version: 66.04
glider: 167
mission: 2
dive: 485
start: 8 10 109 18 11 20
data:
$ID,167
$MISSION,2
$DIVE,485
$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,-15730.895
$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,88
$R_STBD_OVSHOOT,44
$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
$GPS1,180006,2502.403,12359.290,32,1.7,33,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-56.3
$GPS2,181100,2502.584,12359.281,16,1.5,32,-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,208.8,27036,-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,17,-1.49,-121.7,0.0,0.0,0,76,0.00,0.00,-56.78,0.000,2,0.000,0.000,140,2432,2414
$GC,80,-1.49,-121.7,3.2,-2.1,10,147,7.68,2.08,-51.70,0.000,4,0.223,0.053,2049,3754,3990
$GC,184,-0.80,-121.7,15.6,-24.9,27,192,0.82,1.98,0.00,0.000,6,0.176,0.026,2279,2361,3990
$GC,531,-1.12,-121.7,56.6,-10.1,88,537,0.22,0.00,0.00,0.000,6,0.060,0.000,2177,2361,3991
$GC,876,-1.12,-121.7,102.3,-12.6,149,882,0.00,2.12,0.00,0.000,4,0.000,0.041,2170,3754,3991
$GC,997,-0.96,-121.7,122.1,-15.8,170,1003,0.22,1.90,0.00,0.000,6,0.155,0.020,2231,2382,3991
$GC,1343,-1.24,-121.7,157.6,-9.9,231,1351,0.22,1.95,0.00,0.000,4,0.058,0.028,2131,1017,3992
$GC,1455,-1.05,-121.7,172.5,-13.8,250,1462,0.30,1.98,0.00,0.000,6,0.160,0.026,2206,2371,3993
$GC,1801,-1.32,-121.7,209.8,-10.6,311,1809,0.22,2.08,0.00,0.000,4,0.059,0.040,2102,3754,3994
$GC,1846,-1.01,-121.7,215.6,-14.1,318,1852,0.40,1.92,0.00,0.000,6,0.162,0.020,2214,2361,3994
$GC,2195,-1.27,-121.7,250.1,-8.4,379,2202,0.20,1.90,0.00,0.000,4,0.062,0.021,2125,1016,3994
$GC,2227,-1.27,-121.7,253.5,-10.0,384,2233,0.00,2.00,0.00,0.000,6,0.000,0.026,2124,2385,3994
$GC,2573,-1.27,-121.7,291.4,-11.9,445,2579,0.00,2.08,0.00,0.000,4,0.000,0.041,2124,3760,3994
$GC,2631,-1.07,-121.7,299.1,-13.5,455,2639,0.28,1.95,0.00,0.000,6,0.160,0.020,2199,2355,3994
$GC,2965,-1.31,-121.7,334.2,-10.1,487,2969,0.20,1.90,0.00,0.000,4,0.062,0.023,2111,1012,3994
$GC,3013,-1.18,-121.7,339.5,-12.0,491,3017,0.20,1.98,0.00,0.000,6,0.163,0.026,2163,2363,3994
$GC,3344,-1.36,-121.7,370.5,-8.6,522,3348,0.17,2.10,0.00,0.000,4,0.066,0.041,2085,3749,3994
$GC,3379,-1.13,-121.7,374.2,-11.2,525,3384,0.35,1.95,0.00,0.000,6,0.162,0.020,2182,2346,3994
$GC,3711,-1.37,-121.7,404.0,-9.1,556,3715,0.20,1.90,0.00,0.000,4,0.064,0.022,2095,1010,3993
$GC,3750,-1.21,-121.7,408.6,-11.7,559,3758,0.22,1.98,0.00,0.000,6,0.163,0.026,2154,2354,3994
