version: 66.04
glider: 167
mission: 2
dive: 483
start: 8 10 109 8 17 9
data:
$ID,167
$MISSION,2
$DIVE,483
$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,-15650.805
$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,81
$R_STBD_OVSHOOT,70
$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
$GPS1,080755,2500.040,12358.545,37,2.0,38,-3.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-57.8
$GPS2,081646,2500.176,12358.697,14,2.1,33,-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,223.2,22656,-24.8,-13.043
$D_GRID,1881
$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,-121.7,0.0,0.0,0,66,0.00,0.00,-47.30,0.000,2,0.000,0.000,142,2423,2357
$GC,69,-1.49,-121.7,3.2,-2.8,8,136,8.02,2.10,-52.17,0.000,4,0.238,0.053,2050,3738,3989
$GC,166,-0.84,-121.7,14.1,-20.9,24,173,0.77,1.95,0.00,0.000,6,0.172,0.020,2267,2355,3989
$GC,513,-1.18,-121.7,56.6,-11.7,85,519,0.25,1.92,0.00,0.000,4,0.055,0.023,2159,1012,3990
$GC,539,-1.29,-121.7,60.2,-14.0,89,545,0.00,1.95,0.00,0.000,6,0.000,0.025,2150,2342,3990
$GC,885,-1.23,-121.7,113.4,-11.5,150,892,0.00,2.12,0.00,0.000,4,0.000,0.041,2140,3750,3991
$GC,1123,-0.97,-121.7,145.1,-14.2,192,1129,0.32,1.95,0.00,0.000,6,0.155,0.019,2231,2339,3991
$GC,1471,-1.26,-121.7,181.0,-9.8,253,1477,0.25,2.17,0.00,0.000,4,0.057,0.039,2113,3764,3992
$GC,1490,-1.32,-121.7,183.2,-10.5,256,1496,0.00,1.92,0.00,0.000,6,0.000,0.020,2114,2358,3993
$GC,1837,-1.15,-121.7,225.5,-11.2,317,1843,0.17,2.12,0.00,0.000,4,0.160,0.038,2157,3750,3993
$GC,1953,-1.03,-121.7,238.9,-11.5,337,1960,0.20,1.85,0.00,0.000,6,0.156,0.020,2211,2412,3994
$GC,2299,-1.34,-121.7,271.5,-9.6,398,2306,0.25,0.00,0.00,0.000,6,0.058,0.000,2103,2412,3994
$GC,2643,-1.26,-121.7,308.9,-11.2,452,2647,0.15,1.98,0.00,0.000,4,0.156,0.022,2143,1014,3994
$GC,2689,-1.20,-121.7,314.2,-11.6,456,2693,0.00,2.05,0.00,0.000,6,0.000,0.027,2139,2414,3994
$GC,3028,-1.27,-121.7,351.2,-11.2,487,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2414,3994
$GC,3356,-1.36,-121.7,385.1,-9.8,518,3360,0.00,2.03,0.00,0.000,4,0.000,0.024,2139,1008,3993
$GC,3416,-1.29,-121.7,391.4,-11.0,523,3420,0.00,2.05,0.00,0.000,6,0.000,0.026,2137,2400,3994
$GC,3747,-1.38,-121.7,426.6,-10.9,554,3752,0.12,2.00,0.00,0.000,4,0.078,0.023,2082,1025,3993
$GC,3784,-1.18,-121.7,430.8,-11.5,557,3789,0.30,2.00,0.00,0.000,6,0.161,0.028,2163,2377,3993
$GC,4110,-1.37,-121.7,460.4,-8.5,587,4112,0.17,0.00,0.00,0.000,6,0.068,0.000,2094,2380,3993
$GC,4433,-1.32,-121.7,496.4,-12.1,617,4436,0.00,1.98,0.00,0.000,4,0.000,0.025,2094,1016,3992
$GC,4457,-1.23,-121.7,500.0,-12.2,619,4466,0.20,1.98,0.00,0.000,6,0.163,0.028,2146,2349,3992
$GC,4787,-1.36,-121.7,530.9,-8.6,635,4791,0.12,1.95,0.00,0.000,4,0.078,0.024,2096,1011,3990
$GC,4843,-1.20,-121.7,537.5,-10.8,637,4847,0.22,1.92,0.00,0.000,6,0.163,0.028,2154,2313,3990
$GC,5166,-1.41,-121.7,566.3,-9.6,653,5168,0.17,0.00,0.00,0.000,6,0.070,0.000,2086,2315,3988
$GC,5474,-1.41,-121.7,604.6,-12.2,668,5477,0.00,2.22,0.00,0.000,4,0.000,0.047,2084,3759,3986
$GC,5520,-1.18,-121.7,610.5,-12.9,670,5525,0.28,2.08,0.00,0.000,6,0.160,0.023,2160,2315,3985
