version: 66.04
glider: 167
mission: 2
dive: 487
start: 8 11 109 4 8 31
data:
$ID,167
$MISSION,2
$DIVE,487
$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,-15781.52
$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,67
$R_STBD_OVSHOOT,76
$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
$GPS1,040007,2504.956,12400.817,37,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-61.4
$GPS2,040811,2505.035,12400.872,15,2.1,34,-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,218.0,31584,-24.8,-13.043
$D_GRID,1957
$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,-121.7,0.0,0.0,0,64,0.00,0.00,-45.30,0.000,2,0.000,0.000,140,2417,2396
$GC,67,-1.49,-121.7,3.2,-2.1,8,130,8.20,2.20,-49.33,0.000,4,0.242,0.038,2060,968,3989
$GC,150,-0.93,-121.7,11.4,-18.9,21,156,0.68,2.08,0.00,0.000,6,0.168,0.027,2241,2359,3990
$GC,497,-1.20,-121.7,54.1,-12.1,82,503,0.20,2.03,0.00,0.000,4,0.062,0.023,2150,971,3991
$GC,522,-1.26,-121.7,57.8,-14.6,86,528,0.00,2.08,0.00,0.000,6,0.000,0.026,2142,2380,3991
$GC,868,-1.13,-121.7,111.8,-12.8,147,875,0.15,2.08,0.00,0.000,4,0.163,0.040,2172,3749,3991
$GC,956,-1.00,-121.7,123.3,-13.8,162,962,0.17,1.98,0.00,0.000,6,0.156,0.020,2220,2329,3992
$GC,1302,-1.28,-121.7,160.0,-9.2,223,1309,0.22,1.92,0.00,0.000,4,0.059,0.022,2124,972,3994
$GC,1335,-1.19,-121.7,163.3,-11.6,228,1343,0.17,2.03,0.00,0.000,6,0.163,0.025,2161,2370,3994
$GC,1684,-1.29,-121.7,202.1,-10.7,289,1690,0.00,2.08,0.00,0.000,4,0.000,0.041,2153,3748,3995
$GC,1737,-1.21,-121.7,208.4,-11.6,298,1743,0.00,2.00,0.00,0.000,6,0.000,0.020,2153,2300,3995
$GC,2082,-1.30,-121.7,245.5,-10.3,359,2088,0.00,2.22,0.00,0.000,4,0.000,0.041,2152,3751,3996
$GC,2096,-1.37,-121.7,247.1,-10.5,361,2103,0.15,2.03,0.00,0.000,6,0.072,0.020,2091,2290,3996
$GC,2445,-1.17,-121.7,292.0,-12.1,422,2452,0.25,2.25,0.00,0.000,4,0.160,0.039,2156,3755,3996
$GC,2521,-1.11,-121.7,301.7,-12.0,434,2527,0.12,2.03,0.00,0.000,6,0.163,0.021,2187,2306,3996
$GC,2847,-1.36,-121.7,331.0,-8.7,465,2851,0.20,1.90,0.00,0.000,4,0.063,0.023,2099,966,3996
$GC,2883,-1.21,-121.7,334.7,-11.4,468,2887,0.20,2.05,0.00,0.000,6,0.163,0.027,2151,2360,3996
$GC,3209,-1.30,-121.7,366.9,-10.6,498,3212,0.00,2.12,0.00,0.000,4,0.000,0.042,2149,3759,3995
$GC,3245,-1.30,-121.7,370.7,-11.1,501,3249,0.00,2.05,0.00,0.000,6,0.000,0.021,2149,2297,3996
$GC,3577,-1.43,-121.7,404.8,-9.1,532,3581,0.17,1.88,0.00,0.000,4,0.067,0.023,2077,971,3996
