version: 66.04
glider: 167
mission: 2
dive: 410
start: 7 27 109 15 22 50
data:
$ID,167
$MISSION,2
$DIVE,410
$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,425
$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,-13793.324
$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,22.5
$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,69
$R_STBD_OVSHOOT,46
$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
$GPS1,151537,2446.958,12427.398,34,1.6,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-66.3
$GPS2,152228,2447.061,12427.302,12,2.1,31,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$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,170.2,61741,-24.8,-13.043
$D_GRID,1002
$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,15,-1.25,-121.7,0.0,0.0,0,55,0.00,0.00,-37.20,0.000,2,0.000,0.000,142,2498,2221
$GC,58,-1.25,-121.7,3.0,-1.6,6,130,8.20,2.00,-58.25,0.000,4,0.235,0.055,2126,3758,3989
$GC,178,-0.80,-121.7,17.1,-21.8,25,184,0.55,1.85,0.00,0.000,6,0.165,0.021,2281,2449,3990
$GC,524,-1.16,-121.7,61.3,-11.9,86,530,0.28,2.03,0.00,0.000,4,0.055,0.043,2162,3763,3990
$GC,571,-0.93,-121.7,68.4,-16.3,94,577,0.30,1.80,0.00,0.000,6,0.160,0.022,2245,2476,3990
$GC,918,-1.28,-121.7,106.0,-9.7,155,925,0.28,1.95,0.00,0.000,4,0.054,0.023,2125,1098,3992
$GC,950,-1.23,-121.7,109.8,-12.9,160,957,0.12,2.05,0.00,0.000,6,0.176,0.027,2146,2496,3991
$GC,1298,-1.14,-121.7,159.2,-12.9,221,1305,0.12,1.90,0.00,0.000,4,0.176,0.041,2178,3755,3993
$GC,1369,-1.06,-121.7,168.4,-12.7,233,1375,0.00,1.75,0.00,0.000,6,0.000,0.022,2178,2489,3993
$GC,1715,-1.26,-121.7,210.6,-11.5,294,1721,0.12,1.92,0.00,0.000,4,0.075,0.041,2115,3750,3995
$GC,1739,-1.26,-121.7,213.8,-12.6,298,1745,0.00,1.75,0.00,0.000,6,0.000,0.021,2116,2473,3995
$GC,2083,-1.10,-121.7,262.2,-13.9,359,2091,0.22,1.95,0.00,0.000,4,0.163,0.041,2178,3744,3995
$GC,2165,-1.10,-121.7,272.4,-12.0,373,2171,0.00,1.70,0.00,0.000,6,0.000,0.022,2178,2517,3995
$GC,2512,-1.36,-121.7,306.5,-9.4,429,2516,0.20,2.00,0.00,0.000,4,0.064,0.022,2087,1120,3996
$GC,2586,-1.17,-121.7,315.6,-13.4,435,2594,0.30,2.03,0.00,0.000,6,0.160,0.028,2168,2477,3995
$GC,2911,-1.41,-121.7,349.0,-10.9,466,2916,0.20,1.92,0.00,0.000,4,0.066,0.042,2071,3757,3996
$GC,2958,-1.11,-121.7,355.3,-14.6,470,2963,0.40,1.80,0.00,0.000,6,0.163,0.021,2184,2469,3995
$GC,3290,-1.39,-121.7,389.0,-8.3,501,3294,0.22,1.95,0.00,0.000,4,0.061,0.024,2088,1103,3995
$GC,3314,-1.39,-121.7,391.5,-10.4,503,3318,0.00,2.05,0.00,0.000,6,0.000,0.028,2084,2478,3996
$GC,3645,-1.22,-121.7,428.7,-10.8,534,3649,0.20,1.92,0.00,0.000,4,0.170,0.041,2137,3761,3995
$GC,3760,-1.22,-121.7,439.6,-9.3,544,3764,0.00,1.80,0.00,0.000,6,0.000,0.023,2137,2503,3995
$GC,4091,-1.38,-121.7,467.2,-8.8,575,4095,0.12,2.00,0.00,0.000,4,0.077,0.025,2082,1101,3994
$GC,4194,-1.23,-121.7,478.3,-11.0,584,4199,0.22,2.08,0.00,0.000,6,0.163,0.031,2142,2496,3994
$GC,4527,-1.42,-121.7,510.5,-9.3,610,4531,0.17,2.03,0.00,0.000,4,0.073,0.025,2072,1114,3992
$GC,4567,-1.27,-121.7,514.7,-10.8,611,4575,0.22,2.05,0.00,0.000,6,0.167,0.031,2131,2479,3992
