version: 66.04
glider: 167
mission: 2
dive: 481
start: 8 9 109 22 24 41
data:
$ID,167
$MISSION,2
$DIVE,481
$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,-15584.446
$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,73
$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
$GPS1,221521,2457.818,12356.912,40,2.3,60,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-55.3
$GPS2,222422,2457.917,12357.134,14,4.6,33,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2448.000,12400.000
$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,214.0,18989,-24.8,-13.043
$D_GRID,1875
$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,17,-1.49,-121.7,0.0,0.0,0,67,0.00,0.00,-47.45,0.000,2,0.000,0.000,143,2397,2390
$GC,71,-1.49,-121.7,3.1,-2.2,8,138,7.80,2.15,-52.15,0.000,4,0.228,0.036,2062,974,3989
$GC,173,-1.00,-121.7,13.5,-17.1,25,180,0.57,2.10,0.00,0.000,6,0.164,0.026,2216,2387,3989
$GC,519,-1.00,-121.7,56.5,-14.5,86,526,0.00,2.08,0.00,0.000,4,0.000,0.041,2207,3751,3991
$GC,652,-0.89,-121.7,76.6,-15.2,109,659,0.17,1.95,0.00,0.000,6,0.160,0.020,2254,2348,3991
$GC,999,-1.19,-121.7,112.3,-7.3,170,1007,0.22,1.90,0.00,0.000,4,0.058,0.031,2154,1018,3991
$GC,1031,-1.19,-121.7,115.6,-10.7,175,1038,0.00,2.05,0.00,0.000,6,0.000,0.031,2150,2408,3991
$GC,1378,-1.12,-121.7,156.5,-13.1,236,1385,0.12,2.03,0.00,0.000,4,0.170,0.040,2173,3750,3992
$GC,1471,-1.05,-121.7,168.4,-12.5,252,1478,0.12,1.88,0.00,0.000,6,0.169,0.021,2203,2395,3993
$GC,1818,-1.27,-121.7,202.8,-10.0,313,1824,0.17,1.95,0.00,0.000,4,0.061,0.021,2124,1016,3994
$GC,1884,-1.09,-121.7,210.5,-12.5,324,1890,0.25,2.00,0.00,0.000,6,0.160,0.028,2192,2373,3994
$GC,2231,-1.33,-121.7,241.6,-8.7,385,2237,0.20,2.08,0.00,0.000,4,0.065,0.040,2097,3747,3994
$GC,2278,-1.04,-121.7,247.3,-12.9,393,2285,0.40,1.92,0.00,0.000,6,0.162,0.019,2209,2350,3994
$GC,2627,-1.36,-121.7,282.6,-10.2,454,2634,0.25,1.90,0.00,0.000,4,0.061,0.021,2100,1009,3994
$GC,2648,-1.50,-121.7,285.1,-10.3,457,2654,0.00,1.98,0.00,0.000,6,0.000,0.026,2098,2360,3994
$GC,2980,-1.34,-121.7,324.1,-10.0,498,2984,0.00,2.08,0.00,0.000,4,0.000,0.041,2089,3754,3994
$GC,3158,-1.06,-121.7,343.2,-11.3,513,3165,0.38,1.90,0.00,0.000,6,0.159,0.021,2195,2390,3994
$GC,3484,-1.37,-121.7,372.0,-8.8,544,3488,0.22,1.98,0.00,0.000,4,0.061,0.023,2097,1017,3994
$GC,3513,-1.37,-121.7,375.1,-11.5,546,3521,0.00,2.03,0.00,0.000,6,0.000,0.028,2097,2379,3994
$GC,3842,-1.33,-121.7,411.8,-11.3,577,3845,0.00,2.10,0.00,0.000,4,0.000,0.044,2096,3761,3994
$GC,3889,-1.09,-121.7,418.1,-13.3,581,3894,0.32,1.95,0.00,0.000,6,0.158,0.021,2187,2367,3994
$GC,4215,-1.37,-121.7,448.1,-8.2,611,4217,0.25,0.00,0.00,0.000,6,0.060,0.000,2088,2367,3992
$GC,4533,-1.32,-121.7,483.5,-11.3,641,4537,0.12,2.15,0.00,0.000,4,0.162,0.041,2111,3763,3992
$GC,4573,-1.20,-121.7,488.3,-11.6,644,4578,0.17,1.95,0.00,0.000,6,0.164,0.021,2156,2376,3992
$GC,4901,-1.41,-121.7,521.9,-9.7,665,4906,0.17,1.98,0.00,0.000,4,0.067,0.024,2079,1008,3991
$GC,4931,-1.34,-121.7,525.2,-10.6,666,4935,0.15,2.05,0.00,0.000,6,0.170,0.028,2109,2388,3990
$GC,5259,-1.34,-121.7,553.1,-7.9,682,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2388,3989