$GC,3613,-1.25,-121.7,408.4,-10.7,535,3617,0.25,2.03,0.00,0.000,6,0.158,0.027,2140,2349,3996
$GC,3939,-1.36,-121.7,436.3,-8.1,565,3943,0.00,2.15,0.00,0.000,4,0.000,0.044,2137,3758,3995
$GC,3968,-1.36,-121.7,438.9,-9.4,567,3974,0.00,2.05,0.00,0.000,6,0.000,0.021,2138,2301,3995
$GC,4297,-1.41,-121.7,469.7,-9.7,598,4301,0.15,2.25,0.00,0.000,4,0.072,0.042,2071,3754,3994
$GC,4343,-1.11,-121.7,475.0,-11.7,601,4354,0.40,2.00,0.00,0.000,6,0.162,0.021,2183,2338,3994
$GC,4668,-1.37,-121.7,505.8,-9.3,629,4673,0.20,2.20,0.00,0.000,4,0.067,0.044,2098,3753,3993
$GC,4703,-1.21,-121.7,509.7,-11.5,630,4709,0.20,1.92,0.00,0.000,6,0.167,0.021,2150,2383,3993
$GC,5020,-1.39,-121.7,542.1,-9.5,646,5024,0.15,1.98,0.00,0.000,4,0.071,0.023,2091,1012,3991
$GC,5116,-1.23,-121.7,553.0,-11.8,650,5121,0.22,2.05,0.00,0.000,6,0.163,0.028,2145,2387,3990
$GC,5440,-1.39,-121.7,584.4,-9.3,666,5445,0.15,2.10,0.00,0.000,4,0.077,0.044,2085,3753,3988
$GC,5543,-1.17,-121.7,596.6,-11.8,670,5547,0.30,1.95,0.00,0.000,6,0.164,0.023,2167,2399,3987
$GC,5867,-1.44,-121.7,627.2,-9.7,686,5871,0.20,2.03,0.00,0.000,4,0.067,0.024,2081,1001,3985
$GC,5946,-1.27,-121.7,636.8,-12.1,689,5953,0.20,2.05,0.00,0.000,6,0.165,0.031,2134,2368,3984
$GC,6264,-1.41,-121.7,667.8,-9.3,705,6268,0.12,2.00,0.00,0.000,4,0.084,0.025,2085,1009,3982
$GC,6333,-1.27,-121.7,675.1,-10.4,708,6337,0.17,2.00,0.00,0.000,6,0.170,0.031,2129,2337,3981
$GC,6670,-1.42,-121.7,705.5,-9.5,724,6671,0.12,0.00,0.00,0.000,6,0.086,0.000,2082,2337,3979
$GC,6975,-1.33,-121.7,739.7,-11.2,739,6980,0.12,2.20,0.00,0.000,4,0.171,0.046,2110,3753,3977
$GC,6999,-1.27,-121.7,742.3,-11.2,740,7002,0.00,2.05,0.00,0.000,6,0.000,0.024,2110,2324,3977
$GC,7327,-1.27,-121.7,776.5,-10.6,756,7331,0.00,1.90,0.00,0.000,4,0.000,0.027,2110,1012,3975
$GC,7351,-1.27,-121.7,779.2,-11.2,757,7355,0.00,2.00,0.00,0.000,6,0.000,0.033,2110,2332,3974
$GC,7686,-1.34,-121.7,813.2,-10.0,773,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2332,3973
$GC,7994,-1.42,-121.7,844.7,-10.4,788,7998,0.00,1.95,0.00,0.000,4,0.000,0.027,2111,1011,3971
$GC,8058,-1.37,-121.7,851.6,-11.0,790,8064,0.00,2.00,0.00,0.000,6,0.000,0.031,2110,2333,3970
$GC,8374,-1.45,-121.7,884.7,-10.1,806,8378,0.00,1.95,0.00,0.000,4,0.000,0.027,2110,1011,3969
$GC,8402,-1.45,-121.7,887.8,-11.0,807,8406,0.00,1.95,0.00,0.000,6,0.000,0.032,2110,2302,3968
$GC,8731,-1.45,-121.7,922.3,-10.4,823,8735,0.00,2.28,0.00,0.000,4,0.000,0.051,2110,3762,3967