$GC,4076,-1.34,-121.7,443.2,-11.0,590,4080,0.12,1.95,0.00,0.000,4,0.079,0.022,2104,1010,3993
$GC,4111,-1.27,-121.7,447.3,-11.9,593,4115,0.15,1.95,0.00,0.000,6,0.166,0.027,2136,2332,3992
$GC,4442,-1.40,-121.7,483.0,-10.7,624,4447,0.12,2.17,0.00,0.000,4,0.077,0.044,2084,3756,3992
$GC,4470,-1.26,-121.7,486.7,-12.9,626,4477,0.20,2.05,0.00,0.000,6,0.169,0.021,2136,2305,3991
$GC,4805,-1.40,-121.7,523.6,-11.2,648,4809,0.12,1.85,0.00,0.000,4,0.076,0.024,2084,1012,3990
$GC,4855,-1.23,-121.7,530.5,-12.4,650,4860,0.22,1.90,0.00,0.000,6,0.163,0.028,2144,2300,3989
$GC,5187,-1.39,-121.7,563.9,-9.6,666,5191,0.15,2.22,0.00,0.000,4,0.074,0.044,2084,3746,3987
$GC,5265,-1.16,-121.7,573.3,-11.8,669,5270,0.30,2.03,0.00,0.000,6,0.166,0.021,2166,2314,3986
$GC,5586,-1.43,-121.7,602.4,-9.0,684,5590,0.20,1.88,0.00,0.000,4,0.067,0.025,2081,1010,3984
$GC,5609,-1.43,-121.7,605.3,-10.4,685,5613,0.00,1.95,0.00,0.000,6,0.000,0.029,2081,2317,3984
$GC,5943,-1.38,-121.7,640.2,-10.3,701,5946,0.00,2.17,0.00,0.000,4,0.000,0.045,2081,3746,3981
$GC,6006,-1.15,-121.7,647.6,-12.5,703,6014,0.32,2.03,0.00,0.000,6,0.161,0.021,2171,2318,3981
$GC,6328,-1.43,-121.7,676.0,-9.0,719,6332,0.22,1.88,0.00,0.000,4,0.064,0.025,2078,1019,3979
$GC,6402,-1.27,-121.7,685.1,-12.6,722,6406,0.22,1.88,0.00,0.000,6,0.163,0.029,2132,2278,3978
$GC,6732,-1.43,-121.7,717.9,-9.6,738,6736,0.15,1.85,0.00,0.000,4,0.081,0.024,2074,1014,3975
$GC,6748,-1.43,-121.7,719.9,-9.8,738,6754,0.00,1.88,0.00,0.000,6,0.000,0.029,2070,2269,3975
$GC,7066,-1.27,-121.7,753.4,-10.0,754,7071,0.20,2.28,0.00,0.000,4,0.167,0.045,2124,3747,3973
$GC,7167,-1.21,-121.7,763.1,-9.3,758,7174,0.12,2.10,0.00,0.000,6,0.168,0.022,2154,2282,3972
$GC,7484,-1.44,-121.7,788.7,-8.5,774,7488,0.20,1.83,0.00,0.000,4,0.069,0.025,2073,1019,3970
$GC,7562,-1.28,-121.7,797.6,-11.6,777,7567,0.22,1.85,0.00,0.000,6,0.163,0.031,2131,2252,3969
$GC,7888,-1.44,-121.7,829.0,-9.9,793,7892,0.15,1.83,0.00,0.000,4,0.081,0.025,2074,1012,3968
$GC,7922,-1.28,-121.7,833.5,-12.2,794,7927,0.22,1.83,0.00,0.000,6,0.166,0.031,2130,2228,3967
$GC,8246,-1.42,-121.7,865.7,-9.8,810,8251,0.12,2.38,0.00,0.000,4,0.084,0.046,2083,3754,3965
$GC,8268,-1.42,-121.7,868.4,-11.4,811,8272,0.00,2.22,0.00,0.000,6,0.000,0.021,2083,2202,3965
$GC,8590,-1.30,-121.7,906.2,-11.6,827,8595,0.15,2.45,0.00,0.000,4,0.174,0.046,2112,3749,3964
$GC,8752,-1.18,-121.7,925.3,-12.2,834,8756,0.20,2.17,0.00,0.000,6,0.167,0.025,2163,2244,3962