$GC,5851,-1.41,-121.7,643.3,-8.7,686,5855,0.17,1.85,0.00,0.000,4,0.070,0.025,2083,1024,3983
$GC,5958,-1.26,-121.7,654.9,-10.8,690,5966,0.20,1.88,0.00,0.000,6,0.163,0.031,2134,2281,3982
$GC,6276,-1.40,-121.7,684.0,-9.7,706,6280,0.12,1.85,0.00,0.000,4,0.082,0.025,2085,1016,3980
$GC,6315,-1.27,-121.7,688.7,-11.5,707,6322,0.20,1.88,0.00,0.000,6,0.166,0.030,2137,2275,3980
$GC,6633,-1.43,-121.7,723.0,-10.7,723,6638,0.15,1.85,0.00,0.000,4,0.075,0.025,2079,1014,3977
$GC,6668,-1.30,-121.7,727.5,-12.7,724,6672,0.20,1.85,0.00,0.000,6,0.166,0.030,2124,2255,3977
$GC,6991,-1.41,-121.7,761.1,-9.9,740,6995,0.00,1.80,0.00,0.000,4,0.000,0.026,2124,1024,3974
$GC,7020,-1.47,-121.7,764.2,-10.5,741,7024,0.15,1.80,0.00,0.000,6,0.079,0.029,2066,2234,3974
$GC,7350,-1.27,-121.7,802.5,-11.9,757,7355,0.22,2.35,0.00,0.000,4,0.172,0.044,2124,3744,3972
$GC,7479,-1.20,-121.7,816.9,-11.3,762,7487,0.12,2.17,0.00,0.000,6,0.166,0.022,2155,2225,3971
$GC,7796,-1.44,-121.7,845.0,-8.6,778,7800,0.17,1.75,0.00,0.000,4,0.072,0.025,2081,1017,3969
$GC,7849,-1.29,-121.7,850.5,-11.2,780,7853,0.15,1.83,0.00,0.000,6,0.161,0.032,2131,2212,3968
$GC,8178,-1.45,-121.7,882.4,-9.5,796,8183,0.15,2.40,0.00,0.000,4,0.081,0.048,2071,3746,3967
$GC,8213,-1.22,-121.7,886.7,-12.4,797,8220,0.28,2.20,0.00,0.000,6,0.167,0.022,2145,2213,3966
$GC,8530,-1.42,-121.7,913.9,-8.3,813,8535,0.17,2.42,0.00,0.000,4,0.075,0.046,2071,3750,3964
$GC,8560,-1.26,-121.7,916.9,-11.2,814,8565,0.25,2.22,0.00,0.000,6,0.168,0.023,2138,2203,3965
$GC,8877,-1.42,-121.7,943.4,-7.8,829,8878,0.15,0.00,0.00,0.000,6,0.079,0.000,2082,2203,3963
$STATE,9141,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9141,begin apogee
$GC,9149,-0.27,0.0,972.3,11.4,842,9252,1.30,0.00,93.97,1.384,6,0.170,0.000,2451,2366,3532
$STATE,9253,end apogee,CONTROL_FINISHED_OK
$STATE,9253,begin climb
$GC,9256,1.49,121.7,978.5,0.0,847,9368,1.60,2.15,104.18,1.366,4,0.063,0.029,3028,1016,3035
$GC,9601,0.86,180.6,966.3,8.8,862,9657,0.80,2.10,49.35,1.338,6,0.213,0.035,2825,2379,2795
$GC,9968,0.78,235.7,934.4,9.1,880,10020,0.12,2.28,46.38,1.328,4,0.196,0.052,2796,3758,2571
$GC,10062,0.71,258.2,924.6,11.4,884,10086,0.00,2.03,20.05,1.263,6,0.000,0.024,2802,2412,2479
$GC,10412,0.76,291.7,887.5,10.6,901,10446,0.00,2.22,29.45,1.291,4,0.000,0.049,2802,3764,2341
$GC,10553,0.76,297.1,869.6,12.7,907,10563,0.00,2.00,5.47,0.978,6,0.000,0.024,2812,2397,2321
$GC,10877,0.85,326.8,833.0,10.9,922,10908,0.00,2.22,26.30,1.269,4,0.000,0.049,2812,3757,2199
$GC,10955,0.86,336.2,823.3,12.4,925,10970,0.00,1.92,9.32,1.128,6,0.000,0.025,2812,2469,2162
$GC,11301,1.00,360.9,785.4,11.3,942,11329,0.17,2.28,22.50,1.239,4,0.076,0.031,2885,988,2059
$GC,11418,0.95,360.9,769.1,13.9,947,11422,0.15,2.25,0.00,0.000,6,0.179,0.031,2848,2444,2055
$GC,11739,0.95,360.9,725.7,13.5,963,11743,0.00,2.05,0.00,0.000,4,0.000,0.050,2848,3757,2052
$GC,11796,0.95,360.9,717.3,14.6,965,11800,0.00,1.90,0.00,0.000,6,0.000,0.025,2855,2472,2052
$GC,12117,0.95,360.9,671.3,14.9,981,12121,0.00,2.22,0.00,0.000,4,0.000,0.031,2858,985,2051
$GC,12156,0.95,360.9,665.2,15.5,982,12163,0.00,2.28,0.00,0.000,6,0.000,0.034,2858,2462,2051
