version: 66.04
glider: 167
mission: 2
dive: 488
start: 8 11 109 9 6 24
data:
$ID,167
$MISSION,2
$DIVE,488
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,250
$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,-15811.986
$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,47
$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
$GPS1,085825,2506.249,12401.586,40,1.8,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-59.3
$GPS2,090606,2506.366,12401.665,13,1.9,29,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2502.673,12350.464
$TGT_RADIUS,1852.000
$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,253.7,20000,-24.8,-13.043
$D_GRID,1982
$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,12,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,-46.97,0.000,2,0.000,0.000,142,2392,2303
$GC,70,-1.49,-121.7,3.1,-1.8,9,141,7.95,2.08,-56.12,0.000,4,0.233,0.036,2063,974,3988
$GC,160,-1.01,-121.7,11.0,-18.8,25,166,0.57,2.12,0.00,0.000,6,0.171,0.028,2213,2396,3989
$GC,506,-1.19,-121.7,56.9,-13.1,86,512,0.15,2.08,0.00,0.000,4,0.069,0.042,2146,3754,3990
$GC,548,-0.91,-121.7,63.5,-16.9,93,554,0.38,1.98,0.00,0.000,6,0.162,0.020,2250,2340,3989
$GC,894,-1.12,-121.7,107.2,-10.5,154,900,0.17,1.90,0.00,0.000,4,0.064,0.022,2171,1005,3990
$GC,955,-1.07,-121.7,114.1,-12.2,164,962,0.15,2.00,0.00,0.000,6,0.163,0.025,2203,2369,3991
$GC,1303,-1.27,-121.7,152.5,-11.6,225,1309,0.20,0.00,0.00,0.000,6,0.060,0.000,2114,2370,3992
$GC,1647,-1.10,-121.7,194.2,-12.5,286,1654,0.22,1.95,0.00,0.000,4,0.160,0.021,2180,1015,3993
$GC,1674,-1.04,-121.7,197.1,-11.2,290,1680,0.12,1.95,0.00,0.000,6,0.169,0.027,2209,2339,3994
$GC,2023,-1.33,-121.7,231.9,-9.5,351,2029,0.22,1.92,0.00,0.000,4,0.062,0.022,2111,1006,3994
$GC,2065,-1.15,-121.7,237.3,-12.8,358,2072,0.25,1.92,0.00,0.000,6,0.157,0.026,2173,2329,3994
$GC,2411,-1.33,-121.7,271.5,-10.3,419,2417,0.17,0.00,0.00,0.000,6,0.065,0.000,2094,2331,3994
$GC,2751,-1.14,-121.7,310.2,-11.4,472,2756,0.25,2.15,0.00,0.000,4,0.160,0.041,2165,3753,3994
$GC,2824,-1.14,-121.7,318.3,-11.2,478,2830,0.00,2.03,0.00,0.000,6,0.000,0.020,2165,2295,3994
$GC,3150,-1.31,-121.7,353.5,-10.9,509,3154,0.12,1.83,0.00,0.000,4,0.075,0.023,2111,1009,3994
$GC,3173,-1.31,-121.7,356.0,-10.9,511,3177,0.00,1.90,0.00,0.000,6,0.000,0.027,2110,2307,3994
$GC,3508,-1.31,-121.7,388.9,-10.2,542,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2307,3994
$GC,3836,-1.31,-121.7,425.8,-10.7,573,3840,0.00,1.88,0.00,0.000,4,0.000,0.024,2110,1008,3994
$GC,3877,-1.20,-121.7,430.7,-11.3,576,3884,0.17,1.90,0.00,0.000,6,0.166,0.028,2155,2300,3994
$GC,4203,-1.37,-121.7,464.0,-11.0,607,4205,0.15,0.00,0.00,0.000,6,0.071,0.000,2095,2302,3993
$GC,4524,-1.37,-121.7,500.0,-10.6,637,4529,0.00,1.88,0.00,0.000,4,0.000,0.025,2095,1009,3992
$GC,4558,-1.28,-121.7,504.0,-11.2,639,4562,0.15,1.90,0.00,0.000,6,0.168,0.028,2132,2294,3992
$GC,4881,-1.39,-121.7,534.6,-9.6,655,4884,0.00,2.22,0.00,0.000,4,0.000,0.044,2125,3749,3991
$GC,4955,-1.29,-121.7,542.7,-11.0,658,4958,0.00,2.08,0.00,0.000,6,0.000,0.021,2124,2287,3991
$GC,5283,-1.29,-121.7,578.1,-10.5,674,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2278,3989
