version: 66.04
glider: 167
mission: 2
dive: 475
start: 8 8 109 16 42 21
data:
$ID,167
$MISSION,2
$DIVE,475
$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,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,-15347.828
$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,80
$R_STBD_OVSHOOT,43
$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
$GPS1,163337,2451.591,12353.194,27,1.6,28,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-58.3
$GPS2,164201,2451.841,12353.381,46,1.9,46,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2433.700,12329.700
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,216.9,52151,-24.8,-13.043
$D_GRID,1913
$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,-121.7,0.0,0.0,0,64,0.00,0.00,-45.78,0.000,2,0.000,0.000,141,2401,2515
$GC,69,-1.49,-121.7,3.2,-2.4,8,126,7.90,2.12,-43.22,0.000,4,0.231,0.037,2057,994,3990
$GC,202,-0.99,-121.7,23.1,-20.0,30,209,0.62,2.08,0.00,0.000,6,0.173,0.028,2221,2391,3991
$GC,549,-1.16,-121.7,75.2,-11.9,91,555,0.15,0.00,0.00,0.000,6,0.070,0.000,2163,2392,3992
$GC,894,-1.10,-121.7,118.3,-12.6,152,902,0.00,2.03,0.00,0.000,4,0.000,0.024,2162,992,3992
$GC,943,-1.00,-121.7,124.3,-12.0,160,950,0.25,2.00,0.00,0.000,6,0.154,0.025,2223,2360,3992
$GC,1291,-1.29,-121.7,159.8,-10.2,221,1297,0.22,2.00,0.00,0.000,4,0.061,0.022,2125,975,3994
$GC,1329,-1.15,-121.7,165.2,-14.4,227,1336,0.17,1.98,0.00,0.000,6,0.163,0.026,2168,2321,3994
$GC,1676,-1.33,-121.7,206.2,-10.8,288,1683,0.15,2.17,0.00,0.000,4,0.069,0.041,2097,3758,3995
$GC,1764,-1.05,-121.7,218.7,-14.5,303,1770,0.38,2.05,0.00,0.000,6,0.160,0.020,2203,2279,3996
$GC,2112,-1.35,-121.7,253.4,-8.9,364,2120,0.22,2.25,0.00,0.000,4,0.058,0.040,2098,3744,3996
$GC,2183,-1.09,-121.7,262.1,-12.5,376,2191,0.32,2.03,0.00,0.000,6,0.158,0.021,2189,2295,3996
$GC,2531,-1.35,-121.7,293.7,-10.5,437,2537,0.20,2.25,0.00,0.000,4,0.061,0.041,2098,3757,3996
$GC,2591,-1.10,-121.7,300.9,-12.4,447,2596,0.32,2.05,0.00,0.000,6,0.156,0.021,2189,2288,3996
$GC,2917,-1.39,-121.7,334.2,-9.1,477,2922,0.22,2.25,0.00,0.000,4,0.060,0.041,2085,3749,3996
$GC,2952,-1.19,-121.7,338.1,-12.3,479,2959,0.28,2.03,0.00,0.000,6,0.160,0.021,2161,2307,3996
$GC,3278,-1.39,-121.7,370.2,-10.3,510,3280,0.17,0.00,0.00,0.000,6,0.067,0.000,2088,2306,3996
$GC,3596,-1.29,-121.7,407.7,-11.9,540,3600,0.15,2.22,0.00,0.000,4,0.159,0.041,2124,3751,3996
$GC,3718,-1.19,-121.7,421.7,-11.8,550,3722,0.15,2.03,0.00,0.000,6,0.160,0.022,2162,2322,3995
$GC,4050,-1.42,-121.7,452.7,-8.4,581,4052,0.22,0.00,0.00,0.000,6,0.062,0.000,2072,2320,3995
$GC,4371,-1.34,-121.7,486.5,-11.0,611,4376,0.15,2.20,0.00,0.000,4,0.162,0.041,2102,3744,3994
$GC,4416,-1.19,-121.7,492.4,-11.9,614,4423,0.20,1.98,0.00,0.000,6,0.159,0.022,2156,2347,3993
$GC,4749,-1.42,-121.7,525.3,-9.7,634,4753,0.17,1.92,0.00,0.000,4,0.070,0.024,2079,1007,3992
$GC,4812,-1.24,-121.7,532.6,-11.2,636,4820,0.25,1.98,0.00,0.000,6,0.157,0.028,2140,2340,3992
$GC,5129,-1.41,-121.7,560.8,-8.9,652,5133,0.15,1.95,0.00,0.000,4,0.077,0.025,2082,1008,3991
$GC,5192,-1.25,-121.7,567.1,-10.0,654,5200,0.22,1.95,0.00,0.000,6,0.162,0.030,2142,2318,3991
$GC,5509,-1.44,-121.7,595.8,-9.5,670,5514,0.17,1.92,0.00,0.000,4,0.074,0.025,2066,1005,3989
