version: 66.04
glider: 167
mission: 2
dive: 490
start: 8 11 109 18 52 24
data:
$ID,167
$MISSION,2
$DIVE,490
$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,-15859.342
$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,68
$R_STBD_OVSHOOT,44
$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
$GPS1,184424,2508.523,12402.547,38,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-63.8
$GPS2,185206,2508.652,12402.588,15,1.0,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2504.958,12351.383
$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,2031
$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,-121.7,0.0,0.0,0,60,0.00,0.00,-41.65,0.000,2,0.000,0.000,140,2409,2269
$GC,65,-1.49,-121.7,3.0,-1.9,8,137,8.02,2.15,-58.78,0.000,4,0.237,0.035,2062,996,3989
$GC,150,-0.80,-121.7,9.7,-19.1,23,157,0.80,2.10,0.00,0.000,6,0.170,0.027,2279,2387,3989
$GC,496,-1.22,-121.7,48.0,-10.4,84,503,0.32,2.10,0.00,0.000,4,0.054,0.042,2138,3761,3991
$GC,533,-0.98,-121.7,53.1,-15.6,90,539,0.32,1.98,0.00,0.000,6,0.166,0.021,2226,2347,3990
$GC,879,-1.21,-121.7,97.2,-10.1,151,884,0.17,0.00,0.00,0.000,6,0.066,0.000,2145,2347,3991
$GC,1224,-1.21,-121.7,134.5,-11.3,212,1230,0.00,2.15,0.00,0.000,4,0.000,0.040,2137,3753,3992
$GC,1250,-1.12,-121.7,137.6,-12.1,216,1256,0.17,1.90,0.00,0.000,6,0.166,0.020,2181,2381,3992
$GC,1596,-1.25,-121.7,178.0,-12.2,277,1602,0.12,2.10,0.00,0.000,4,0.074,0.041,2124,3750,3994
$GC,1627,-1.15,-121.7,182.3,-14.2,282,1634,0.17,1.88,0.00,0.000,6,0.171,0.021,2168,2397,3994
$GC,1974,-1.27,-121.7,221.6,-10.6,343,1980,0.00,1.95,0.00,0.000,4,0.000,0.023,2169,1017,3994
$GC,2021,-1.27,-121.7,227.0,-11.0,351,2027,0.00,2.03,0.00,0.000,6,0.000,0.025,2165,2404,3994
$GC,2368,-1.41,-121.7,264.4,-9.9,412,2375,0.17,2.00,0.00,0.000,4,0.067,0.021,2083,1012,3994
$GC,2416,-1.13,-121.7,270.2,-12.1,420,2423,0.32,2.00,0.00,0.000,6,0.161,0.027,2174,2373,3995
$GC,2759,-1.29,-121.7,305.5,-10.5,476,2763,0.12,1.98,0.00,0.000,4,0.077,0.022,2123,1008,3995
$GC,2800,-1.20,-121.7,310.1,-11.7,479,2807,0.15,2.00,0.00,0.000,6,0.163,0.025,2151,2376,3995
$GC,3126,-1.33,-121.7,344.6,-9.9,510,3130,0.00,2.08,0.00,0.000,4,0.000,0.042,2149,3744,3995
$GC,3181,-1.27,-121.7,350.2,-10.8,514,3187,0.00,1.92,0.00,0.000,6,0.000,0.021,2149,2352,3995
$GC,3507,-1.38,-121.7,384.6,-10.2,545,3509,0.15,0.00,0.00,0.000,6,0.073,0.000,2086,2351,3995
$GC,3829,-1.27,-121.7,419.3,-10.1,575,3833,0.17,1.90,0.00,0.000,4,0.162,0.023,2132,1022,3995
$GC,3921,-1.19,-121.7,428.4,-9.3,583,3926,0.12,1.98,0.00,0.000,6,0.167,0.026,2157,2366,3994
$GC,4253,-1.38,-121.7,459.2,-9.6,614,4257,0.17,2.12,0.00,0.000,4,0.070,0.042,2071,3760,3993
$GC,4287,-1.13,-121.7,463.2,-12.0,616,4294,0.38,1.95,0.00,0.000,6,0.168,0.021,2175,2374,3993
$GC,4613,-1.38,-121.7,493.8,-8.5,647,4617,0.20,1.95,0.00,0.000,4,0.067,0.024,2089,1018,3993
$GC,4652,-1.21,-121.7,498.3,-11.7,650,4659,0.25,1.98,0.00,0.000,6,0.160,0.028,2153,2347,3992
$GC,4983,-1.41,-121.7,531.6,-10.5,667,4987,0.17,2.17,0.00,0.000,4,0.070,0.044,2070,3764,3991