$GC,12473,0.95,360.9,619.8,14.6,998,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2462,2050
$GC,12782,1.08,386.7,581.1,11.2,1013,12808,0.00,2.25,21.67,1.134,4,0.000,0.029,2867,994,1954
$GC,12949,1.21,419.0,561.7,10.7,1020,12985,0.20,2.25,28.70,1.118,6,0.075,0.032,2943,2453,1823
$GC,13310,1.09,419.0,510.4,15.1,1038,13314,0.17,2.05,0.00,0.000,4,0.178,0.050,2893,3750,1816
$GC,13379,1.09,419.0,499.9,13.8,1041,13383,0.00,1.83,0.00,0.000,6,0.000,0.025,2894,2499,1815
$GC,13714,1.26,439.6,456.9,11.6,1072,13738,0.17,2.35,17.73,1.026,4,0.077,0.031,2970,984,1739
$GC,13756,1.12,439.6,450.5,15.1,1075,13763,0.25,2.40,0.00,0.000,6,0.185,0.031,2906,2538,1737
$GC,14082,1.31,439.6,406.1,13.9,1106,14087,0.17,2.35,0.00,0.000,4,0.072,0.030,2980,989,1734
$GC,14226,1.17,439.6,383.2,16.6,1118,14231,0.22,2.28,0.00,0.000,6,0.188,0.031,2924,2478,1734
$GC,14552,1.32,445.3,340.3,12.6,1148,14564,0.12,1.98,5.70,0.785,4,0.079,0.048,2974,3751,1716
$GC,14676,1.09,445.3,321.6,15.9,1158,14683,0.32,1.80,0.00,0.000,6,0.185,0.023,2898,2494,1715
$GC,15010,1.40,481.4,282.2,10.5,1203,15047,0.25,2.08,31.45,0.903,4,0.069,0.048,3000,3752,1568
$GC,15088,1.18,481.4,270.9,16.2,1216,15095,0.30,1.95,0.00,0.000,6,0.181,0.022,2930,2426,1566
$GC,15435,1.46,523.0,230.0,10.1,1277,15477,0.20,2.15,35.83,0.847,4,0.073,0.046,3014,3762,1397
$GC,15556,1.28,523.0,213.2,14.8,1297,15562,0.25,1.88,0.00,0.000,6,0.173,0.023,2958,2474,1393
$GC,15902,1.59,548.4,170.2,11.2,1358,15933,0.25,2.28,21.17,0.775,4,0.064,0.028,3074,986,1295
$GC,15968,1.41,548.4,160.1,16.2,1369,15975,0.30,2.15,0.00,0.000,6,0.186,0.029,2996,2399,1293
$GC,16317,1.63,549.4,111.9,13.0,1430,16325,0.17,2.10,0.00,0.000,4,0.072,0.025,3081,984,1291
$GC,16342,1.63,549.4,107.4,15.0,1434,16349,0.00,2.17,0.00,0.000,6,0.000,0.029,3081,2425,1291
$GC,16690,1.50,549.4,58.6,13.8,1495,16696,0.17,2.15,0.00,0.000,4,0.188,0.026,3040,975,1291
$GC,16733,1.51,555.0,52.6,12.6,1502,16747,0.00,2.12,6.65,0.579,6,0.000,0.028,3040,2402,1268
$GC,17086,1.56,555.0,3.8,13.5,1564,17092,0.00,2.10,0.00,0.000,4,0.000,0.025,3047,966,1267
$STATE,17096,end climb,SURFACE_DEPTH_REACHED
$STATE,17096,begin surface coast
$FINISH,1.8,1.022222
$STATE,17126,end surface coast,CONTROL_FINISHED_OK
$STATE,17126,begin surface
$SM_CCo,17208,0.00,0.000,0,0,1266,555.85
$SM_GC,2.57,7.82,0.00,0.00,0.056,0.000,0.000,141,2389,1266,-7.50,0.17,555.85
$IRIDIUM_FIX,2451.31,12355.25,041198,030332
$TT8_MAMPS,0.028379
$HUMID,1711
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.90
$XPDR_PINGS,7
$24V_AH,22.5,83.983
$10V_AH,10.6,44.780
$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,30.400,153.350,575.875,0.000,0.000,31.372,33.870,274.308,9.500,0.000,0.000,34.186,2817.349,10555.236,692.055,2817.309,840.841,0.000,2145.268,0.000,2727.665,0.000,52.767,0.000
$DEVICE_MAMPS,237.770,55.224,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.134,1076.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85168,1571
$CAP_FILE_SIZE,187907,0
$CFSIZE,260165632,187146240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248, 35.8,1
$GPS,100809,130506,2501.303,12359.112,31,1.5,32,-3.7