$GC,5560,-1.26,-121.7,602.0,-12.4,672,5565,0.30,1.92,0.00,0.000,6,0.162,0.028,2141,2303,3988
$GC,5885,-1.46,-121.7,634.0,-9.8,688,5887,0.20,0.00,0.00,0.000,6,0.070,0.000,2061,2305,3986
$GC,6191,-1.40,-121.7,667.0,-10.3,703,6195,0.12,1.90,0.00,0.000,4,0.172,0.025,2092,1008,3984
$GC,6231,-1.32,-121.7,671.4,-11.1,704,6239,0.12,1.90,0.00,0.000,6,0.172,0.029,2118,2285,3984
$GC,6552,-1.42,-121.7,700.4,-8.9,720,6556,0.00,2.28,0.00,0.000,4,0.000,0.047,2111,3760,3981
$GC,6608,-1.34,-121.7,706.4,-10.4,722,6612,0.00,2.17,0.00,0.000,6,0.000,0.023,2111,2244,3981
$GC,6927,-1.43,-121.7,735.8,-9.6,737,6930,0.00,1.77,0.00,0.000,4,0.000,0.026,2111,1011,3979
$GC,7011,-1.43,-121.7,745.0,-10.8,740,7018,0.00,1.83,0.00,0.000,6,0.000,0.030,2110,2233,3978
$GC,7328,-1.55,-121.7,777.2,-10.2,756,7332,0.17,2.35,0.00,0.000,4,0.074,0.045,2031,3747,3976
$GC,7494,-1.18,-121.7,800.8,-14.8,763,7499,0.47,2.20,0.00,0.000,6,0.169,0.022,2163,2210,3975
$GC,7812,-1.47,-121.7,832.8,-9.7,778,7817,0.22,1.75,0.00,0.000,4,0.069,0.025,2068,1000,3973
$GC,7841,-1.41,-121.7,836.4,-12.6,779,7845,0.00,1.80,0.00,0.000,6,0.000,0.032,2067,2197,3972
$GC,8170,-1.26,-121.7,876.0,-11.7,795,8175,0.22,2.42,0.00,0.000,4,0.169,0.046,2126,3747,3971
$GC,8336,-1.26,-121.7,893.4,-10.4,802,8340,0.00,2.17,0.00,0.000,6,0.000,0.023,2126,2231,3970
$GC,8658,-1.43,-121.7,922.2,-8.6,818,8662,0.12,1.77,0.00,0.000,4,0.085,0.026,2076,1005,3968
$GC,8693,-1.32,-121.7,925.7,-10.6,819,8697,0.10,1.85,0.00,0.000,6,0.165,0.033,2114,2209,3968
$GC,9014,-1.32,-121.7,957.4,-9.9,835,9018,0.00,2.42,0.00,0.000,4,0.000,0.049,2110,3761,3966
$STATE,9125,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9125,begin apogee
$GC,9136,-0.27,0.0,969.8,11.2,840,9239,1.17,0.00,94.88,1.384,6,0.163,0.000,2450,2364,3532
$STATE,9240,end apogee,CONTROL_FINISHED_OK
$STATE,9240,begin climb
$GC,9243,1.49,121.7,975.9,0.0,845,9352,1.62,0.00,104.10,1.363,6,0.066,0.000,3022,2364,3035
$GC,9662,0.85,189.7,956.7,8.2,865,9725,0.75,2.38,56.62,1.341,4,0.216,0.049,2828,3757,2758
$GC,9754,0.62,223.0,949.0,10.7,869,9791,0.35,2.10,29.58,1.295,6,0.194,0.023,2747,2360,2623
$GC,10104,0.94,291.2,920.8,8.2,886,10169,0.25,2.20,57.47,1.325,4,0.074,0.031,2855,991,2344
$GC,10272,0.94,291.2,899.3,13.1,893,10276,0.00,2.22,0.00,0.000,6,0.000,0.032,2854,2425,2339
$GC,10589,0.86,291.2,856.5,13.9,908,10594,0.12,2.10,0.00,0.000,4,0.186,0.051,2825,3755,2336
$GC,10629,0.78,291.2,850.8,14.5,910,10633,0.12,1.95,0.00,0.000,6,0.196,0.024,2800,2440,2335
$GC,10963,0.90,313.3,812.0,11.5,926,10985,0.10,0.00,18.42,1.245,6,0.097,0.000,2836,2437,2254
$GC,11294,0.92,329.4,770.8,11.9,942,11316,0.00,2.22,14.68,1.205,4,0.000,0.032,2845,986,2189
$GC,11373,0.99,348.9,761.0,11.6,945,11397,0.00,2.20,18.50,1.207,6,0.000,0.032,2845,2419,2108
$GC,11715,1.00,353.9,717.3,12.7,962,11725,0.00,2.10,5.15,0.929,4,0.000,0.050,2845,3755,2089
$GC,11798,1.00,353.9,704.9,14.5,965,11804,0.00,1.92,0.00,0.000,6,0.000,0.023,2845,2457,2087
$GC,12116,1.06,356.0,663.0,12.9,981,12121,0.12,2.05,0.00,0.000,4,0.085,0.048,2893,3746,2086
$GC,12156,0.88,356.0,656.4,16.8,982,12162,0.25,1.90,0.00,0.000,6,0.184,0.024,2835,2445,2085
$GC,12474,1.10,374.0,618.4,11.7,998,12499,0.17,2.25,18.20,1.141,4,0.077,0.033,2919,992,2006
