version: 66.04
glider: 167
mission: 2
dive: 484
start: 8 10 109 13 13 20
data:
$ID,167
$MISSION,2
$DIVE,484
$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,-15697.436
$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,37
$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
$GPS1,130506,2501.303,12359.112,31,1.5,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-63.5
$GPS2,131300,2501.344,12359.122,38,1.6,43,-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,217.7,24758,-24.8,-13.043
$D_GRID,1891
$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,-121.7,0.0,0.0,0,65,0.00,0.00,-46.62,0.000,2,0.000,0.000,142,2389,2439
$GC,70,-1.49,-121.7,3.2,-2.1,8,135,7.97,2.10,-47.67,0.000,4,0.235,0.038,2059,997,3989
$GC,165,-0.95,-121.7,15.0,-19.9,24,172,0.65,2.10,0.00,0.000,6,0.166,0.027,2233,2409,3990
$GC,512,-1.13,-121.7,61.1,-11.6,85,518,0.15,0.00,0.00,0.000,6,0.071,0.000,2172,2410,3992
$GC,858,-0.98,-121.7,106.9,-12.5,146,864,0.17,2.05,0.00,0.000,4,0.160,0.041,2218,3758,3992
$GC,917,-0.98,-121.7,114.4,-12.6,156,923,0.00,1.98,0.00,0.000,6,0.000,0.021,2218,2324,3992
$GC,1262,-1.16,-121.7,151.6,-9.6,217,1269,0.12,2.20,0.00,0.000,4,0.076,0.040,2152,3760,3994
$GC,1311,-1.00,-121.7,157.3,-12.6,225,1318,0.25,1.92,0.00,0.000,6,0.161,0.020,2220,2368,3994
$GC,1657,-1.28,-121.7,192.7,-10.3,286,1664,0.22,1.92,0.00,0.000,4,0.058,0.021,2121,1011,3996
$GC,1696,-1.13,-121.7,196.8,-11.3,292,1702,0.25,2.03,0.00,0.000,6,0.162,0.025,2179,2400,3995
$GC,2044,-1.32,-121.7,230.4,-9.7,353,2050,0.17,0.00,0.00,0.000,6,0.067,0.000,2100,2401,3996
$GC,2390,-1.23,-121.7,267.5,-10.6,414,2396,0.17,2.05,0.00,0.000,4,0.157,0.041,2144,3754,3996
$GC,2449,-1.10,-121.7,274.5,-11.7,424,2460,0.17,1.92,0.00,0.000,6,0.160,0.021,2190,2367,3996
$GC,2801,-1.35,-121.7,309.3,-10.4,478,2805,0.20,1.92,0.00,0.000,4,0.061,0.022,2101,1014,3996
$GC,2840,-1.16,-121.7,314.3,-13.3,481,2847,0.25,2.00,0.00,0.000,6,0.161,0.026,2166,2379,3996
$GC,3166,-1.34,-121.7,351.5,-10.5,512,3170,0.15,1.98,0.00,0.000,4,0.074,0.022,2105,1016,3996
$GC,3190,-1.34,-121.7,354.1,-11.2,514,3194,0.00,2.00,0.00,0.000,6,0.000,0.025,2098,2375,3996
$GC,3525,-1.21,-121.7,389.6,-10.0,545,3529,0.20,2.10,0.00,0.000,4,0.163,0.041,2152,3756,3996
$GC,3645,-1.16,-121.7,403.6,-11.8,555,3652,0.00,1.95,0.00,0.000,6,0.000,0.021,2152,2350,3996
$GC,3971,-1.27,-121.7,440.2,-10.5,586,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2350,3995
$GC,4293,-1.42,-121.7,469.1,-8.7,616,4298,0.17,1.90,0.00,0.000,4,0.067,0.023,2072,1019,3994
$GC,4322,-1.29,-121.7,472.4,-11.0,618,4329,0.20,1.98,0.00,0.000,6,0.165,0.028,2123,2356,3994
$GC,4648,-1.37,-121.7,504.3,-10.1,647,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2356,3993
$GC,4956,-1.43,-121.7,537.9,-11.3,662,4961,0.12,1.95,0.00,0.000,4,0.081,0.023,2073,1017,3992
$GC,4989,-1.24,-121.7,542.2,-13.6,663,4994,0.28,1.98,0.00,0.000,6,0.162,0.028,2145,2352,3992
$GC,5307,-1.40,-121.7,574.1,-9.3,678,5312,0.15,2.15,0.00,0.000,4,0.074,0.044,2085,3752,3990
$GC,5352,-1.18,-121.7,578.7,-10.8,680,5357,0.28,1.98,0.00,0.000,6,0.168,0.022,2159,2357,3990
