC,61,-1.49,-121.7,3.1,-4.6,7,132,7.72,2.05,-55.30,0.000,4,0.225,0.036,2060,978,3989
$GC,275,-0.98,-121.7,42.3,-21.9,45,282,0.62,2.10,0.00,0.000,6,0.177,0.026,2222,2401,3990
$GC,621,-1.09,-121.7,87.3,-8.3,106,627,0.00,2.05,0.00,0.000,4,0.000,0.041,2214,3753,3991
$GC,674,-1.09,-121.7,90.6,-5.8,115,680,0.00,1.98,0.00,0.000,6,0.000,0.021,2214,2326,3991
$GC,1019,-1.34,-121.7,127.7,-10.8,176,1025,0.25,2.17,0.00,0.000,4,0.058,0.040,2098,3743,3991
$GC,1049,-1.14,-121.7,131.7,-13.5,181,1056,0.28,1.92,0.00,0.000,6,0.166,0.020,2172,2356,3991
$GC,1397,-1.20,-121.7,166.9,-12.2,242,1403,0.00,2.12,0.00,0.000,4,0.000,0.040,2164,3747,3992
$GC,1479,-1.13,-121.7,177.3,-13.0,256,1485,0.00,1.88,0.00,0.000,6,0.000,0.020,2165,2379,3992
$GC,1824,-1.28,-121.7,216.0,-11.9,317,1830,0.00,1.92,0.00,0.000,4,0.000,0.023,2165,1018,3992
$GC,1849,-1.36,-121.7,219.3,-12.8,321,1856,0.12,2.03,0.00,0.000,6,0.071,0.026,2099,2403,3992
$GC,2198,-1.19,-121.7,259.8,-10.6,382,2204,0.17,2.05,0.00,0.000,4,0.169,0.039,2143,3760,3993
$GC,2386,-1.07,-121.7,282.6,-13.9,415,2392,0.20,1.88,0.00,0.000,6,0.159,0.021,2197,2417,3992
$GC,2722,-1.38,-121.7,317.6,-10.3,460,2726,0.25,2.00,0.00,0.000,4,0.058,0.022,2089,1030,3993
$GC,2802,-1.17,-121.7,328.2,-13.7,467,2807,0.30,2.03,0.00,0.000,6,0.164,0.026,2167,2388,3992
$GC,3129,-1.36,-121.7,358.7,-9.6,497,3133,0.17,2.08,0.00,0.000,4,0.070,0.041,2093,3754,3993
$GC,3145,-1.36,-121.7,360.7,-9.8,498,3151,0.00,1.92,0.00,0.000,6,0.000,0.021,2093,2365,3992
$GC,3473,-1.22,-121.7,400.7,-11.6,529,3478,0.20,2.15,0.00,0.000,4,0.163,0.041,2143,3763,3992
$GC,3547,-1.17,-121.7,408.9,-10.5,535,3551,0.00,1.90,0.00,0.000,6,0.000,0.021,2143,2399,3992
$GC,3880,-1.33,-121.7,440.2,-9.9,566,3883,0.00,1.98,0.00,0.000,4,0.000,0.025,2143,1017,3992
$GC,3953,-1.33,-121.7,448.6,-11.0,572,3959,0.00,2.03,0.00,0.000,6,0.000,0.028,2140,2390,3992
$GC,4280,-1.46,-121.7,484.2,-10.3,603,4284,0.17,1.98,0.00,0.000,4,0.067,0.023,2065,1015,3990
$GC,4319,-1.24,-121.7,489.2,-12.5,606,4326,0.32,1.98,0.00,0.000,6,0.163,0.027,2147,2359,3990
$GC,4641,-1.44,-121.7,518.2,-8.2,627,4645,0.17,1.95,0.00,0.000,4,0.069,0.022,2070,1018,3989
$GC,4665,-1.44,-121.7,520.7,-9.5,628,4669,0.00,2.00,0.00,0.000,6,0.000,0.030,2070,2355,3989
$GC,5001,-1.27,-121.7,558.7,-11.0,644,5006,0.20,2.15,0.00,0.000,4,0.164,0.044,2124,3755,3986
$GC,5097,-1.27,-121.7,569.8,-10.1,648,5101,0.00,1.98,0.00,0.000,6,0.000,0.024,2124,2364,3986
$GC,5420,-1.40,-121.7,601.3,-10.2,664,5424,0.00,1.95,0.00,0.000,4,0.000,0.026,2124,1009,3984
$GC,5449,-1.47,-121.7,604.4,-9.9,665,5453,0.15,2.03,0.00,0.000,6,0.073,0.031,2062,2367,3984
$GC,5779,-1.30,-121.7,641.2,-11.0,681,5784,0.20,2.15,0.00,0.000,4,0.173,0.045,2111,3761,3981
$GC,5896,-1.22,-121.7,653.8,-9.8,686,5901,0.15,2.00,0.00,0.000,6,0.164,0.024,2149,2369,3980
$GC,6226,-1.43,-121.7,682.4,-8.5,702,6231,0.17,2.00,0.00,0.000,4,0.071,0.025,2073,1003,3978
$GC,6300,-1.27,-121.7,690.7,-10.6,705,6305,0.22,2.03,0.00,0.000,6,0.164,0.031,2131,2340,3977
