version: 66.04
glider: 167
mission: 2
dive: 482
start: 8 10 109 3 16 53
data:
$ID,167
$MISSION,2
$DIVE,482
$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,-15615.991
$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,90
$R_STBD_OVSHOOT,50
$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
$GPS1,030901,2459.169,12357.789,40,1.5,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-56.6
$GPS2,031634,2459.242,12357.859,8,99.0,27,-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,218.9,21129,-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,16,-1.49,-121.7,0.0,0.0,0,58,0.00,0.00,-39.10,0.000,2,0.000,0.000,141,2362,2312
$GC,62,-1.49,-121.7,3.0,-1.8,6,129,8.05,2.17,-51.78,0.000,4,0.235,0.055,2053,3747,3988
$GC,212,-0.86,-121.7,25.1,-20.8,31,219,0.75,1.95,0.00,0.000,6,0.170,0.020,2264,2350,3989
$GC,560,-1.15,-121.7,68.3,-11.1,92,566,0.22,1.90,0.00,0.000,4,0.061,0.022,2164,1018,3990
$GC,607,-1.06,-121.7,74.7,-14.3,100,614,0.17,2.00,0.00,0.000,6,0.163,0.025,2201,2387,3990
$GC,954,-1.22,-121.7,111.5,-11.6,161,961,0.15,2.08,0.00,0.000,4,0.067,0.041,2137,3757,3991
$GC,1010,-0.99,-121.7,118.9,-14.6,170,1018,0.32,1.90,0.00,0.000,6,0.160,0.020,2227,2381,3992
$GC,1359,-1.30,-121.7,159.7,-10.3,231,1365,0.25,0.00,0.00,0.000,6,0.058,0.000,2119,2381,3993
$GC,1704,-1.22,-121.7,197.2,-10.2,292,1710,0.12,2.10,0.00,0.000,4,0.157,0.039,2142,3760,3994
$GC,1742,-1.09,-121.7,201.6,-12.0,298,1750,0.17,1.88,0.00,0.000,6,0.160,0.021,2187,2405,3994
$GC,2091,-1.31,-121.7,240.1,-10.8,359,2097,0.17,1.98,0.00,0.000,4,0.064,0.022,2109,1014,3995
$GC,2155,-1.10,-121.7,248.5,-13.3,370,2164,0.32,2.03,0.00,0.000,6,0.161,0.026,2189,2398,3994
$GC,2509,-1.32,-121.7,282.0,-8.4,431,2515,0.17,2.00,0.00,0.000,4,0.066,0.021,2111,1010,3995
$GC,2558,-1.16,-121.7,287.1,-10.7,439,2565,0.22,1.98,0.00,0.000,6,0.163,0.027,2170,2353,3994
$GC,2899,-1.33,-121.7,318.7,-10.5,483,2903,0.17,2.12,0.00,0.000,4,0.067,0.042,2096,3751,3995
$GC,2934,-1.11,-121.7,323.1,-13.2,485,2940,0.32,1.98,0.00,0.000,6,0.161,0.021,2187,2336,3994
$GC,3260,-1.35,-121.7,356.8,-10.3,516,3264,0.20,1.88,0.00,0.000,4,0.063,0.023,2098,1018,3995
$GC,3323,-1.17,-121.7,364.7,-13.0,521,3330,0.25,1.95,0.00,0.000,6,0.162,0.028,2165,2341,3995
$GC,3650,-1.36,-121.7,398.0,-9.1,552,3652,0.17,0.00,0.00,0.000,6,0.071,0.000,2095,2344,3994
$GC,3967,-1.25,-121.7,430.7,-10.4,582,3972,0.17,1.92,0.00,0.000,4,0.157,0.024,2147,1022,3994
$GC,4007,-1.25,-121.7,434.8,-10.0,585,4013,0.00,1.92,0.00,0.000,6,0.000,0.028,2147,2324,3994
$GC,4336,-1.35,-121.7,467.8,-10.1,616,4342,0.12,0.00,0.00,0.000,6,0.077,0.000,2095,2327,3993
$GC,4665,-1.35,-121.7,503.2,-11.2,646,4668,0.00,2.17,0.00,0.000,4,0.000,0.044,2094,3753,3993
$GC,4721,-1.13,-121.7,510.6,-13.2,648,4725,0.30,2.03,0.00,0.000,6,0.160,0.021,2177,2321,3992
$GC,5044,-1.40,-121.7,542.7,-10.3,664,5049,0.20,2.22,0.00,0.000,4,0.066,0.044,2094,3751,3991
$GC,5073,-1.40,-121.7,546.3,-12.4,665,5077,0.00,2.00,0.00,0.000,6,0.000,0.022,2093,2330,3991
$GC,5395,-1.40,-121.7,584.2,-11.8,681,5398,0.00,1.88,0.00,0.000,4,0.000,0.025,2094,1018,3990
$GC,5423,-1.31,-121.7,588.0,-13.2,682,5428,0.15,1.98,0.00,0.000,6,0.164,0.028,2125,2350,3990