$GC,5684,-1.40,-121.7,605.5,-8.3,696,5688,0.17,1.95,0.00,0.000,4,0.071,0.024,2082,1008,3988
$GC,5768,-1.25,-121.7,615.4,-11.3,699,5776,0.22,1.98,0.00,0.000,6,0.166,0.030,2141,2326,3987
$GC,6089,-1.43,-121.7,645.1,-9.0,715,6091,0.17,0.00,0.00,0.000,6,0.074,0.000,2074,2327,3985
$GC,6397,-1.36,-121.7,675.5,-9.7,730,6401,0.12,2.20,0.00,0.000,4,0.168,0.044,2098,3751,3983
$GC,6448,-1.19,-121.7,681.2,-11.4,732,6453,0.22,2.08,0.00,0.000,6,0.165,0.021,2158,2296,3983
$GC,6765,-1.43,-121.7,708.8,-8.9,747,6769,0.20,1.85,0.00,0.000,4,0.071,0.025,2076,1014,3980
$GC,6821,-1.27,-121.7,715.3,-12.1,749,6825,0.25,1.90,0.00,0.000,6,0.164,0.029,2138,2287,3980
$GC,7145,-1.45,-121.7,747.8,-10.4,765,7147,0.17,0.00,0.00,0.000,6,0.074,0.000,2071,2289,3978
$GC,7453,-1.38,-121.7,783.2,-11.2,780,7458,0.12,2.28,0.00,0.000,4,0.170,0.045,2098,3753,3975
$GC,7505,-1.21,-121.7,789.2,-11.5,782,7510,0.20,2.12,0.00,0.000,6,0.170,0.022,2149,2271,3975
$GC,7822,-1.39,-121.7,816.2,-8.2,797,7826,0.15,1.83,0.00,0.000,4,0.077,0.025,2092,1012,3973
$GC,7894,-1.30,-121.7,823.0,-9.9,800,7898,0.15,1.85,0.00,0.000,6,0.173,0.031,2122,2243,3973
$GC,8230,-1.44,-121.7,851.9,-8.7,816,8234,0.12,2.35,0.00,0.000,4,0.081,0.048,2070,3747,3971
$GC,8293,-1.17,-121.7,859.3,-12.6,818,8300,0.35,2.17,0.00,0.000,6,0.171,0.022,2165,2228,3970
$GC,8610,-1.44,-121.7,886.4,-8.7,834,8614,0.20,1.77,0.00,0.000,4,0.073,0.025,2081,1008,3968
$GC,8649,-1.31,-121.7,890.9,-11.1,835,8657,0.15,1.83,0.00,0.000,6,0.172,0.032,2118,2219,3968
$GC,8967,-1.42,-121.7,923.7,-10.7,851,8971,0.00,2.40,0.00,0.000,4,0.000,0.048,2110,3756,3967
$GC,9001,-1.33,-121.7,927.9,-11.8,852,9007,0.00,2.28,0.00,0.000,6,0.000,0.022,2111,2175,3967
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9137,-0.27,0.0,943.2,11.6,859,9240,1.17,0.00,94.65,1.361,6,0.160,0.000,2452,2374,3531
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9244,1.49,121.7,950.5,0.0,864,9356,1.60,2.20,103.57,1.346,4,0.066,0.029,3028,1004,3035
$GC,9493,0.88,174.0,946.2,9.3,875,9546,0.77,2.10,44.22,1.315,6,0.210,0.032,2831,2369,2822
$GC,9863,0.82,230.9,912.6,9.0,893,9917,0.00,2.33,47.83,1.311,4,0.000,0.048,2831,3759,2589
$GC,10024,0.66,252.2,894.4,11.5,900,10049,0.30,2.03,18.27,1.242,6,0.185,0.023,2759,2382,2502
$GC,10375,1.01,311.1,862.0,8.8,917,10431,0.28,2.17,50.45,1.293,4,0.070,0.031,2872,989,2262
$GC,10515,1.01,311.1,843.8,13.2,922,10521,0.00,2.25,0.00,0.000,6,0.000,0.031,2871,2437,2256
$GC,10832,0.93,317.1,803.2,12.6,938,10841,0.00,2.08,4.93,0.925,4,0.000,0.050,2871,3751,2239
$GC,10938,0.76,317.1,788.5,14.3,942,10944,0.32,1.85,0.00,0.000,6,0.183,0.025,2794,2484,2238
$GC,11254,1.12,370.4,759.0,9.2,958,11307,0.28,2.10,46.58,1.250,4,0.070,0.051,2905,3748,2021
$GC,11397,0.97,370.4,736.8,17.0,964,11401,0.22,1.77,0.00,0.000,6,0.181,0.025,2855,2546,2015
$GC,11720,1.03,370.9,694.4,13.0,980,11724,0.00,2.33,0.00,0.000,4,0.000,0.031,2855,993,2012
$GC,11743,1.11,372.1,691.1,13.0,981,11748,0.15,2.42,0.00,0.000,6,0.086,0.032,2913,2570,2012
$GC,12065,1.00,372.1,640.5,16.4,997,12070,0.17,2.40,0.00,0.000,4,0.183,0.029,2868,988,2011
