version: 66.04
glider: 167
mission: 2
dive: 489
start: 8 11 109 14 0 21
data:
$ID,167
$MISSION,2
$DIVE,489
$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,-15826.459
$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,78
$R_STBD_OVSHOOT,43
$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
$GPS1,135230,2507.705,12402.337,37,1.5,38,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-60.2
$GPS2,140002,2507.719,12402.379,13,1.6,13,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2504.025,12351.176
$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,1999
$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,-121.7,0.0,0.0,0,61,0.00,0.00,-42.30,0.000,2,0.000,0.000,139,2389,2248
$GC,66,-1.49,-121.7,3.0,-1.6,8,142,7.93,2.10,-59.55,0.000,4,0.232,0.038,2061,992,3989
$GC,197,-0.97,-121.7,18.4,-19.1,31,204,0.62,2.08,0.00,0.000,6,0.169,0.025,2228,2393,3990
$GC,543,-1.20,-121.7,59.7,-10.1,92,550,0.17,2.05,0.00,0.000,4,0.067,0.023,2147,986,3991
$GC,619,-0.96,-121.7,70.0,-15.0,105,626,0.35,2.00,0.00,0.000,6,0.163,0.026,2235,2345,3991
$GC,966,-1.26,-121.7,108.8,-9.4,166,971,0.25,0.00,0.00,0.000,6,0.058,0.000,2125,2347,3991
$GC,1311,-1.26,-121.7,151.0,-10.9,227,1317,0.00,1.98,0.00,0.000,4,0.000,0.024,2126,975,3993
$GC,1393,-1.06,-121.7,161.2,-13.4,241,1400,0.28,2.00,0.00,0.000,6,0.161,0.027,2199,2334,3993
$GC,1740,-1.30,-121.7,196.7,-10.1,302,1746,0.17,1.95,0.00,0.000,4,0.064,0.022,2120,984,3994
$GC,1849,-1.11,-121.7,210.9,-13.1,321,1855,0.25,1.92,0.00,0.000,6,0.159,0.025,2179,2302,3995
$GC,2195,-1.31,-121.7,243.5,-8.9,382,2202,0.17,2.20,0.00,0.000,4,0.067,0.041,2097,3753,3995
$GC,2226,-1.16,-121.7,246.9,-11.2,387,2233,0.25,2.10,0.00,0.000,6,0.164,0.020,2165,2243,3995
$GC,2575,-1.29,-121.7,282.5,-10.1,448,2581,0.12,1.80,0.00,0.000,4,0.076,0.024,2112,976,3995
$GC,2652,-1.14,-121.7,291.8,-12.2,461,2658,0.25,1.90,0.00,0.000,6,0.161,0.027,2178,2279,3995
$GC,2984,-1.34,-121.7,319.9,-8.4,499,2989,0.17,1.88,0.00,0.000,4,0.068,0.023,2100,985,3995
$GC,3042,-1.17,-121.7,326.3,-11.7,504,3046,0.25,1.83,0.00,0.000,6,0.162,0.027,2165,2235,3995
$GC,3374,-1.34,-121.7,361.2,-9.5,535,3379,0.15,2.30,0.00,0.000,4,0.074,0.041,2100,3748,3995
$GC,3403,-1.25,-121.7,364.4,-11.4,537,3408,0.15,2.20,0.00,0.000,6,0.170,0.021,2138,2188,3995
$GC,3730,-1.32,-121.7,394.6,-10.2,567,3734,0.00,2.40,0.00,0.000,4,0.000,0.042,2137,3747,3995
$GC,3759,-1.32,-121.7,397.9,-11.4,569,3763,0.00,2.20,0.00,0.000,6,0.000,0.021,2138,2193,3995
$GC,4087,-1.45,-121.7,433.8,-10.9,599,4089,0.17,0.00,0.00,0.000,6,0.069,0.000,2064,2189,3995
$GC,4408,-1.29,-121.7,469.7,-11.3,629,4413,0.20,2.40,0.00,0.000,4,0.164,0.040,2112,3748,3993
$GC,4495,-1.16,-121.7,479.6,-10.8,636,4499,0.20,2.22,0.00,0.000,6,0.162,0.023,2165,2186,3993
$GC,4828,-1.40,-121.7,509.8,-9.0,662,4832,0.20,1.73,0.00,0.000,4,0.067,0.025,2080,985,3992
$GC,4869,-1.22,-121.7,514.0,-11.0,663,4875,0.28,1.83,0.00,0.000,6,0.162,0.028,2149,2223,3992
$GC,5185,-1.37,-121.7,537.6,-7.0,679,5190,0.12,2.35,0.00,0.000,4,0.081,0.044,2098,3747,3990
$GC,5249,-1.18,-121.7,543.4,-8.9,682,5254,0.22,2.22,0.00,0.000,6,0.169,0.022,2158,2193,3990