$GC,5567,-1.34,-121.7,580.2,-9.6,697,5571,0.00,2.00,0.00,0.000,4,0.000,0.025,2109,1014,3986
$GC,5636,-1.27,-121.7,587.4,-11.2,700,5640,0.00,2.00,0.00,0.000,6,0.000,0.029,2109,2354,3986
$GC,5969,-1.27,-121.7,621.8,-9.9,716,5973,0.00,1.98,0.00,0.000,4,0.000,0.025,2109,1002,3984
$GC,6026,-1.27,-121.7,627.4,-9.5,718,6030,0.00,1.98,0.00,0.000,6,0.000,0.030,2109,2330,3983
$GC,6349,-1.34,-121.7,655.4,-8.5,734,6353,0.00,1.95,0.00,0.000,4,0.000,0.024,2109,1012,3981
$GC,6411,-1.34,-121.7,661.3,-9.8,736,6417,0.00,1.92,0.00,0.000,6,0.000,0.029,2109,2306,3980
$GC,6727,-1.42,-121.7,690.2,-8.9,752,6731,0.00,1.90,0.00,0.000,4,0.000,0.025,2108,1006,3978
$GC,6757,-1.42,-121.7,693.0,-9.9,753,6760,0.00,1.92,0.00,0.000,6,0.000,0.029,2106,2279,3978
$GC,7085,-1.50,-121.7,724.6,-9.7,769,7090,0.12,2.30,0.00,0.000,4,0.084,0.046,2055,3762,3975
$GC,7124,-1.19,-121.7,729.6,-13.0,770,7133,0.38,2.15,0.00,0.000,6,0.168,0.022,2159,2259,3975
$GC,7442,-1.47,-121.7,759.1,-9.3,786,7446,0.22,1.80,0.00,0.000,4,0.071,0.026,2065,1015,3973
$GC,7493,-1.28,-121.7,765.4,-12.6,788,7498,0.28,1.85,0.00,0.000,6,0.164,0.031,2132,2249,3973
$GC,7825,-1.45,-121.7,797.8,-9.3,804,7829,0.17,2.35,0.00,0.000,4,0.077,0.045,2057,3762,3970
$GC,7842,-1.45,-121.7,800.1,-9.8,804,7848,0.00,2.20,0.00,0.000,6,0.000,0.022,2057,2226,3970
$GC,8160,-1.26,-121.7,838.2,-12.1,820,8165,0.25,2.42,0.00,0.000,4,0.170,0.045,2124,3761,3968
$GC,8276,-1.21,-121.7,851.2,-11.2,825,8281,0.12,2.17,0.00,0.000,6,0.172,0.024,2154,2253,3967
$GC,8601,-1.46,-121.7,881.8,-9.6,841,8606,0.20,1.80,0.00,0.000,4,0.071,0.026,2070,1016,3966
$GC,8664,-1.29,-121.7,889.7,-12.5,843,8670,0.22,1.83,0.00,0.000,6,0.166,0.033,2126,2227,3966
$GC,8981,-1.37,-121.7,920.0,-9.0,859,8985,0.00,2.40,0.00,0.000,4,0.000,0.048,2125,3763,3964
$STATE,9123,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9127,begin apogee
$GC,9136,-0.27,0.0,934.6,9.9,865,9231,1.10,0.00,91.62,1.378,6,0.168,0.000,2445,2358,3532
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9235,1.49,121.7,939.3,0.0,870,9346,1.62,2.38,103.35,1.340,4,0.065,0.045,3018,3751,3035
$GC,9453,0.67,164.8,934.0,10.0,879,9502,1.05,2.03,36.70,1.302,6,0.219,0.021,2766,2375,2859
$GC,9813,0.77,246.6,907.6,7.2,897,9886,0.00,2.30,67.78,1.316,4,0.000,0.049,2766,3750,2525
$GC,9988,0.83,289.9,890.8,9.9,905,10031,0.12,1.98,37.35,1.279,6,0.087,0.024,2818,2415,2350
$GC,10353,0.85,312.8,849.2,11.4,923,10375,0.00,0.00,19.70,1.239,6,0.000,0.000,2818,2414,2255
$GC,10683,0.94,330.5,810.5,11.8,939,10705,0.00,2.15,16.08,1.213,4,0.000,0.048,2818,3750,2183
$GC,10730,0.94,330.5,804.3,14.1,941,10733,0.00,1.95,0.00,0.000,6,0.000,0.023,2826,2426,2181
$GC,11063,1.00,333.1,761.9,12.9,957,11065,0.12,0.00,0.00,0.000,6,0.084,0.000,2876,2424,2178
$GC,11372,0.92,333.1,716.7,14.5,972,11376,0.15,2.12,0.00,0.000,4,0.179,0.048,2839,3764,2177
$GC,11395,0.86,333.1,713.3,15.1,973,11399,0.00,1.95,0.00,0.000,6,0.000,0.024,2844,2457,2177
$GC,11722,0.87,342.0,671.0,12.4,989,11734,0.00,0.00,10.38,1.118,6,0.000,0.000,2844,2456,2137
$GC,12032,0.95,356.2,633.0,12.0,1004,12051,0.00,2.12,13.48,1.130,4,0.000,0.047,2844,3754,2079