$GC,5592,-1.41,-121.7,608.1,-9.5,689,5595,0.00,1.80,0.00,0.000,4,0.000,0.026,2125,1021,3987
$GC,5638,-1.41,-121.7,612.8,-10.2,691,5641,0.00,1.92,0.00,0.000,6,0.000,0.030,2124,2310,3987
$GC,5973,-1.53,-121.7,643.6,-9.2,707,5977,0.20,2.22,0.00,0.000,4,0.069,0.046,2036,3748,3984
$GC,6013,-1.16,-121.7,648.4,-12.7,709,6018,0.47,2.08,0.00,0.000,6,0.169,0.022,2170,2301,3984
$GC,6344,-1.45,-121.7,674.5,-7.9,725,6350,0.22,1.83,0.00,0.000,4,0.066,0.025,2076,1023,3982
$GC,6407,-1.28,-121.7,681.2,-10.6,727,6413,0.22,1.88,0.00,0.000,6,0.163,0.030,2132,2279,3981
$GC,6724,-1.43,-121.7,711.5,-9.5,743,6729,0.15,2.30,0.00,0.000,4,0.081,0.047,2071,3759,3979
$GC,6769,-1.17,-121.7,717.2,-13.5,745,6774,0.35,2.12,0.00,0.000,6,0.168,0.023,2167,2275,3978
$GC,7093,-1.45,-121.7,748.0,-9.3,761,7097,0.22,1.83,0.00,0.000,4,0.069,0.027,2076,1018,3976
$GC,7150,-1.29,-121.7,754.9,-12.4,763,7155,0.20,1.88,0.00,0.000,6,0.166,0.031,2124,2267,3975
$GC,7473,-1.41,-121.7,786.5,-9.4,779,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2266,3974
$GC,7783,-1.55,-121.7,816.5,-10.0,794,7787,0.20,1.85,0.00,0.000,4,0.071,0.026,2044,1017,3971
$GC,7852,-1.29,-121.7,825.2,-13.2,797,7856,0.32,1.85,0.00,0.000,6,0.174,0.033,2129,2240,3971
$GC,8188,-1.44,-121.7,861.4,-10.8,813,8193,0.15,2.35,0.00,0.000,4,0.081,0.048,2071,3749,3969
$GC,8227,-1.18,-121.7,867.1,-14.6,814,8234,0.32,2.17,0.00,0.000,6,0.170,0.024,2159,2234,3968
$GC,8549,-1.45,-121.7,900.4,-10.0,830,8553,0.20,1.77,0.00,0.000,4,0.073,0.026,2077,1015,3967
$GC,8573,-1.45,-121.7,903.6,-11.3,831,8577,0.00,1.83,0.00,0.000,6,0.000,0.031,2071,2206,3967
$GC,8907,-1.29,-121.7,944.7,-11.7,847,8912,0.20,2.42,0.00,0.000,4,0.173,0.047,2124,3751,3965
$GC,9065,-1.29,-121.7,961.6,-10.5,854,9069,0.00,2.17,0.00,0.000,6,0.000,0.024,2124,2248,3965
$STATE,9136,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9136,begin apogee
$GC,9143,-0.27,0.0,968.3,9.1,858,9247,1.12,0.00,94.60,1.373,6,0.160,0.000,2452,2364,3532
$STATE,9247,end apogee,CONTROL_FINISHED_OK
$STATE,9247,begin climb
$GC,9251,1.49,121.7,973.0,0.0,863,9362,1.60,2.28,104.30,1.357,4,0.064,0.046,3021,3750,3036
$GC,9431,0.65,154.1,969.7,10.7,871,9467,1.10,2.03,28.55,1.302,6,0.220,0.021,2757,2382,2903
$GC,9792,0.77,208.9,937.0,9.1,889,9844,0.10,2.28,46.20,1.324,4,0.102,0.049,2793,3757,2679
$GC,9987,0.67,226.5,913.6,11.8,898,10009,0.15,1.98,15.90,1.239,6,0.193,0.024,2767,2412,2608
$GC,10322,0.86,265.7,878.6,10.2,914,10364,0.15,2.22,33.25,1.291,4,0.081,0.049,2822,3745,2447
$GC,10490,0.73,265.7,855.4,13.9,921,10494,0.20,1.88,0.00,0.000,6,0.184,0.025,2780,2470,2444
$GC,10812,0.98,293.2,818.4,11.1,937,10842,0.20,2.28,24.23,1.256,4,0.075,0.032,2872,990,2336
$GC,10960,0.89,293.2,797.4,13.8,943,10966,0.15,2.22,0.00,0.000,6,0.186,0.032,2835,2432,2331
$GC,11276,0.91,305.0,757.8,12.2,959,11291,0.00,2.08,10.32,1.144,4,0.000,0.051,2836,3749,2289
$GC,11413,0.82,308.6,739.4,12.8,964,11423,0.08,1.90,5.05,0.926,6,0.188,0.025,2810,2470,2273
$GC,11737,1.05,355.2,705.6,9.7,979,11783,0.17,2.12,40.55,1.219,4,0.080,0.050,2883,3757,2083
