version: 66.04
glider: 167
mission: 2
dive: 486
start: 8 10 109 23 9 21
data:
$ID,167
$MISSION,2
$DIVE,486
$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,-5
$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,-15744.973
$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,80
$R_STBD_OVSHOOT,45
$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
$GPS1,225825,2503.714,12400.051,37,1.3,38,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-61.0
$GPS2,230844,2503.886,12400.168,13,1.9,13,-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,217.9,29422,-24.8,-13.043
$D_GRID,1922
$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,16,begin dive
$GC,20,-1.49,-121.7,0.0,0.0,0,71,0.00,0.00,-49.75,0.000,2,0.000,0.000,140,2445,2439
$GC,75,-1.49,-121.7,3.2,-1.6,8,137,7.80,2.10,-47.42,0.000,4,0.228,0.053,2052,3762,3989
$GC,155,-0.87,-121.7,12.2,-21.1,21,163,0.75,2.00,0.00,0.000,6,0.172,0.020,2262,2344,3990
$GC,505,-1.19,-121.7,53.3,-11.9,82,511,0.25,1.90,0.00,0.000,4,0.059,0.022,2153,1017,3991
$GC,535,-1.19,-121.7,57.8,-14.4,87,541,0.00,2.00,0.00,0.000,6,0.000,0.025,2143,2385,3991
$GC,881,-1.06,-121.7,104.8,-12.4,148,887,0.17,2.08,0.00,0.000,4,0.162,0.040,2192,3752,3992
$GC,924,-1.06,-121.7,110.1,-12.3,155,930,0.00,1.95,0.00,0.000,6,0.000,0.020,2191,2341,3991
$GC,1271,-1.22,-121.7,149.6,-11.8,216,1278,0.12,1.88,0.00,0.000,4,0.074,0.023,2136,1019,3993
$GC,1348,-1.06,-121.7,159.7,-14.1,229,1355,0.28,1.95,0.00,0.000,6,0.160,0.034,2203,2349,3993
$GC,1696,-1.32,-121.7,195.8,-9.8,290,1702,0.20,2.12,0.00,0.000,4,0.061,0.041,2108,3756,3994
$GC,1733,-1.07,-121.7,200.5,-13.4,296,1740,0.32,1.98,0.00,0.000,6,0.163,0.020,2198,2331,3994
$GC,2080,-1.33,-121.7,235.6,-10.8,357,2088,0.20,1.85,0.00,0.000,4,0.061,0.021,2110,1022,3994
$GC,2124,-1.18,-121.7,241.0,-13.5,364,2131,0.22,1.90,0.00,0.000,6,0.160,0.025,2163,2333,3994
$GC,2473,-1.33,-121.7,279.6,-10.4,425,2480,0.15,0.00,0.00,0.000,6,0.071,0.000,2102,2335,3994
$GC,2810,-1.24,-121.7,317.3,-10.7,471,2814,0.15,2.15,0.00,0.000,4,0.160,0.041,2137,3751,3995
$GC,2878,-1.11,-121.7,324.9,-11.9,476,2886,0.17,2.03,0.00,0.000,6,0.160,0.021,2182,2299,3994
$GC,3204,-1.35,-121.7,360.0,-10.2,507,3208,0.17,1.80,0.00,0.000,4,0.067,0.023,2104,1028,3994
$GC,3229,-1.35,-121.7,362.7,-10.9,509,3233,0.00,1.85,0.00,0.000,6,0.000,0.026,2098,2298,3994
$GC,3563,-1.29,-121.7,395.4,-9.3,540,3568,0.12,2.20,0.00,0.000,4,0.169,0.040,2124,3747,3994
$GC,3650,-1.16,-121.7,404.7,-11.6,547,3654,0.17,2.03,0.00,0.000,6,0.160,0.021,2171,2306,3994
$GC,3981,-1.37,-121.7,441.7,-11.7,578,3985,0.20,1.83,0.00,0.000,4,0.064,0.022,2084,1021,3994
$GC,4074,-1.16,-121.7,454.6,-14.0,586,4079,0.25,1.88,0.00,0.000,6,0.155,0.028,2168,2268,3994
$GC,4406,-1.38,-121.7,486.6,-9.0,617,4411,0.20,2.28,0.00,0.000,4,0.068,0.042,2081,3756,3993
$GC,4474,-1.11,-121.7,494.7,-12.4,622,4480,0.38,2.08,0.00,0.000,6,0.161,0.022,2186,2286,3992
$GC,4807,-1.43,-121.7,526.4,-9.8,641,4811,0.25,2.28,0.00,0.000,4,0.060,0.044,2072,3750,3991
$GC,4829,-1.43,-121.7,529.5,-11.1,642,4832,0.00,2.05,0.00,0.000,6,0.000,0.022,2072,2306,3991
$GC,5157,-1.27,-121.7,567.3,-11.3,658,5162,0.17,2.25,0.00,0.000,4,0.162,0.044,2124,3743,3990