$GC,12518,0.98,374.0,612.0,15.5,1000,12522,0.22,2.28,0.00,0.000,6,0.179,0.033,2861,2456,2004
$GC,12847,1.11,385.8,570.2,12.2,1016,12863,0.12,2.03,11.07,1.061,4,0.087,0.049,2907,3750,1958
$GC,12928,0.97,385.8,558.5,14.5,1018,12935,0.22,1.85,0.00,0.000,6,0.180,0.025,2858,2483,1955
$GC,13245,1.27,422.7,523.9,10.4,1034,13291,0.22,2.10,34.53,1.052,4,0.075,0.049,2951,3748,1807
$GC,13337,1.06,422.7,510.3,15.9,1038,13342,0.28,1.98,0.00,0.000,6,0.184,0.024,2889,2424,1804
$GC,13666,1.13,422.7,465.1,13.8,1065,13670,0.00,2.17,0.00,0.000,4,0.000,0.032,2897,980,1800
$GC,13747,1.22,422.7,453.6,13.9,1072,13751,0.12,2.20,0.00,0.000,6,0.088,0.033,2945,2423,1799
$GC,14078,1.12,425.4,408.4,12.9,1103,14082,0.15,2.08,0.00,0.000,4,0.179,0.049,2908,3748,1799
$GC,14129,1.12,425.5,401.6,13.0,1107,14135,0.00,1.95,0.00,0.000,6,0.000,0.025,2916,2408,1799
$GC,14457,1.12,425.5,357.4,13.8,1138,14460,0.00,2.12,0.00,0.000,4,0.000,0.047,2916,3761,1798
$GC,14485,1.12,425.5,352.9,15.2,1140,14493,0.00,1.95,0.00,0.000,6,0.000,0.024,2925,2434,1798
$GC,14813,1.13,432.7,308.4,12.5,1171,14828,0.00,2.20,8.62,0.844,4,0.000,0.031,2925,990,1766
$GC,14884,1.15,447.0,300.1,12.0,1177,14906,0.00,2.17,13.93,0.878,6,0.000,0.029,2925,2424,1708
$GC,15247,1.34,451.4,256.3,12.7,1240,15261,0.15,2.12,5.07,0.679,4,0.075,0.048,2984,3751,1690
$GC,15308,1.14,451.4,246.9,14.8,1250,15315,0.30,1.90,0.00,0.000,6,0.180,0.023,2914,2440,1690
$GC,15654,1.41,451.4,205.5,13.1,1311,15661,0.20,2.08,0.00,0.000,4,0.071,0.046,2999,3758,1689
$GC,15695,1.22,451.4,198.9,16.9,1318,15702,0.28,1.83,0.00,0.000,6,0.179,0.022,2937,2474,1689
$GC,16041,1.44,475.2,156.7,11.3,1379,16067,0.17,2.08,20.85,0.768,4,0.074,0.045,3012,3755,1593
$GC,16120,1.25,475.2,145.5,14.0,1392,16128,0.28,1.95,0.00,0.000,6,0.179,0.021,2949,2406,1591
$GC,16469,1.54,522.3,98.3,9.7,1453,16516,0.22,2.15,39.55,0.721,4,0.070,0.044,3044,3755,1401
$GC,16619,1.41,522.3,81.0,13.4,1479,16626,0.22,1.92,0.00,0.000,6,0.178,0.022,2995,2424,1397
$GC,16966,1.56,542.6,43.6,11.6,1540,16990,0.15,2.10,16.85,0.639,4,0.080,0.044,3056,3758,1318
$GC,17103,1.48,542.6,24.6,14.5,1563,17110,0.17,1.90,0.00,0.000,6,0.182,0.021,3022,2421,1316
$STATE,17268,end climb,SURFACE_DEPTH_REACHED
$STATE,17268,begin surface coast
$FINISH,1.6,1.009105
$STATE,17290,end surface coast,CONTROL_FINISHED_OK
$STATE,17290,begin surface
$SM_CCo,17370,0.00,0.000,0,0,1313,544.32
$SM_GC,2.55,7.82,0.00,0.00,0.059,0.000,0.000,140,2420,1313,-7.50,1.05,544.32
$IRIDIUM_FIX,2441.81,12347.33,021198,111113
$TT8_MAMPS,0.029146
$HUMID,1701
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,22.1,82.278
$10V_AH,10.6,43.976
$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,31.900,156.700,568.075,0.000,0.000,27.532,36.653,238.640,8.250,0.000,0.000,46.456,2864.707,10636.430,707.125,2851.252,794.854,0.000,2164.112,0.000,2745.708,0.000,52.758,0.000
$DEVICE_MAMPS,230.867,50.622,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.830,1099.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85263,1596
$CAP_FILE_SIZE,190042,0
$CFSIZE,260165632,187891712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.269, 44.7,1
$GPS,080809,213307,2452.695,12354.261,38,1.6,39,-3.7