$GC,5016,-1.17,-121.7,536.2,-13.1,668,5023,0.32,2.03,0.00,0.000,6,0.166,0.021,2160,2332,3991
$GC,5334,-1.38,-121.7,566.8,-9.3,684,5338,0.17,1.90,0.00,0.000,4,0.070,0.025,2092,1012,3989
$GC,5403,-1.22,-121.7,574.5,-11.0,687,5408,0.22,1.95,0.00,0.000,6,0.163,0.028,2145,2324,3988
$GC,5741,-1.39,-121.7,600.8,-7.2,703,5745,0.15,1.92,0.00,0.000,4,0.076,0.023,2087,1005,3986
$GC,5774,-1.28,-121.7,604.0,-8.5,704,5779,0.17,1.95,0.00,0.000,6,0.168,0.029,2130,2313,3985
$GC,6097,-1.43,-121.7,634.6,-9.9,720,6101,0.12,2.22,0.00,0.000,4,0.082,0.045,2081,3753,3983
$GC,6143,-1.21,-121.7,639.8,-11.8,722,6147,0.25,2.05,0.00,0.000,6,0.168,0.021,2148,2310,3982
$GC,6467,-1.42,-121.7,670.1,-9.2,738,6469,0.17,0.00,0.00,0.000,6,0.071,0.000,2080,2309,3981
$GC,6775,-1.35,-121.7,699.9,-9.0,753,6777,0.12,0.00,0.00,0.000,6,0.167,0.000,2111,2308,3979
$GC,7083,-1.43,-121.7,730.0,-10.0,768,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2309,3977
$GC,7393,-1.53,-121.7,761.7,-10.4,783,7398,0.17,1.88,0.00,0.000,4,0.072,0.025,2045,1016,3974
$GC,7444,-1.26,-121.7,768.5,-13.4,785,7449,0.35,1.95,0.00,0.000,6,0.174,0.032,2136,2312,3974
$GC,7769,-1.44,-121.7,800.2,-9.2,801,7771,0.17,0.00,0.00,0.000,6,0.073,0.000,2068,2313,3972
$GC,8076,-1.36,-121.7,830.2,-9.7,816,8081,0.15,2.25,0.00,0.000,4,0.173,0.046,2098,3756,3970
$GC,8117,-1.20,-121.7,834.6,-10.7,818,8121,0.22,2.10,0.00,0.000,6,0.173,0.022,2156,2299,3969
$GC,8448,-1.43,-121.7,859.4,-7.5,834,8452,0.17,1.88,0.00,0.000,4,0.074,0.025,2083,1010,3968
$GC,8521,-1.30,-121.7,867.0,-10.0,837,8525,0.17,1.90,0.00,0.000,6,0.173,0.033,2125,2265,3968
$GC,8852,-1.35,-121.7,898.1,-9.8,853,8856,0.00,2.33,0.00,0.000,4,0.000,0.050,2125,3749,3966
$GC,9031,-1.29,-121.7,918.4,-10.8,861,9035,0.00,2.10,0.00,0.000,6,0.000,0.025,2125,2306,3965
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9129,begin apogee
$GC,9137,-0.27,0.0,929.0,10.5,866,9251,1.12,0.00,96.10,1.329,6,0.158,0.000,2455,2368,3531
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9255,1.49,121.7,937.2,0.0,872,9367,1.60,2.35,103.62,1.335,4,0.066,0.048,3021,3780,3034
$GC,9502,0.68,175.1,932.8,9.2,883,9555,1.05,2.08,44.92,1.305,6,0.219,0.023,2767,2377,2818
$GC,9866,0.78,253.2,906.7,7.4,901,9937,0.00,2.30,65.15,1.307,4,0.000,0.051,2767,3750,2498
$GC,10022,0.81,283.9,891.6,10.8,908,10056,0.10,2.03,27.08,1.259,6,0.094,0.024,2810,2398,2374
$GC,10376,0.85,309.2,851.2,11.2,925,10405,0.00,2.28,21.88,1.243,4,0.000,0.049,2810,3764,2270
$GC,10451,0.85,314.4,841.1,12.7,928,10463,0.00,2.00,5.85,0.983,6,0.000,0.023,2812,2428,2250
$GC,10773,0.95,329.0,802.7,12.0,944,10792,0.12,0.00,13.70,1.193,6,0.087,0.000,2860,2427,2189
$GC,11103,0.90,329.0,757.9,13.2,960,11107,0.00,2.12,0.00,0.000,4,0.000,0.050,2860,3764,2186
$GC,11177,0.77,329.0,747.5,13.6,963,11181,0.28,1.92,0.00,0.000,6,0.180,0.024,2796,2444,2185
$GC,11505,1.08,372.6,714.1,9.9,979,11548,0.22,2.20,37.58,1.225,4,0.072,0.049,2890,3755,2012
$GC,11667,0.92,372.6,689.8,15.8,986,11672,0.22,1.83,0.00,0.000,6,0.184,0.024,2841,2509,2006