$GC,5307,-1.20,-121.7,582.7,-10.0,664,5313,0.12,1.98,0.00,0.000,6,0.164,0.022,2154,2351,3989
$GC,5623,-1.38,-121.7,609.2,-8.6,680,5628,0.17,1.95,0.00,0.000,4,0.069,0.024,2079,1001,3986
$GC,5687,-1.23,-121.7,616.1,-10.6,682,5694,0.28,1.95,0.00,0.000,6,0.159,0.029,2147,2310,3986
$GC,6004,-1.43,-121.7,645.2,-8.7,698,6006,0.17,0.00,0.00,0.000,6,0.071,0.000,2080,2312,3984
$GC,6314,-1.30,-121.7,678.0,-10.9,713,6319,0.17,2.22,0.00,0.000,4,0.165,0.044,2124,3749,3981
$GC,6342,-1.22,-121.7,681.4,-11.4,714,6346,0.00,2.10,0.00,0.000,6,0.000,0.023,2124,2285,3981
$GC,6672,-1.29,-121.7,715.5,-10.4,730,6676,0.00,2.30,0.00,0.000,4,0.000,0.047,2124,3744,3979
$GC,6724,-1.22,-121.7,721.5,-11.2,732,6728,0.00,2.08,0.00,0.000,6,0.000,0.023,2123,2297,3978
$GC,7052,-1.34,-121.7,754.1,-9.5,748,7056,0.00,1.88,0.00,0.000,4,0.000,0.027,2124,999,3976
$GC,7167,-1.34,-121.7,765.8,-10.7,753,7171,0.00,1.92,0.00,0.000,6,0.000,0.031,2124,2277,3975
$GC,7503,-1.46,-121.7,801.5,-11.2,769,7507,0.15,1.88,0.00,0.000,4,0.077,0.025,2064,1004,3973
$GC,7571,-1.27,-121.7,810.8,-13.9,772,7575,0.28,1.85,0.00,0.000,6,0.165,0.031,2132,2232,3972
$GC,7908,-1.44,-121.7,850.1,-11.8,788,7913,0.15,1.80,0.00,0.000,4,0.081,0.025,2076,1009,3970
$GC,7949,-1.27,-121.7,856.2,-13.8,789,7957,0.22,1.80,0.00,0.000,6,0.166,0.031,2131,2207,3970
$GC,8266,-1.44,-121.7,892.8,-10.8,805,8271,0.15,2.40,0.00,0.000,4,0.081,0.048,2071,3743,3968
$GC,8333,-1.18,-121.7,902.0,-14.3,808,8338,0.32,2.25,0.00,0.000,6,0.172,0.023,2159,2180,3967
$GC,8664,-1.44,-121.7,933.0,-8.6,824,8669,0.20,2.47,0.00,0.000,4,0.074,0.047,2071,3743,3965
$GC,8692,-1.31,-121.7,936.5,-11.8,825,8697,0.20,2.25,0.00,0.000,6,0.176,0.022,2122,2178,3966
$GC,9010,-1.31,-121.7,967.5,-9.5,840,9014,0.00,2.47,0.00,0.000,4,0.000,0.049,2122,3739,3964
$STATE,9124,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9124,begin apogee
$GC,9134,-0.27,0.0,980.5,11.8,845,9230,1.10,0.00,92.43,1.407,6,0.166,0.000,2446,2356,3532
$STATE,9230,end apogee,CONTROL_FINISHED_OK
$STATE,9230,begin climb
$GC,9235,1.49,121.7,986.1,0.0,850,9344,1.62,0.00,104.43,1.370,6,0.065,0.000,3022,2355,3035
$GC,9649,0.85,192.5,968.1,8.0,870,9711,0.77,0.00,59.35,1.348,6,0.210,0.000,2824,2355,2747
$GC,10019,0.81,258.1,938.0,8.3,888,10083,0.00,2.35,55.40,1.335,4,0.000,0.051,2824,3740,2478
$GC,10213,0.69,282.6,916.9,11.3,896,10242,0.22,2.03,22.08,1.277,6,0.183,0.022,2771,2373,2378
$GC,10553,1.03,354.6,888.4,7.9,913,10621,0.25,2.22,61.42,1.315,4,0.071,0.031,2882,980,2085
$GC,10763,1.03,354.6,861.5,13.6,922,10767,0.00,2.22,0.00,0.000,6,0.000,0.034,2882,2413,2078
$GC,11079,0.94,354.6,819.3,13.6,937,11084,0.12,2.12,0.00,0.000,4,0.186,0.049,2851,3764,2075
$GC,11158,0.86,354.6,807.9,13.5,940,11165,0.15,1.95,0.00,0.000,6,0.189,0.025,2823,2433,2074
$GC,11475,0.98,377.7,771.4,11.4,956,11500,0.12,2.17,19.10,1.225,4,0.087,0.049,2872,3757,1992
$GC,11529,0.87,377.7,763.5,15.8,958,11533,0.20,1.95,0.00,0.000,6,0.183,0.024,2830,2440,1990
$GC,11852,0.97,384.1,723.9,12.6,974,11861,0.00,0.00,6.47,1.021,6,0.000,0.000,2830,2439,1966
$GC,12160,1.17,396.1,685.2,12.2,989,12183,0.22,2.28,12.32,1.141,4,0.071,0.031,2930,969,1915