$GC,5754,-1.40,-121.7,621.8,-9.3,698,5758,0.00,2.15,0.00,0.000,4,0.000,0.046,2125,3751,3988
$GC,5789,-1.40,-121.7,625.5,-10.1,699,5792,0.00,2.03,0.00,0.000,6,0.000,0.022,2125,2329,3988
$GC,6113,-1.52,-121.7,653.6,-8.8,715,6117,0.17,1.88,0.00,0.000,4,0.073,0.025,2047,1022,3986
$GC,6231,-1.25,-121.7,667.0,-11.3,720,6235,0.30,1.92,0.00,0.000,6,0.161,0.031,2141,2292,3984
$GC,6562,-1.46,-121.7,697.1,-9.3,736,6566,0.17,1.88,0.00,0.000,4,0.074,0.025,2066,1014,3982
$GC,6585,-1.46,-121.7,699.9,-10.2,737,6590,0.00,1.90,0.00,0.000,6,0.000,0.028,2058,2270,3982
$GC,6919,-1.29,-121.7,739.4,-11.9,753,6924,0.22,2.30,0.00,0.000,4,0.167,0.046,2123,3749,3980
$GC,7016,-1.24,-121.7,750.2,-10.8,757,7019,0.00,2.08,0.00,0.000,6,0.000,0.024,2123,2306,3979
$GC,7338,-1.36,-121.7,783.2,-10.3,773,7342,0.00,1.85,0.00,0.000,4,0.000,0.028,2123,1025,3977
$GC,7412,-1.36,-121.7,791.5,-11.1,776,7416,0.00,1.88,0.00,0.000,6,0.000,0.032,2123,2272,3976
$GC,7741,-1.49,-121.7,826.2,-10.4,792,7745,0.17,1.85,0.00,0.000,4,0.074,0.025,2054,1017,3974
$GC,7804,-1.27,-121.7,834.3,-13.5,794,7812,0.30,1.83,0.00,0.000,6,0.166,0.033,2133,2233,3974
$GC,8120,-1.37,-121.7,866.7,-10.1,810,8124,0.00,2.38,0.00,0.000,4,0.000,0.048,2124,3761,3972
$GC,8240,-1.32,-121.7,879.5,-11.4,815,8244,0.00,2.17,0.00,0.000,6,0.000,0.024,2124,2254,3971
$GC,8556,-1.32,-121.7,913.1,-10.6,830,8560,0.00,2.38,0.00,0.000,4,0.000,0.049,2124,3751,3969
$GC,8676,-1.26,-121.7,927.3,-12.4,835,8680,0.00,2.12,0.00,0.000,6,0.000,0.024,2124,2287,3968
$GC,8999,-1.39,-121.7,963.7,-11.2,851,9003,0.00,2.35,0.00,0.000,4,0.000,0.050,2124,3760,3967
$GC,9039,-1.34,-121.7,968.7,-12.6,853,9043,0.00,2.15,0.00,0.000,6,0.000,0.025,2124,2281,3966
$STATE,9142,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9142,begin apogee
$GC,9151,-0.27,0.0,981.7,12.2,858,9255,1.12,0.00,95.05,1.390,6,0.160,0.000,2452,2375,3532
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9258,1.49,121.7,989.9,0.0,863,9370,1.60,2.28,104.50,1.374,4,0.066,0.045,3018,3750,3034
$GC,9466,0.70,190.3,992.0,8.1,872,9530,1.00,2.03,57.47,1.350,6,0.219,0.022,2778,2378,2756
$GC,9848,0.81,279.7,967.6,6.6,891,9932,0.00,2.30,75.35,1.349,4,0.000,0.051,2777,3745,2390
$GC,10034,0.92,324.7,950.4,9.8,899,10080,0.17,2.00,38.80,1.312,6,0.078,0.024,2844,2405,2207
$GC,10397,0.94,345.5,908.3,11.6,917,10418,0.00,0.00,18.38,1.262,6,0.000,0.000,2844,2405,2123
$GC,10725,0.96,357.2,868.6,12.2,933,10741,0.00,2.17,11.35,1.197,4,0.000,0.049,2844,3758,2074
$GC,10770,0.91,357.2,862.2,14.9,934,10774,0.00,2.03,0.00,0.000,6,0.000,0.023,2852,2383,2072
$GC,11098,0.91,357.2,818.9,13.2,950,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2382,2070
$GC,11406,0.91,357.2,777.6,13.4,965,11410,0.00,2.17,0.00,0.000,4,0.000,0.050,2853,3752,2069
$GC,11440,0.84,357.2,772.5,15.5,966,11445,0.17,1.98,0.00,0.000,6,0.183,0.023,2818,2401,2068
$GC,11763,0.98,366.5,731.8,12.4,982,11778,0.12,2.20,8.45,1.111,4,0.086,0.050,2868,3750,2038
$GC,11840,0.89,366.5,719.5,15.5,985,11845,0.15,1.90,0.00,0.000,6,0.185,0.023,2836,2459,2036
$GC,12163,0.99,366.5,674.5,14.7,1001,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2457,2035