$GC,12079,0.95,356.2,626.2,15.1,1006,12083,0.00,1.90,0.00,0.000,6,0.000,0.023,2844,2467,2077
$GC,12407,1.18,388.5,588.1,10.7,1022,12440,0.17,2.10,28.05,1.142,4,0.077,0.049,2918,3755,1947
$GC,12498,0.99,388.5,575.6,13.4,1026,12503,0.25,2.03,0.00,0.000,6,0.180,0.023,2862,2405,1944
$GC,12825,1.15,413.5,538.7,11.3,1042,12862,0.15,2.25,24.17,1.026,4,0.082,0.048,2919,3759,1844
$GC,12950,1.03,413.5,521.7,14.5,1047,12955,0.20,1.95,0.00,0.000,6,0.182,0.024,2876,2439,1841
$GC,13279,1.30,435.8,484.0,11.4,1069,13304,0.20,2.17,19.62,1.042,4,0.075,0.047,2961,3761,1754
$GC,13399,1.08,435.8,465.7,16.0,1079,13404,0.22,1.88,0.00,0.000,6,0.183,0.023,2897,2494,1751
$GC,13731,1.34,452.4,424.9,11.9,1110,13755,0.20,2.05,15.40,0.985,4,0.075,0.049,2979,3749,1686
$GC,13773,1.14,452.4,418.5,16.4,1113,13779,0.30,1.92,0.00,0.000,6,0.183,0.023,2910,2428,1685
$GC,14098,1.38,452.4,373.8,13.8,1144,14103,0.20,2.10,0.00,0.000,4,0.072,0.047,2992,3754,1682
$GC,14143,1.11,452.4,366.4,17.2,1147,14151,0.38,2.03,0.00,0.000,6,0.185,0.021,2903,2363,1681
$GC,14468,1.40,488.1,330.1,10.5,1178,14504,0.22,2.15,30.12,0.933,4,0.071,0.029,3004,986,1542
$GC,14629,1.26,488.1,306.7,16.0,1192,14634,0.20,2.25,0.00,0.000,6,0.186,0.031,2956,2445,1537
$GC,14971,1.41,488.1,256.9,13.8,1248,14978,0.12,2.20,0.00,0.000,4,0.075,0.027,3012,975,1534
$GC,15009,1.30,488.1,251.3,16.1,1254,15017,0.20,2.22,0.00,0.000,6,0.182,0.031,2964,2443,1534
$GC,15357,1.43,488.1,202.1,13.9,1315,15364,0.12,2.05,0.00,0.000,4,0.081,0.048,3011,3764,1534
$GC,15416,1.23,488.1,192.7,16.1,1325,15422,0.30,1.88,0.00,0.000,6,0.176,0.022,2939,2462,1534
$GC,15763,1.51,500.0,151.6,12.2,1386,15777,0.22,0.00,10.73,0.724,6,0.067,0.000,3032,2462,1493
$GC,16116,1.40,500.0,99.0,15.4,1448,16122,0.15,0.00,0.00,0.000,6,0.169,0.000,2995,2462,1491
$GC,16461,1.64,536.1,56.9,10.5,1509,16498,0.17,2.28,30.83,0.682,4,0.071,0.026,3085,966,1345
$GC,16517,1.57,536.1,50.1,13.3,1518,16525,0.15,2.15,0.00,0.000,6,0.189,0.027,3047,2397,1343
$GC,16865,1.51,536.4,3.9,13.0,1579,16871,0.00,2.08,0.00,0.000,4,0.000,0.043,3047,3759,1341
$STATE,16875,end climb,SURFACE_DEPTH_REACHED
$STATE,16875,begin surface coast
$FINISH,1.6,1.012485
$STATE,16899,end surface coast,CONTROL_FINISHED_OK
$STATE,16899,begin surface
$SM_CCo,16982,0.00,0.000,0,0,1338,538.19
$SM_GC,2.56,8.05,0.00,0.00,0.068,0.000,0.000,141,2362,1338,-7.50,-0.59,538.19
$IRIDIUM_FIX,2446.56,12353.92,031198,171759
$TT8_MAMPS,0.028379
$HUMID,1716
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,7
$24V_AH,23.2,83.549
$10V_AH,10.6,44.579
$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,30.450,151.725,555.350,0.000,0.000,28.107,31.916,285.820,9.250,0.000,0.000,34.494,2835.303,10333.854,689.472,2794.961,850.712,0.000,2128.866,0.000,2714.430,0.000,51.101,0.000
$DEVICE_MAMPS,227.799,49.088,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.987,1105.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85104,1585
$CAP_FILE_SIZE,185848,0
$CFSIZE,260165632,187330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.284, 32.0,1
$GPS,100809,030901,2459.169,12357.789,40,1.5,41,-3.7