$GC,4884,-1.45,-121.7,543.3,-8.9,627,4888,0.15,2.00,0.00,0.000,4,0.076,0.024,2072,1106,3991
$GC,4924,-1.29,-121.7,547.6,-10.9,628,4931,0.22,2.00,0.00,0.000,6,0.167,0.031,2126,2445,3991
$GC,5244,-1.35,-121.7,575.9,-7.9,644,5248,0.00,2.00,0.00,0.000,4,0.000,0.045,2125,3757,3990
$GC,5351,-1.35,-121.7,584.7,-7.7,648,5357,0.00,1.85,0.00,0.000,6,0.000,0.023,2124,2448,3987
$GC,5668,-1.47,-121.7,609.9,-9.2,664,5673,0.15,1.92,0.00,0.000,4,0.074,0.025,2065,1096,3985
$GC,5737,-1.28,-121.7,617.7,-11.6,667,5742,0.28,2.03,0.00,0.000,6,0.169,0.032,2132,2443,3985
$GC,6068,-1.46,-121.7,650.6,-10.0,683,6070,0.17,0.00,0.00,0.000,6,0.074,0.000,2065,2446,3982
$GC,6373,-1.32,-121.7,687.7,-12.7,698,6378,0.17,2.05,0.00,0.000,4,0.182,0.048,2110,3765,3980
$GC,6415,-1.25,-121.7,692.3,-11.0,700,6419,0.12,1.92,0.00,0.000,6,0.172,0.025,2141,2433,3980
$GC,6750,-1.48,-121.7,721.3,-8.4,716,6752,0.20,0.00,0.00,0.000,6,0.069,0.000,2064,2432,3977
$GC,7058,-1.32,-121.7,755.7,-11.3,731,7060,0.20,0.00,0.00,0.000,6,0.177,0.000,2116,2433,3975
$GC,7365,-1.32,-121.7,789.3,-13.1,746,7369,0.00,2.10,0.00,0.000,4,0.000,0.050,2111,3766,3973
$GC,7549,-1.27,-121.7,815.7,-14.4,754,7553,0.00,1.98,0.00,0.000,6,0.000,0.026,2111,2407,3972
$GC,7882,-1.27,-121.7,855.0,-10.7,770,7886,0.00,2.15,0.00,0.000,4,0.000,0.050,2110,3767,3969
$GC,7956,-1.19,-121.7,863.1,-10.8,773,7960,0.17,1.95,0.00,0.000,6,0.169,0.025,2155,2426,3969
$GC,8285,-1.47,-121.7,886.4,-5.9,789,8290,0.22,2.10,0.00,0.000,4,0.070,0.048,2058,3754,3967
$GC,8388,-1.22,-121.7,897.9,-13.0,793,8395,0.32,1.90,0.00,0.000,6,0.172,0.026,2146,2449,3966
$GC,8706,-1.37,-121.7,932.1,-11.4,809,8711,0.12,2.08,0.00,0.000,4,0.083,0.051,2098,3754,3965
$GC,8826,-1.28,-121.7,947.3,-10.6,814,8830,0.12,1.90,0.00,0.000,6,0.173,0.025,2127,2445,3964
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9135,-0.22,0.0,979.7,10.4,829,9236,1.15,0.00,93.03,1.374,6,0.155,0.000,2469,2445,3532
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9240,1.25,121.7,986.0,0.0,834,9351,1.35,2.30,103.07,1.357,4,0.066,0.030,2954,1015,3035
$GC,9527,0.76,161.9,975.9,10.2,847,9571,0.62,2.15,33.90,1.321,6,0.210,0.036,2795,2403,2871
$GC,9884,0.75,221.6,940.7,8.8,864,9939,0.00,2.22,49.65,1.332,4,0.000,0.031,2802,1018,2627
$GC,10054,0.78,242.0,922.8,11.6,871,10076,0.00,2.12,17.58,1.252,6,0.000,0.035,2802,2382,2545
$GC,10388,0.85,302.0,891.5,8.7,887,10444,0.00,2.30,50.80,1.311,4,0.000,0.054,2802,3754,2299
$GC,10490,0.87,318.0,879.5,11.9,891,10511,0.00,2.08,14.45,1.203,6,0.000,0.025,2811,2383,2234
$GC,10833,0.97,333.3,840.7,11.9,908,10849,0.12,0.00,13.75,1.206,6,0.085,0.000,2860,2381,2173
$GC,11159,0.92,333.3,792.6,14.9,924,11162,0.00,2.08,0.00,0.000,4,0.000,0.034,2868,1000,2169
$GC,11221,0.92,333.3,783.1,14.6,926,11227,0.00,2.15,0.00,0.000,6,0.000,0.037,2868,2401,2168
$GC,11537,0.86,333.3,739.5,14.8,942,11542,0.17,2.15,0.00,0.000,4,0.188,0.051,2819,3766,2167
$GC,11592,0.86,333.3,730.8,15.0,944,11598,0.00,2.00,0.00,0.000,6,0.000,0.026,2827,2419,2166
$GC,11910,0.94,333.3,686.9,13.8,960,11914,0.00,2.12,0.00,0.000,4,0.000,0.034,2829,997,2165