$GC,8929,-1.34,-121.7,944.4,-10.8,831,8935,0.00,2.10,0.00,0.000,6,0.000,0.025,2110,2306,3966
$STATE,9139,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9139,begin apogee
$GC,9147,-0.27,0.0,966.1,9.9,842,9250,1.17,0.00,94.68,1.379,6,0.160,0.000,2451,2372,3532
$STATE,9251,end apogee,CONTROL_FINISHED_OK
$STATE,9251,begin climb
$GC,9254,1.49,121.7,971.9,0.0,847,9366,1.62,2.17,104.32,1.363,4,0.065,0.028,3035,1003,3034
$GC,9441,0.86,188.3,972.2,8.3,855,9504,0.82,2.12,56.25,1.335,6,0.210,0.034,2827,2368,2763
$GC,9822,0.79,239.0,936.7,9.4,874,9871,0.00,2.33,43.00,1.318,4,0.000,0.050,2827,3755,2556
$GC,10002,0.60,239.0,914.8,13.6,882,10007,0.32,1.98,0.00,0.000,6,0.186,0.024,2743,2429,2552
$GC,10325,0.97,298.2,886.3,8.8,898,10381,0.30,2.22,50.40,1.309,4,0.069,0.031,2868,1003,2315
$GC,10528,0.90,300.9,859.1,12.9,906,10533,0.15,2.25,0.00,0.000,6,0.181,0.034,2832,2451,2309
$GC,10846,0.90,303.9,818.8,12.8,921,10855,0.00,2.05,4.85,0.933,4,0.000,0.051,2831,3750,2293
$GC,10919,0.81,303.9,807.6,15.2,924,10923,0.12,1.85,0.00,0.000,6,0.192,0.025,2810,2483,2292
$GC,11248,0.91,323.8,768.5,11.6,940,11271,0.00,2.10,18.17,1.223,4,0.000,0.049,2810,3748,2211
$GC,11335,0.92,327.6,757.2,12.8,943,11344,0.00,1.80,5.05,0.926,6,0.000,0.026,2815,2521,2195
$GC,11677,1.04,346.3,717.7,11.7,960,11702,0.17,2.38,17.17,1.192,4,0.074,0.031,2900,998,2120
$GC,11806,0.95,346.3,699.8,13.2,965,11811,0.20,2.30,0.00,0.000,6,0.181,0.033,2850,2484,2117
$GC,12123,0.97,362.3,661.0,11.9,980,12146,0.00,2.03,14.85,1.151,4,0.000,0.050,2849,3760,2053
$GC,12237,0.97,362.3,645.3,13.1,985,12241,0.00,1.83,0.00,0.000,6,0.000,0.027,2856,2522,2050
$GC,12573,1.05,365.1,602.0,12.8,1001,12576,0.00,1.95,0.00,0.000,4,0.000,0.050,2856,3750,2049
$GC,12618,1.05,365.1,595.3,14.0,1003,12622,0.00,1.75,0.00,0.000,6,0.000,0.025,2865,2542,2049
$GC,12951,1.05,365.1,550.6,13.3,1019,12955,0.00,2.30,0.00,0.000,4,0.000,0.031,2868,997,2048
$GC,13037,1.05,365.1,539.7,13.1,1023,13041,0.00,2.35,0.00,0.000,6,0.000,0.033,2868,2529,2048
$GC,13364,1.05,366.1,497.6,13.0,1039,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2530,2047
$GC,13688,1.23,396.7,461.9,10.9,1069,13724,0.20,1.98,29.20,1.058,4,0.074,0.048,2951,3751,1913
$GC,13748,0.98,396.7,453.1,15.1,1074,13754,0.38,1.80,0.00,0.000,6,0.181,0.024,2860,2521,1911
$GC,14074,1.32,453.7,420.7,9.0,1105,14139,0.28,2.05,50.88,0.989,4,0.067,0.049,2971,3747,1680