$GC,6625,-1.44,-121.7,721.2,-9.5,721,6630,0.15,1.98,0.00,0.000,4,0.080,0.026,2073,1007,3974
$GC,6660,-1.29,-121.7,725.3,-11.0,722,6665,0.20,2.00,0.00,0.000,6,0.168,0.031,2123,2332,3974
$GC,6984,-1.46,-121.7,755.8,-8.9,738,6988,0.15,1.98,0.00,0.000,4,0.077,0.025,2065,998,3972
$GC,7023,-1.28,-121.7,760.1,-11.4,739,7030,0.28,1.98,0.00,0.000,6,0.167,0.031,2132,2307,3972
$GC,7341,-1.42,-121.7,787.0,-8.2,755,7345,0.15,1.92,0.00,0.000,4,0.081,0.026,2075,1005,3969
$GC,7375,-1.30,-121.7,790.7,-11.2,756,7379,0.20,1.92,0.00,0.000,6,0.167,0.033,2123,2280,3969
$GC,7697,-1.42,-121.7,823.2,-10.2,772,7701,0.00,2.30,0.00,0.000,4,0.000,0.049,2123,3753,3967
$GC,7798,-1.42,-121.7,835.0,-13.1,776,7804,0.00,2.12,0.00,0.000,6,0.000,0.025,2123,2283,3967
$GC,8115,-1.58,-121.7,869.8,-10.6,792,8117,0.25,0.00,0.00,0.000,6,0.067,0.000,2029,2283,3965
$GC,8425,-1.30,-121.7,913.5,-14.6,807,8430,0.30,2.35,0.00,0.000,4,0.179,0.048,2107,3760,3963
$GC,8516,-1.20,-121.7,925.7,-13.0,811,8520,0.17,2.17,0.00,0.000,6,0.170,0.025,2151,2259,3963
$GC,8841,-1.45,-121.7,959.1,-10.1,827,8845,0.17,2.38,0.00,0.000,4,0.074,0.048,2072,3764,3961
$GC,8874,-1.26,-121.7,963.8,-13.1,828,8879,0.25,2.15,0.00,0.000,6,0.170,0.023,2138,2277,3961
$STATE,9125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9125,begin apogee
$GC,9133,-0.27,0.0,991.8,10.6,840,9228,1.08,0.00,91.60,1.420,6,0.156,0.000,2456,2378,3532
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9232,1.49,121.7,998.5,0.0,845,9345,1.60,2.22,104.55,1.379,4,0.067,0.029,3029,982,3034
$GC,9370,0.89,220.2,1003.2,6.0,851,9464,0.80,2.20,83.90,1.359,6,0.217,0.032,2833,2372,2633
$GC,9774,0.84,264.6,966.4,9.9,871,9816,0.00,2.30,37.00,1.329,4,0.000,0.050,2834,3749,2452
$GC,9934,0.69,266.4,947.2,12.9,878,9939,0.28,2.03,0.00,0.000,6,0.185,0.023,2770,2383,2448
$GC,10269,0.89,304.9,913.2,10.3,894,10312,0.17,2.25,34.72,1.322,4,0.081,0.049,2834,3747,2288
$GC,10411,0.78,304.9,893.2,15.0,900,10415,0.17,1.95,0.00,0.000,6,0.185,0.024,2800,2442,2284
$GC,10738,0.91,325.3,854.4,11.6,916,10761,0.12,2.17,17.83,1.262,4,0.087,0.050,2845,3750,2205
$GC,10802,0.81,325.3,845.4,14.5,918,10809,0.17,1.92,0.00,0.000,6,0.189,0.024,2812,2444,2202
$GC,11120,0.94,349.4,808.5,11.3,934,11147,0.10,2.10,21.48,1.259,4,0.097,0.050,2848,3750,2108
$GC,11216,0.87,349.4,794.9,14.8,938,11220,0.00,1.88,0.00,0.000,6,0.000,0.025,2854,2491,2105
$GC,11538,0.87,349.4,752.3,13.2,954,11541,0.00,2.25,0.00,0.000,4,0.000,0.030,2864,990,2102
$GC,11599,0.87,349.4,743.9,13.7,956,11606,0.15,2.30,0.00,0.000,6,0.183,0.034,2828,2474,2102
$GC,11917,1.00,370.6,706.1,11.5,972,11942,0.12,2.08,18.80,1.202,4,0.084,0.052,2876,3753,2021
$GC,12015,0.91,370.6,691.3,15.1,976,12020,0.17,1.88,0.00,0.000,6,0.186,0.024,2841,2474,2017
$GC,12339,1.04,381.0,651.0,12.3,992,12354,0.12,2.25,9.85,1.094,4,0.087,0.031,2894,985,1977
$GC,12427,1.04,381.0,638.4,13.4,995,12431,0.00,2.28,0.00,0.000,6,0.000,0.032,2894,2459,1976