$GC,9082,-1.45,-121.7,954.9,-8.5,850,9087,0.22,1.77,0.00,0.000,4,0.069,0.027,2073,1028,3962
$GC,9107,-1.50,-121.7,957.7,-10.1,851,9110,0.00,1.80,0.00,0.000,6,0.000,0.033,2070,2195,3961
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9135,-0.27,0.0,960.4,11.3,852,9238,1.35,0.00,93.62,1.374,6,0.171,0.000,2452,2357,3532
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9239,begin climb
$GC,9243,1.49,121.7,966.2,0.0,857,9354,1.60,2.33,103.97,1.356,4,0.064,0.047,3021,3764,3035
$GC,9446,0.66,165.2,963.7,9.9,866,9490,1.08,2.03,37.42,1.314,6,0.219,0.022,2762,2393,2858
$GC,9811,0.84,248.7,937.2,7.1,884,9888,0.15,2.33,69.45,1.329,4,0.084,0.047,2818,3760,2517
$GC,9987,0.73,274.1,918.3,11.2,892,10016,0.20,2.03,22.52,1.262,6,0.183,0.022,2778,2388,2414
$GC,10342,0.92,312.9,882.7,10.3,909,10385,0.17,2.28,33.47,1.288,4,0.075,0.048,2843,3754,2255
$GC,10484,0.81,312.9,862.8,15.3,915,10489,0.17,1.92,0.00,0.000,6,0.182,0.021,2808,2439,2251
$GC,10812,0.93,328.6,822.7,11.9,931,10839,0.10,2.15,15.85,1.082,4,0.096,0.048,2844,3751,2191
$GC,10908,0.83,328.6,808.7,15.1,935,10913,0.17,1.88,0.00,0.000,6,0.184,0.023,2810,2466,2189
$GC,11236,0.96,343.3,768.5,12.0,951,11260,0.12,2.28,13.85,1.191,4,0.089,0.031,2863,989,2131
$GC,11277,0.96,343.3,763.0,14.3,952,11283,0.00,2.33,0.00,0.000,6,0.000,0.032,2863,2490,2130
$GC,11594,0.96,343.3,721.5,13.2,968,11598,0.00,1.98,0.00,0.000,4,0.000,0.051,2863,3752,2128
$GC,11663,0.86,343.3,711.9,13.2,971,11667,0.17,1.85,0.00,0.000,6,0.186,0.025,2828,2483,2127
$GC,11997,1.03,354.9,671.6,12.2,987,12013,0.15,2.03,10.90,1.121,4,0.080,0.047,2886,3758,2084
$GC,12064,0.86,354.9,660.3,17.0,989,12069,0.22,1.83,0.00,0.000,6,0.181,0.024,2820,2525,2083
$GC,12393,1.16,383.1,621.7,11.0,1005,12423,0.25,2.00,24.70,1.160,4,0.069,0.049,2922,3761,1970
$GC,12463,0.96,383.1,611.1,15.9,1008,12467,0.28,1.92,0.00,0.000,6,0.181,0.025,2859,2459,1966
$GC,12792,1.10,413.5,574.1,10.9,1024,12826,0.12,2.17,26.85,1.125,4,0.086,0.049,2907,3763,1845
$GC,12913,1.01,413.5,556.8,14.8,1029,12917,0.17,1.80,0.00,0.000,6,0.179,0.025,2871,2531,1841
$GC,13236,1.28,416.8,515.1,12.8,1045,13240,0.20,1.95,0.00,0.000,4,0.075,0.048,2957,3761,1838
$GC,13275,1.01,416.8,508.8,17.0,1046,13281,0.35,1.88,0.00,0.000,6,0.186,0.024,2873,2470,1838
$GC,13602,1.30,460.2,470.3,9.9,1074,13648,0.22,2.15,39.80,1.055,4,0.073,0.049,2965,3758,1656
$GC,13724,1.10,460.2,452.4,16.1,1084,13730,0.28,1.85,0.00,0.000,6,0.184,0.023,2904,2492,1650