$GC,14193,1.10,453.7,405.9,13.3,1115,14199,0.30,1.90,0.00,0.000,6,0.181,0.024,2903,2469,1677
$GC,14519,1.32,474.2,371.0,11.6,1146,14542,0.20,2.12,16.92,0.939,4,0.073,0.048,2985,3758,1598
$GC,14576,1.11,474.2,362.1,18.5,1151,14581,0.35,2.00,0.00,0.000,6,0.179,0.025,2903,2416,1595
$GC,14903,1.49,504.6,322.4,10.9,1181,14936,0.30,2.22,26.67,0.918,4,0.061,0.047,3023,3762,1473
$GC,15012,1.23,504.6,305.7,16.7,1190,15019,0.32,2.08,0.00,0.000,6,0.176,0.024,2946,2368,1469
$GC,15357,1.45,504.6,259.4,13.3,1248,15365,0.17,2.20,0.00,0.000,4,0.072,0.044,3019,3760,1467
$GC,15407,1.22,504.6,251.2,17.8,1256,15415,0.32,2.22,0.00,0.000,6,0.173,0.024,2943,2241,1467
$GC,15756,1.50,513.2,207.9,12.4,1317,15769,0.20,1.95,7.50,0.725,4,0.070,0.030,3032,967,1439
$GC,15843,1.36,513.2,193.3,17.1,1332,15851,0.20,2.08,0.00,0.000,6,0.175,0.029,2982,2340,1438
$GC,16191,1.50,534.2,145.3,11.5,1393,16217,0.12,2.28,19.08,0.750,4,0.083,0.046,3029,3759,1354
$GC,16253,1.36,534.2,137.1,14.2,1403,16260,0.20,2.08,0.00,0.000,6,0.183,0.022,2982,2334,1352
$GC,16599,1.68,585.2,93.5,9.4,1464,16654,0.25,2.08,43.58,0.712,4,0.063,0.028,3098,979,1145
$GC,16751,1.56,585.2,72.4,16.0,1490,16759,0.20,2.08,0.00,0.000,6,0.183,0.029,3047,2347,1142
$GC,17099,1.56,585.2,20.7,15.6,1551,17105,0.00,2.03,0.00,0.000,4,0.000,0.027,3056,974,1141
$GC,17145,1.56,585.2,13.8,15.8,1559,17151,0.00,2.00,0.00,0.000,6,0.000,0.028,3056,2317,1141
$STATE,17217,end climb,SURFACE_DEPTH_REACHED
$STATE,17217,begin surface coast
$FINISH,1.9,1.002623
$STATE,17235,end surface coast,CONTROL_FINISHED_OK
$STATE,17235,begin surface
$SM_CCo,17316,0.00,0.000,0,0,1138,587.25
$SM_GC,2.68,7.90,0.00,0.00,0.058,0.000,0.000,142,2392,1138,-7.50,0.25,587.25
$IRIDIUM_FIX,2456.07,12403.18,041198,232349
$TT8_MAMPS,0.028379
$HUMID,1728
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.2,84.860
$10V_AH,10.6,45.185
$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,30.675,165.100,602.575,0.000,0.000,22.874,37.378,221.910,7.750,0.000,0.000,35.918,2836.421,10561.179,726.633,2867.518,788.349,0.000,2214.588,0.000,2773.829,0.000,52.756,0.000
$DEVICE_MAMPS,241.605,103.545,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.580,1078.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85201,1575
$CAP_FILE_SIZE,191387,0
$CFSIZE,260165632,186773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.257, 35.9,1
$GPS,110809,085825,2506.249,12401.586,40,1.8,41,-3.7