$GC,5585,-1.40,-121.7,569.6,-8.9,698,5589,0.20,1.73,0.00,0.000,4,0.072,0.026,2076,995,3987
$GC,5631,-1.25,-121.7,574.9,-11.6,700,5636,0.25,1.83,0.00,0.000,6,0.165,0.029,2138,2223,3987
$GC,5967,-1.40,-121.7,611.2,-10.9,716,5971,0.12,2.38,0.00,0.000,4,0.081,0.044,2085,3760,3985
$GC,5994,-1.32,-121.7,615.0,-13.3,717,5999,0.12,2.28,0.00,0.000,6,0.172,0.022,2115,2174,3984
$GC,6320,-1.41,-121.7,648.6,-9.9,733,6324,0.00,2.47,0.00,0.000,4,0.000,0.046,2111,3754,3982
$GC,6354,-1.35,-121.7,652.5,-10.5,734,6358,0.00,2.25,0.00,0.000,6,0.000,0.024,2111,2186,3982
$GC,6677,-1.43,-121.7,681.9,-8.8,750,6681,0.00,2.45,0.00,0.000,4,0.000,0.046,2111,3750,3979
$GC,6704,-1.43,-121.7,684.8,-9.6,751,6708,0.00,2.22,0.00,0.000,6,0.000,0.023,2110,2201,3979
$GC,7027,-1.51,-121.7,715.7,-9.8,767,7031,0.15,1.75,0.00,0.000,4,0.079,0.027,2050,992,3977
$GC,7101,-1.27,-121.7,724.4,-12.6,770,7106,0.32,1.80,0.00,0.000,6,0.173,0.031,2132,2196,3976
$GC,7431,-1.43,-121.7,755.8,-9.5,786,7436,0.15,2.42,0.00,0.000,4,0.082,0.047,2070,3753,3974
$GC,7494,-1.21,-121.7,763.4,-12.0,788,7501,0.30,2.28,0.00,0.000,6,0.170,0.022,2152,2169,3974
$GC,7811,-1.43,-121.7,791.4,-8.2,804,7815,0.20,1.70,0.00,0.000,4,0.072,0.026,2077,995,3972
$GC,7850,-1.28,-121.7,795.2,-10.0,805,7857,0.22,1.80,0.00,0.000,6,0.169,0.031,2131,2197,3971
$GC,8168,-1.45,-121.7,821.1,-8.0,821,8170,0.17,0.00,0.00,0.000,6,0.077,0.000,2065,2197,3970
$GC,8477,-1.36,-121.7,852.0,-10.7,836,8482,0.15,2.42,0.00,0.000,4,0.174,0.047,2097,3746,3968
$GC,8604,-1.24,-121.7,866.3,-11.4,841,8611,0.17,2.30,0.00,0.000,6,0.174,0.023,2142,2155,3968
$GC,8921,-1.44,-121.7,897.3,-9.5,857,8925,0.17,1.73,0.00,0.000,4,0.079,0.028,2078,995,3966
$GC,8978,-1.29,-121.7,903.9,-12.3,859,8982,0.22,1.75,0.00,0.000,6,0.170,0.032,2130,2156,3966
$STATE,9132,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9132,begin apogee
$GC,9139,-0.27,0.0,920.3,9.9,867,9235,1.08,0.00,92.32,1.360,6,0.150,0.000,2452,2368,3532
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9236,begin climb
$GC,9241,1.49,121.7,927.0,0.0,872,9352,1.62,2.25,103.57,1.325,4,0.068,0.028,3033,981,3035
$GC,9590,0.86,179.8,914.6,8.9,888,9646,0.82,2.15,48.85,1.300,6,0.213,0.034,2823,2381,2797
$GC,9963,0.79,237.9,881.4,8.9,906,10018,0.00,2.28,48.60,1.289,4,0.000,0.050,2823,3744,2561
$GC,10108,0.63,258.9,865.3,11.5,912,10133,0.30,2.00,18.58,1.219,6,0.186,0.023,2752,2400,2475
$GC,10452,0.97,314.5,833.4,9.1,929,10507,0.25,2.28,47.38,1.269,4,0.073,0.030,2864,970,2248
$GC,10579,0.97,314.5,817.8,13.4,934,10586,0.00,2.35,0.00,0.000,6,0.000,0.034,2864,2469,2245
$GC,10895,0.89,316.0,777.0,12.9,950,10899,0.12,2.03,0.00,0.000,4,0.189,0.049,2835,3760,2241
$GC,10988,0.78,316.0,764.3,13.7,954,10992,0.17,1.85,0.00,0.000,6,0.186,0.025,2797,2486,2240
$GC,11321,1.06,342.4,725.9,11.1,970,11351,0.22,2.08,23.67,1.206,4,0.071,0.050,2890,3744,2134
$GC,11435,0.83,342.4,707.9,16.6,975,11439,0.32,1.77,0.00,0.000,6,0.184,0.025,2813,2536,2131
$GC,11768,1.12,366.2,667.0,11.3,991,11794,0.22,1.95,20.65,1.164,4,0.072,0.049,2906,3753,2040
$GC,11888,0.90,366.2,649.4,14.3,996,11892,0.30,1.85,0.00,0.000,6,0.183,0.024,2836,2491,2036