$GC,12472,1.22,370.6,632.8,12.7,1016,12482,0.25,2.20,4.97,0.904,4,0.070,0.029,2945,978,2020
$GC,12617,1.04,371.5,611.5,13.0,1022,12622,0.25,2.28,0.00,0.000,6,0.187,0.032,2880,2465,2020
$GC,12933,1.08,406.6,577.0,10.5,1037,12976,0.00,2.12,32.17,1.143,4,0.000,0.050,2880,3757,1873
$GC,13016,1.08,406.6,566.7,14.1,1040,13022,0.00,1.92,0.00,0.000,6,0.000,0.025,2887,2454,1870
$GC,13333,1.17,406.6,523.5,13.3,1056,13336,0.00,2.20,0.00,0.000,4,0.000,0.029,2897,983,1867
$GC,13407,1.21,406.6,513.4,13.1,1059,13412,0.10,2.20,0.00,0.000,6,0.094,0.031,2934,2422,1867
$GC,13735,1.09,406.6,467.0,13.4,1086,13740,0.15,2.17,0.00,0.000,4,0.178,0.028,2904,972,1866
$GC,13872,1.14,442.1,451.3,10.5,1097,13911,0.00,2.30,30.30,1.039,6,0.000,0.031,2904,2480,1728
$GC,14231,1.29,442.1,409.8,13.4,1131,14235,0.15,2.00,0.00,0.000,4,0.078,0.048,2964,3758,1722
$GC,14255,1.29,442.1,406.2,15.0,1133,14259,0.00,1.90,0.00,0.000,6,0.000,0.023,2973,2449,1722
$GC,14591,1.15,442.1,349.8,16.0,1164,14596,0.20,2.17,0.00,0.000,4,0.187,0.028,2928,973,1721
$GC,14736,1.23,467.6,331.8,11.2,1176,14763,0.00,2.22,21.67,0.925,6,0.000,0.031,2927,2441,1625
$GC,15087,1.42,467.6,288.8,13.6,1215,15093,0.17,2.20,0.00,0.000,4,0.070,0.027,3010,972,1619
$GC,15217,1.28,467.6,268.0,16.5,1237,15223,0.20,2.10,0.00,0.000,6,0.183,0.031,2961,2363,1619
$GC,15563,1.30,486.1,217.2,11.7,1298,15587,0.00,2.12,16.00,0.811,4,0.000,0.029,2968,982,1549
$GC,15611,1.32,504.8,211.2,11.7,1306,15635,0.00,2.10,17.27,0.798,6,0.000,0.028,2968,2371,1473
$GC,15978,1.53,522.0,167.0,11.8,1370,16000,0.17,2.10,15.82,0.756,4,0.070,0.028,3050,973,1402
$GC,16053,1.39,522.0,157.2,13.5,1382,16061,0.22,2.20,0.00,0.000,6,0.176,0.031,2993,2423,1399
$GC,16403,1.52,522.0,108.1,14.3,1443,16409,0.12,2.05,0.00,0.000,4,0.084,0.045,3039,3751,1399
$GC,16512,1.37,532.5,92.1,12.3,1462,16527,0.22,2.05,9.55,0.654,6,0.176,0.021,2989,2328,1361
$GC,16869,1.72,576.4,58.4,9.9,1524,16913,0.25,2.33,37.47,0.670,4,0.061,0.043,3097,3760,1181
$GC,16961,1.55,576.4,44.5,17.7,1539,16968,0.25,2.17,0.00,0.000,6,0.187,0.021,3043,2277,1179
$STATE,17280,end climb,SURFACE_DEPTH_REACHED
$STATE,17280,begin surface coast
$FINISH,1.8,1.009058
$STATE,17304,end surface coast,CONTROL_FINISHED_OK
$STATE,17308,begin surface
$SM_CCo,17387,0.00,0.000,0,0,1176,577.93
$SM_GC,2.51,7.65,0.00,0.00,0.044,0.000,0.000,142,2423,1176,-7.50,1.13,577.93
$IRIDIUM_FIX,2446.56,12357.22,031198,222255
$TT8_MAMPS,0.028379
$HUMID,1689
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,23.2,83.766
$10V_AH,10.6,44.680
$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,29.275,153.550,594.600,0.000,0.000,23.062,34.796,201.931,8.750,0.000,0.000,30.915,2865.410,10622.500,705.807,2849.396,776.580,0.000,2174.967,0.000,2770.189,0.000,54.436,0.000
$DEVICE_MAMPS,235.469,69.030,1389.804,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.771,1112.379,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85237,1600
$CAP_FILE_SIZE,186363,0
$CFSIZE,260165632,187240448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257, 40.0,1
$GPS,100809,080755,2500.040,12358.545,37,2.0,38,-3.7