$GC,11996,1.21,401.9,652.4,10.9,1002,12028,0.22,2.35,25.55,1.170,4,0.071,0.030,2937,975,1892
$GC,12147,1.07,401.9,629.8,14.6,1009,12152,0.20,2.35,0.00,0.000,6,0.183,0.033,2887,2485,1887
$GC,12475,1.07,401.9,584.0,14.0,1025,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2484,1885
$GC,12784,1.23,401.9,542.6,13.1,1040,12788,0.15,2.00,0.00,0.000,4,0.081,0.048,2943,3766,1884
$GC,12800,1.23,405.7,540.1,12.8,1040,12806,0.00,1.88,0.00,0.000,6,0.000,0.024,2951,2484,1883
$GC,13119,1.07,405.7,490.7,15.4,1058,13123,0.20,2.25,0.00,0.000,4,0.191,0.028,2903,970,1882
$GC,13186,1.07,406.3,480.9,13.0,1063,13192,0.00,2.33,0.00,0.000,6,0.000,0.031,2903,2494,1882
$GC,13517,1.19,421.2,440.6,12.0,1094,13539,0.00,2.00,16.35,1.012,4,0.000,0.050,2904,3764,1813
$GC,13641,1.20,431.3,424.2,12.3,1105,13656,0.00,2.03,9.95,0.942,6,0.000,0.025,2912,2396,1773
$GC,13983,1.38,460.8,385.9,10.9,1137,14016,0.17,2.17,26.05,0.983,4,0.076,0.048,2986,3754,1654
$GC,14100,1.13,460.8,369.0,16.4,1147,14105,0.32,1.92,0.00,0.000,6,0.183,0.023,2910,2456,1650
$GC,14426,1.36,481.9,329.7,11.5,1177,14448,0.20,0.00,18.27,0.916,6,0.071,0.000,2992,2453,1567
$GC,14775,1.24,481.9,278.9,15.0,1221,14782,0.17,2.08,0.00,0.000,4,0.183,0.046,2949,3764,1563
$GC,14857,1.19,481.9,266.5,14.5,1235,14863,0.00,2.08,0.00,0.000,6,0.000,0.024,2957,2351,1562
$GC,15203,1.35,484.9,220.2,12.8,1296,15209,0.00,2.03,0.00,0.000,4,0.000,0.031,2960,972,1561
$GC,15323,1.35,484.9,203.3,14.4,1317,15329,0.00,2.22,0.00,0.000,6,0.000,0.030,2961,2446,1561
$GC,15669,1.50,499.9,158.0,12.0,1378,15694,0.17,2.08,15.70,0.759,4,0.075,0.047,3033,3754,1494
$GC,15758,1.23,499.9,144.4,16.7,1393,15764,0.38,2.05,0.00,0.000,6,0.173,0.021,2942,2341,1493
$GC,16107,1.56,537.9,106.8,10.3,1454,16146,0.25,2.25,32.08,0.725,4,0.064,0.044,3049,3767,1340
$GC,16194,1.41,537.9,94.8,14.3,1469,16201,0.22,2.15,0.00,0.000,6,0.176,0.021,3000,2308,1338
$GC,16540,1.72,579.2,54.0,10.1,1530,16579,0.25,0.00,35.40,0.665,6,0.064,0.000,3104,2305,1170
$STATE,16869,end climb,SURFACE_DEPTH_REACHED
$STATE,16869,begin surface coast
$FINISH,1.8,1.015093
$STATE,16898,end surface coast,CONTROL_FINISHED_OK
$STATE,16898,begin surface
$SM_CCo,16978,0.00,0.000,0,0,1163,580.87
$SM_GC,2.72,7.88,0.00,0.00,0.048,0.000,0.000,141,2431,1163,-7.50,1.39,580.87
$IRIDIUM_FIX,2456.07,12359.88,051198,141403
$TT8_MAMPS,0.028379
$HUMID,1716
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,23.3,85.493
$10V_AH,10.6,45.481
$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,31.200,136.250,595.225,0.000,0.000,23.104,34.247,213.052,8.000,0.000,0.000,32.254,2608.673,10550.727,696.944,2785.677,776.927,0.000,2139.552,0.000,2716.137,0.000,51.100,0.000
$DEVICE_MAMPS,237.003,85.137,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.213,1112.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85218,1593
$CAP_FILE_SIZE,182736,0
$CFSIZE,260165632,186503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110809,233636,2509.776,12403.068,36,1.0,37,-3.8