$GC,12173,1.07,372.1,625.5,13.5,1002,12178,0.00,2.38,0.00,0.000,6,0.000,0.031,2868,2541,2011
$GC,12501,1.14,374.5,581.1,12.9,1018,12505,0.12,1.90,0.00,0.000,4,0.088,0.051,2917,3761,2009
$GC,12576,0.96,374.5,570.4,14.5,1021,12580,0.25,1.73,0.00,0.000,6,0.178,0.026,2857,2567,2009
$GC,12904,1.26,422.0,538.0,9.6,1037,12954,0.22,2.00,43.08,1.114,4,0.073,0.050,2951,3755,1810
$GC,12969,1.10,422.0,529.7,13.6,1040,12973,0.22,1.88,0.00,0.000,6,0.188,0.025,2904,2498,1807
$GC,13297,1.24,422.0,486.1,13.6,1060,13301,0.12,2.00,0.00,0.000,4,0.089,0.048,2951,3756,1802
$GC,13369,1.05,422.0,473.7,16.1,1066,13376,0.28,1.75,0.00,0.000,6,0.181,0.024,2887,2539,1801
$GC,13695,1.34,431.2,431.0,12.4,1097,13707,0.22,0.00,7.60,0.905,6,0.070,0.000,2980,2537,1774
$GC,14026,1.18,431.2,381.7,15.3,1128,14031,0.20,2.30,0.00,0.000,4,0.185,0.028,2934,996,1772
$GC,14146,1.20,449.4,366.8,11.7,1138,14170,0.00,2.22,17.17,0.950,6,0.000,0.032,2934,2452,1699
$GC,14487,1.38,472.1,326.7,11.4,1170,14512,0.15,2.30,19.88,0.919,4,0.074,0.030,3001,994,1606
$GC,14607,1.27,472.1,310.2,14.5,1180,14611,0.17,2.30,0.00,0.000,6,0.183,0.031,2959,2492,1603
$GC,14949,1.40,472.7,263.8,13.0,1234,14955,0.12,2.25,0.00,0.000,4,0.080,0.027,3017,993,1600
$GC,15048,1.26,472.7,249.4,14.9,1251,15056,0.25,2.17,0.00,0.000,6,0.175,0.033,2953,2423,1601
$GC,15396,1.46,480.0,206.3,12.5,1312,15411,0.17,2.15,7.60,0.730,4,0.067,0.027,3036,990,1574
$GC,15480,1.31,480.0,193.9,15.1,1326,15486,0.25,2.25,0.00,0.000,6,0.176,0.030,2970,2478,1572
$GC,15826,1.54,510.6,153.8,10.9,1387,15859,0.17,2.33,26.83,0.771,4,0.071,0.029,3053,982,1449
$GC,15979,1.40,510.6,131.3,16.0,1413,15986,0.22,2.22,0.00,0.000,6,0.176,0.029,2996,2450,1447
$GC,16326,1.68,547.7,89.0,10.4,1474,16364,0.22,2.28,30.98,0.705,4,0.066,0.026,3099,980,1299
$GC,16502,1.57,547.7,67.0,13.1,1504,16508,0.20,2.20,0.00,0.000,6,0.184,0.028,3049,2440,1295
$GC,16848,1.59,561.3,26.9,12.1,1565,16867,0.00,2.22,12.27,0.605,4,0.000,0.025,3057,979,1242
$GC,16948,1.71,622.8,16.6,8.6,1582,17007,0.10,2.15,51.70,0.626,6,0.094,0.026,3094,2423,992
$STATE,17034,end climb,SURFACE_DEPTH_REACHED
$STATE,17034,begin surface coast
$FINISH,1.7,1.000468
$STATE,17057,end surface coast,CONTROL_FINISHED_OK
$STATE,17057,begin surface
$SM_CCo,17136,0.00,0.000,0,0,987,624.29
$SM_GC,2.61,7.93,0.00,0.00,0.047,0.000,0.000,140,2431,987,-7.50,1.36,624.29
$IRIDIUM_FIX,2448.93,12400.52,041198,080828
$TT8_MAMPS,0.028379
$HUMID,1669
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,22.6,84.201
$10V_AH,10.6,44.880
$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,32.225,150.250,627.600,0.000,0.000,28.380,32.365,211.215,7.750,0.000,0.000,46.004,2866.048,10363.296,726.605,2853.457,781.709,0.000,2202.625,0.000,2761.994,0.000,53.355,0.000
$DEVICE_MAMPS,235.469,51.389,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.521,1114.740,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85035,1600
$CAP_FILE_SIZE,189737,0
$CFSIZE,260165632,187052032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.236, 28.0,1
$GPS,100809,180006,2502.403,12359.290,32,1.7,33,-3.7