$GC,12005,1.05,333.3,673.0,14.7,964,12010,0.15,2.15,0.00,0.000,6,0.081,0.034,2884,2409,2165
$GC,12328,0.94,333.3,624.0,14.4,980,12330,0.15,0.00,0.00,0.000,6,0.195,0.000,2847,2410,2164
$GC,12635,0.96,344.0,585.5,12.3,995,12649,0.00,2.15,9.30,1.051,4,0.000,0.051,2848,3750,2128
$GC,12764,0.90,344.0,567.2,14.5,1000,12770,0.00,1.95,0.00,0.000,6,0.000,0.025,2855,2427,2127
$GC,13080,0.90,344.0,525.0,13.4,1016,13084,0.00,2.12,0.00,0.000,4,0.000,0.032,2863,995,2126
$GC,13164,0.90,344.0,513.3,14.3,1019,13171,0.00,2.17,0.00,0.000,6,0.000,0.033,2863,2425,2125
$GC,13489,0.92,365.7,472.2,11.5,1045,13514,0.00,2.15,19.17,1.043,4,0.000,0.053,2863,3752,2041
$GC,13527,0.93,367.1,467.2,12.9,1048,13533,0.00,2.00,0.00,0.000,6,0.000,0.025,2868,2418,2039
$GC,13855,1.03,416.6,432.6,9.5,1079,13903,0.00,2.20,43.15,1.019,4,0.000,0.032,2871,993,1831
$GC,13968,1.21,446.9,420.3,10.9,1088,14000,0.17,2.17,26.45,0.978,6,0.075,0.031,2936,2401,1708
$GC,14325,1.21,446.9,363.9,16.4,1122,14329,0.00,2.12,0.00,0.000,4,0.000,0.050,2936,3751,1700
$GC,14349,1.14,446.9,359.8,17.6,1124,14354,0.12,2.08,0.00,0.000,6,0.196,0.025,2917,2359,1700
$GC,14674,1.15,450.1,312.4,12.8,1154,14678,0.00,2.03,0.00,0.000,4,0.000,0.031,2925,992,1699
$GC,14732,1.23,473.0,305.4,11.4,1159,14758,0.00,2.15,21.05,0.890,6,0.000,0.031,2925,2408,1603
$GC,15099,1.32,481.9,261.1,12.4,1219,15113,0.12,2.15,8.02,0.766,4,0.080,0.030,2983,987,1568
$GC,15289,1.22,481.9,231.5,14.5,1252,15296,0.17,2.05,0.00,0.000,6,0.185,0.031,2941,2345,1566
$GC,15636,1.47,481.9,186.9,13.2,1313,15644,0.17,2.20,0.00,0.000,4,0.068,0.045,3015,3765,1565
$GC,15651,1.65,481.9,184.8,13.1,1315,15659,0.15,2.08,0.00,0.000,6,0.070,0.022,3085,2334,1565
$GC,15998,1.36,481.9,122.8,17.2,1376,16004,0.35,1.98,0.00,0.000,4,0.202,0.029,2996,989,1565
$GC,16132,1.37,489.8,103.9,12.5,1399,16146,0.00,2.03,8.32,0.649,6,0.000,0.028,2997,2351,1534
$GC,16485,1.37,489.8,61.7,13.6,1461,16490,0.00,2.03,0.00,0.000,4,0.000,0.028,3005,982,1534
$GC,16672,1.45,494.9,39.2,12.7,1494,16686,0.00,1.95,6.15,0.547,6,0.000,0.026,3005,2303,1514
$STATE,16988,end climb,SURFACE_DEPTH_REACHED
$STATE,16988,begin surface coast
$FINISH,1.7,1.011234
$STATE,17012,end surface coast,CONTROL_FINISHED_OK
$STATE,17014,begin surface
$SM_CCo,17094,0.00,0.000,0,0,1512,495.51
$SM_GC,2.74,7.70,0.00,0.00,0.055,0.000,0.000,139,2491,1512,-7.51,0.23,495.51
$IRIDIUM_FIX,2437.06,12428.80,211098,111143
$TT8_MAMPS,0.029146
$HUMID,1714
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,69.346
$10V_AH,10.7,37.873
$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,27.825,146.025,517.850,0.000,0.000,30.239,37.937,176.202,8.000,0.000,0.000,32.138,2795.972,10562.414,642.855,2812.472,681.038,0.000,2078.750,0.000,2730.418,0.000,54.434,0.000
$DEVICE_MAMPS,234.702,55.224,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.713,1069.353,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82105,1554
$CAP_FILE_SIZE,180788,0
$CFSIZE,260165632,193552384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,  4.8,1
$GPS,270709,200901,2446.267,12427.220,40,1.3,41,-3.7