$GC,14050,1.35,468.5,411.3,12.4,1115,14064,0.20,2.08,7.22,0.867,4,0.074,0.050,2986,3754,1621
$GC,14081,1.22,468.5,406.2,16.7,1117,14088,0.22,1.95,0.00,0.000,6,0.189,0.023,2939,2428,1621
$GC,14408,1.38,496.2,364.6,11.1,1148,14442,0.15,2.22,24.88,0.953,4,0.080,0.031,3005,988,1507
$GC,14449,1.29,497.1,359.2,13.0,1151,14457,0.17,2.22,0.00,0.000,6,0.190,0.031,2964,2434,1506
$GC,14776,1.42,497.1,313.4,14.9,1182,14780,0.12,2.08,0.00,0.000,4,0.082,0.047,3010,3762,1501
$GC,14837,1.20,497.1,302.3,18.5,1187,14845,0.32,1.88,0.00,0.000,6,0.179,0.023,2933,2465,1501
$GC,15182,1.47,515.0,256.3,11.8,1247,15206,0.20,2.08,16.40,0.841,4,0.068,0.048,3016,3749,1431
$GC,15248,1.25,515.0,246.5,16.0,1258,15256,0.30,2.00,0.00,0.000,6,0.176,0.023,2947,2378,1430
$GC,15596,1.53,519.1,200.3,12.7,1319,15610,0.22,2.22,4.88,0.621,4,0.068,0.045,3041,3755,1415
$GC,15685,1.30,519.1,184.6,17.6,1334,15692,0.32,1.88,0.00,0.000,6,0.181,0.021,2964,2461,1415
$GC,16031,1.63,547.6,142.0,11.0,1395,16062,0.25,0.00,25.08,0.752,6,0.066,0.000,3071,2458,1298
$GC,16404,1.49,547.6,82.9,14.5,1460,16410,0.17,2.17,0.00,0.000,4,0.184,0.026,3031,975,1295
$GC,16541,1.59,568.6,65.8,11.5,1483,16565,0.00,2.10,18.30,0.673,6,0.000,0.028,3031,2383,1213
$GC,16909,1.77,573.6,22.9,12.7,1547,16923,0.20,2.15,5.90,0.531,4,0.067,0.045,3115,3747,1192
$GC,16970,1.50,573.6,12.3,19.7,1557,16976,0.35,2.10,0.00,0.000,6,0.193,0.021,3033,2291,1192
$STATE,17036,end climb,SURFACE_DEPTH_REACHED
$STATE,17036,begin surface coast
$FINISH,1.8,1.010578
$STATE,17066,end surface coast,CONTROL_FINISHED_OK
$STATE,17070,begin surface
$SM_CCo,17149,0.00,0.000,0,0,1190,574.49
$SM_GC,2.50,7.65,0.00,0.00,0.047,0.000,0.000,140,2445,1190,-7.50,1.75,574.49
$IRIDIUM_FIX,2453.69,12401.85,041198,181842
$TT8_MAMPS,0.029146
$HUMID,1731
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.70
$XPDR_PINGS,8
$24V_AH,23.2,84.424
$10V_AH,10.6,44.982
$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,34.700,166.250,595.075,0.000,0.000,54.114,73.188,267.285,9.750,0.000,0.000,32.830,2851.697,10423.479,737.459,2836.352,934.375,0.000,2224.834,0.000,2750.239,0.000,56.201,0.000
$DEVICE_MAMPS,223.197,58.292,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.692,1085.379,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85304,1574
$CAP_FILE_SIZE,197877,0
$CFSIZE,260165632,186949632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.273, 32.1,1
$GPS,100809,225825,2503.714,12400.051,37,1.3,38,-3.7