$GC,12749,1.04,381.0,593.1,14.3,1011,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2460,1974
$GC,13057,1.04,384.5,551.9,12.8,1026,13067,0.00,2.28,4.00,0.761,4,0.000,0.031,2894,991,1963
$GC,13189,1.07,406.3,536.2,11.5,1031,13216,0.00,2.22,20.70,1.098,6,0.000,0.031,2894,2450,1874
$GC,13526,1.07,406.3,492.2,14.1,1050,13530,0.00,2.22,0.00,0.000,4,0.000,0.031,2897,991,1870
$GC,13577,1.12,406.3,485.0,13.6,1054,13583,0.00,2.22,0.00,0.000,6,0.000,0.030,2897,2444,1870
$GC,13906,1.28,432.7,443.5,11.1,1085,13939,0.17,2.30,22.90,1.029,4,0.078,0.031,2966,991,1765
$GC,14050,1.17,432.7,423.9,13.3,1097,14056,0.17,2.33,0.00,0.000,6,0.187,0.032,2925,2494,1762
$GC,14375,1.17,432.7,381.2,13.2,1128,14379,0.00,2.28,0.00,0.000,4,0.000,0.028,2933,983,1760
$GC,14419,1.17,432.7,374.8,13.9,1131,14425,0.00,2.25,0.00,0.000,6,0.000,0.031,2933,2458,1760
$GC,14749,1.17,432.7,329.6,14.3,1162,14753,0.00,2.22,0.00,0.000,4,0.000,0.028,2941,984,1759
$GC,14817,1.17,432.7,318.9,14.4,1168,14821,0.00,2.25,0.00,0.000,6,0.000,0.031,2941,2462,1759
$GC,15154,1.17,432.7,273.3,13.2,1216,15160,0.00,2.22,0.00,0.000,4,0.000,0.028,2947,973,1759
$GC,15263,1.18,447.6,260.1,12.0,1235,15281,0.00,2.20,13.12,0.841,6,0.000,0.029,2947,2437,1707
$GC,15623,1.32,476.0,217.6,11.0,1298,15651,0.00,2.12,24.30,0.825,4,0.000,0.045,2947,3759,1590
$GC,15677,1.39,488.9,211.1,12.1,1307,15695,0.12,2.03,12.50,0.767,6,0.080,0.023,3002,2383,1537
$GC,16037,1.32,488.9,154.9,15.2,1370,16045,0.15,2.08,0.00,0.000,4,0.183,0.028,2973,982,1533
$GC,16120,1.38,492.5,142.6,12.8,1384,16126,0.00,2.08,0.00,0.000,6,0.000,0.028,2973,2365,1532
$GC,16465,1.57,492.5,96.6,15.5,1445,16478,0.17,2.17,3.83,0.479,4,0.074,0.044,3052,3746,1523
$GC,16565,1.29,492.5,81.9,14.5,1462,16571,0.38,2.10,0.00,0.000,6,0.170,0.022,2958,2290,1523
$GC,16911,1.59,565.7,38.1,7.8,1523,16976,0.25,0.00,60.30,0.656,6,0.065,0.000,3067,2289,1223
$STATE,17127,end climb,SURFACE_DEPTH_REACHED
$STATE,17127,begin surface coast
$FINISH,1.8,0.998268
$STATE,17149,end surface coast,CONTROL_FINISHED_OK
$STATE,17149,begin surface
$SM_CCo,17230,0.00,0.000,0,0,1216,568.11
$SM_GC,2.40,8.00,0.00,0.00,0.059,0.000,0.000,142,2401,1216,-7.49,0.51,568.11
$IRIDIUM_FIX,2434.69,12351.28,011198,101038
$TT8_MAMPS,0.029146
$HUMID,1698
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.90
$XPDR_PINGS,3
$24V_AH,23.2,80.989
$10V_AH,10.6,43.365
$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,28.850,163.525,581.375,0.000,0.000,84.880,150.014,327.328,8.750,0.000,0.000,46.671,2599.065,10928.186,673.108,2836.144,1066.160,32.350,2141.239,0.000,2739.345,0.000,54.427,0.000
$DEVICE_MAMPS,225.498,69.797,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.187,1074.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85254,1566
$CAP_FILE_SIZE,190021,0
$CFSIZE,260165632,188448768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,153855,2447.146,12351.344,70,1.1,71,-3.6