$GC,11866,0.86,355.2,687.7,13.8,984,11872,0.25,1.88,0.00,0.000,6,0.186,0.024,2826,2486,2078
$GC,12182,1.08,380.8,650.6,11.2,1000,12211,0.20,2.12,21.90,1.157,4,0.071,0.050,2909,3759,1978
$GC,12281,0.89,380.8,635.0,16.4,1004,12285,0.32,1.85,0.00,0.000,6,0.182,0.025,2832,2502,1974
$GC,12602,1.20,401.8,596.4,11.5,1020,12628,0.25,2.05,18.83,1.118,4,0.067,0.049,2932,3747,1893
$GC,12694,0.98,401.8,582.3,16.3,1024,12698,0.30,1.92,0.00,0.000,6,0.186,0.025,2859,2461,1890
$GC,13023,1.22,404.8,539.7,12.8,1040,13028,0.20,2.05,0.00,0.000,4,0.076,0.048,2943,3747,1888
$GC,13132,0.97,404.8,522.1,17.6,1045,13137,0.35,2.00,0.00,0.000,6,0.183,0.024,2858,2394,1888
$GC,13456,1.27,436.1,483.6,10.8,1067,13491,0.22,2.20,29.45,1.062,4,0.070,0.031,2960,974,1753
$GC,13594,1.15,436.1,464.7,13.6,1079,13598,0.17,2.30,0.00,0.000,6,0.189,0.033,2918,2453,1749
$GC,13919,1.30,436.1,421.2,13.3,1109,13923,0.12,2.05,0.00,0.000,4,0.084,0.049,2965,3759,1746
$GC,14005,1.11,436.1,407.2,16.7,1116,14011,0.28,1.88,0.00,0.000,6,0.187,0.024,2903,2464,1746
$GC,14332,1.32,462.2,365.3,11.2,1147,14357,0.20,0.00,22.60,0.961,6,0.073,0.000,2984,2463,1647
$GC,14672,1.19,462.2,312.8,15.9,1179,14677,0.20,2.05,0.00,0.000,4,0.179,0.046,2930,3757,1642
$GC,14780,1.19,462.2,295.3,16.1,1190,14787,0.00,2.00,0.00,0.000,6,0.000,0.024,2937,2376,1641
$GC,15127,1.38,493.6,251.4,10.8,1251,15160,0.15,2.20,26.73,0.868,4,0.076,0.048,2996,3749,1518
$GC,15274,1.14,493.6,230.7,14.5,1277,15281,0.35,1.88,0.00,0.000,6,0.180,0.023,2913,2451,1515
$GC,15620,1.52,493.6,187.8,14.1,1338,15627,0.30,2.05,0.00,0.000,4,0.062,0.045,3034,3755,1513
$GC,15658,1.31,493.6,181.5,19.8,1344,15665,0.28,1.98,0.00,0.000,6,0.174,0.021,2970,2384,1513
$GC,16008,1.52,545.5,136.8,9.3,1405,16058,0.17,2.17,42.90,0.756,4,0.073,0.044,3046,3759,1307
$GC,16149,1.31,545.5,115.5,17.4,1430,16156,0.32,1.92,0.00,0.000,6,0.174,0.021,2970,2435,1304
$GC,16496,1.75,572.8,70.5,11.1,1491,16525,0.35,2.15,23.55,0.676,4,0.056,0.044,3112,3764,1196
$GC,16549,1.53,572.8,62.6,15.8,1500,16556,0.30,2.03,0.00,0.000,6,0.188,0.021,3041,2360,1195
$GC,16896,1.64,572.8,17.2,13.8,1561,16902,0.00,2.17,0.00,0.000,4,0.000,0.042,3042,3764,1193
$STATE,16990,end climb,SURFACE_DEPTH_REACHED
$STATE,16990,begin surface coast
$FINISH,1.8,1.022327
$STATE,17009,end surface coast,CONTROL_FINISHED_OK
$STATE,17010,begin surface
$SM_CCo,17091,0.00,0.000,0,0,1190,574.49
$SM_GC,2.67,7.80,0.00,0.00,0.054,0.000,0.000,139,2389,1190,-7.51,0.17,574.49
$IRIDIUM_FIX,2456.07,12405.15,051198,040443
$TT8_MAMPS,0.029146
$HUMID,1721
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,23.2,85.073
$10V_AH,10.6,45.284
$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,33.000,146.250,588.900,0.000,0.000,29.119,31.973,205.851,8.250,0.000,0.000,29.836,2620.470,10581.335,693.136,2850.322,785.290,0.000,2163.787,0.000,2772.884,0.000,52.770,0.000
$DEVICE_MAMPS,233.168,62.894,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.038,1090.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85320,1581
$CAP_FILE_SIZE,187632,0
$CFSIZE,260165632,186679296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110809,135230,2507.705,12402.337,37,1.5,38,-3.7