$GC,12210,1.17,393.8,613.2,11.1,1012,12239,0.20,2.08,24.42,1.141,4,0.074,0.050,2919,3762,1925
$GC,12281,0.96,393.8,602.5,17.2,1015,12285,0.28,2.00,0.00,0.000,6,0.183,0.025,2856,2431,1923
$GC,12602,1.12,425.7,564.3,10.8,1031,12637,0.15,2.28,27.83,1.111,4,0.081,0.032,2912,979,1795
$GC,12746,1.12,428.8,545.9,12.8,1037,12750,0.00,2.22,0.00,0.000,6,0.000,0.032,2912,2420,1790
$GC,13062,1.12,428.8,502.4,14.2,1052,13066,0.00,2.10,0.00,0.000,4,0.000,0.049,2912,3761,1788
$GC,13101,0.99,428.8,496.2,15.2,1054,13108,0.20,2.00,0.00,0.000,6,0.179,0.024,2869,2393,1787
$GC,13427,1.31,431.2,453.0,12.9,1085,13439,0.22,2.17,4.93,0.801,4,0.071,0.049,2965,3754,1773
$GC,13546,1.06,431.2,433.5,17.1,1095,13550,0.32,2.08,0.00,0.000,6,0.181,0.024,2888,2339,1772
$GC,13872,1.31,449.5,393.2,11.7,1125,13893,0.17,0.00,17.45,0.975,6,0.080,0.000,2965,2336,1699
$GC,14212,1.20,449.5,343.6,14.6,1157,14217,0.12,2.25,0.00,0.000,4,0.190,0.045,2936,3758,1695
$GC,14291,1.14,449.5,332.1,14.3,1163,14297,0.12,2.05,0.00,0.000,6,0.194,0.025,2912,2358,1694
$GC,14621,1.32,461.1,290.6,12.2,1200,14638,0.17,2.05,10.62,0.855,4,0.076,0.029,2995,980,1651
$GC,14745,1.19,461.1,272.7,14.4,1221,14751,0.25,2.25,0.00,0.000,6,0.185,0.032,2932,2455,1649
$GC,15091,1.46,497.2,230.7,10.5,1282,15130,0.20,2.25,31.02,0.848,4,0.068,0.029,3025,984,1503
$GC,15238,1.30,497.2,209.2,15.7,1308,15245,0.22,2.12,0.00,0.000,6,0.177,0.030,2968,2382,1500
$GC,15585,1.46,511.4,162.5,12.0,1369,15604,0.12,2.12,12.93,0.746,4,0.078,0.028,3025,972,1445
$GC,15669,1.34,511.4,151.5,13.3,1383,15676,0.17,2.20,0.00,0.000,6,0.173,0.030,2982,2426,1443
$GC,16016,1.54,529.1,110.6,11.8,1444,16039,0.17,2.05,15.85,0.706,4,0.073,0.047,3060,3750,1374
$GC,16081,1.31,529.1,100.6,16.9,1455,16088,0.38,2.08,0.00,0.000,6,0.178,0.021,2969,2334,1373
$GC,16428,1.72,552.3,60.4,11.4,1516,16457,0.32,2.28,20.17,0.663,4,0.058,0.044,3102,3748,1278
$GC,16470,1.53,552.3,54.5,16.1,1523,16476,0.28,2.22,0.00,0.000,6,0.187,0.021,3040,2231,1278
$GC,16818,1.55,564.4,9.2,12.2,1584,16835,0.00,1.85,11.32,0.586,4,0.000,0.025,3049,961,1230
$STATE,16861,end climb,SURFACE_DEPTH_REACHED
$STATE,16861,begin surface coast
$FINISH,1.9,1.010175
$STATE,16885,end surface coast,CONTROL_FINISHED_OK
$STATE,16885,begin surface
$SM_CCo,16967,0.00,0.000,0,0,1227,565.42
$SM_GC,2.64,7.68,0.00,0.00,0.044,0.000,0.000,140,2409,1227,-7.50,0.74,565.42
$IRIDIUM_FIX,2458.45,12401.21,051198,090903
$TT8_MAMPS,0.029146
$HUMID,1711
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,1
$24V_AH,23.2,85.281
$10V_AH,10.6,45.383
$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,33.125,159.175,580.175,0.000,0.000,31.661,32.722,215.299,7.500,0.000,0.000,13.846,2647.178,10435.371,678.404,2840.514,797.770,0.000,2169.395,0.000,2783.997,0.000,49.439,0.000
$DEVICE_MAMPS,232.401,51.389,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.169,1115.546,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85000,1596
$CAP_FILE_SIZE,191023,0
$CFSIZE,260165632,186585088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110809,184424,2508.523,12402.547,38,1.2,39,-3.7