$GC,12306,1.05,396.1,660.9,15.8,995,12311,0.17,2.35,0.00,0.000,6,0.185,0.033,2887,2490,1913
$GC,12623,1.05,396.1,614.3,14.3,1010,12626,0.00,1.98,0.00,0.000,4,0.000,0.050,2887,3755,1912
$GC,12697,0.96,396.1,603.3,14.8,1013,12701,0.15,1.83,0.00,0.000,6,0.186,0.024,2858,2495,1911
$GC,13024,1.18,421.5,563.8,11.2,1029,13053,0.17,2.05,22.90,1.119,4,0.079,0.050,2930,3763,1811
$GC,13105,0.99,421.5,551.8,15.9,1032,13111,0.28,1.75,0.00,0.000,6,0.179,0.026,2866,2571,1808
$GC,13422,1.27,431.1,511.3,12.4,1048,13436,0.20,1.92,8.93,0.987,4,0.074,0.049,2950,3752,1774
$GC,13454,1.10,431.1,506.1,15.7,1049,13458,0.22,1.85,0.00,0.000,6,0.189,0.025,2903,2486,1773
$GC,13785,1.10,431.1,461.1,14.1,1078,13789,0.00,2.25,0.00,0.000,4,0.000,0.030,2913,972,1771
$GC,13910,1.15,431.1,444.4,13.5,1088,13916,0.00,2.30,0.00,0.000,6,0.000,0.032,2913,2475,1771
$GC,14238,1.27,435.0,403.0,12.8,1119,14250,0.12,2.28,4.55,0.746,4,0.083,0.031,2966,982,1758
$GC,14325,1.16,435.0,389.8,15.2,1126,14331,0.17,2.40,0.00,0.000,6,0.188,0.032,2924,2549,1758
$GC,14650,1.26,446.6,345.0,12.2,1157,14667,0.00,1.88,12.00,0.916,4,0.000,0.048,2924,3755,1711
$GC,14755,1.28,460.4,331.9,12.1,1166,14777,0.00,1.90,13.12,0.900,6,0.000,0.023,2925,2460,1654
$GC,15100,1.50,468.7,290.3,12.5,1205,15115,0.25,2.12,8.12,0.814,4,0.066,0.046,3026,3764,1621
$GC,15140,1.20,468.7,284.1,17.6,1211,15147,0.38,2.03,0.00,0.000,6,0.183,0.022,2937,2392,1620
$GC,15490,1.41,482.3,239.4,12.1,1272,15509,0.17,2.15,12.35,0.819,4,0.073,0.044,3011,3763,1567
$GC,15614,1.16,482.3,221.3,15.1,1293,15622,0.38,1.95,0.00,0.000,6,0.179,0.022,2921,2418,1566
$GC,15962,1.49,506.7,181.5,11.3,1354,15992,0.25,2.17,22.30,0.795,4,0.064,0.028,3034,968,1465
$GC,16119,1.36,506.7,157.5,15.9,1381,16126,0.20,2.17,0.00,0.000,6,0.170,0.029,2983,2404,1462
$GC,16469,1.60,516.1,111.5,12.4,1442,16487,0.17,2.20,8.75,0.670,4,0.073,0.027,3073,963,1427
$GC,16659,1.50,527.3,83.2,12.2,1475,16678,0.17,2.03,11.00,0.666,6,0.183,0.028,3029,2323,1381
$GC,17022,1.53,555.5,36.6,11.0,1538,17052,0.00,2.28,24.17,0.654,4,0.000,0.043,3029,3751,1266
$GC,17098,1.53,555.5,25.3,15.5,1551,17104,0.00,2.10,0.00,0.000,6,0.000,0.021,3033,2297,1264
$STATE,17269,end climb,SURFACE_DEPTH_REACHED
$STATE,17269,begin surface coast
$FINISH,1.7,1.009191
$STATE,17290,end surface coast,CONTROL_FINISHED_OK
$STATE,17291,begin surface
$SM_CCo,17370,0.00,0.000,0,0,1261,557.08
$SM_GC,2.66,7.72,0.00,0.00,0.049,0.000,0.000,141,2416,1261,-7.50,0.93,557.08
$IRIDIUM_FIX,2453.69,12358.55,041198,181810
$TT8_MAMPS,0.029146
$HUMID,1727
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,22.6,84.643
$10V_AH,10.6,45.084
$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,31.325,157.300,581.200,0.000,0.000,51.803,123.323,205.845,8.500,0.000,0.000,13.449,2866.349,10658.729,720.916,2832.263,907.475,0.000,2182.790,0.000,2768.840,0.000,54.431,0.000
$DEVICE_MAMPS,227.799,61.360,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.803,1094.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85229,1585
$CAP_FILE_SIZE,190926,0
$CFSIZE,260165632,186863616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.254, 34.9,1
$GPS,110809,040007,2504.956,12400.817,37,1.1,39,-3.7