version: 66.04
glider: 167
mission: 2
dive: 491
start: 8 11 109 23 44 21
data:
$ID,167
$MISSION,2
$DIVE,491
$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,-15875.157
$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,77
$R_STBD_OVSHOOT,73
$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
$GPS1,233636,2509.776,12403.068,36,1.0,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-65.0
$GPS2,234402,2509.881,12403.197,15,1.8,15,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2506.188,12351.991
$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,253.8,20000,-24.8,-13.043
$D_GRID,2044
$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,-121.7,0.0,0.0,0,65,0.00,0.00,-46.97,0.000,2,0.000,0.000,142,2432,2337
$GC,70,-1.49,-121.7,3.0,-1.6,9,136,8.12,0.00,-53.10,0.000,6,0.241,0.000,2059,2431,3989
$GC,475,-1.01,-121.7,72.4,-19.0,81,482,0.52,2.00,0.00,0.000,4,0.169,0.040,2205,3730,3991
$GC,506,-0.80,-121.7,77.7,-16.2,86,512,0.28,1.92,0.00,0.000,6,0.155,0.020,2283,2351,3991
$GC,852,-1.17,-121.7,113.6,-9.6,147,859,0.28,1.90,0.00,0.000,4,0.056,0.022,2162,1016,3992
$GC,945,-1.06,-121.7,126.5,-15.1,163,951,0.17,1.95,0.00,0.000,6,0.159,0.026,2200,2347,3992
$GC,1291,-1.27,-121.7,162.0,-8.7,224,1297,0.17,0.00,0.00,0.000,6,0.064,0.000,2122,2349,3994
$GC,1637,-1.15,-121.7,203.6,-13.0,285,1643,0.17,2.12,0.00,0.000,4,0.158,0.039,2165,3751,3994
$GC,1668,-1.07,-121.7,207.7,-13.1,290,1674,0.12,1.95,0.00,0.000,6,0.163,0.021,2196,2349,3994
$GC,2014,-1.26,-121.7,244.2,-9.1,351,2021,0.17,1.90,0.00,0.000,4,0.064,0.023,2124,1012,3995
$GC,2074,-1.08,-121.7,250.8,-11.9,361,2081,0.25,1.92,0.00,0.000,6,0.161,0.026,2191,2327,3995
$GC,2420,-1.33,-121.7,283.1,-9.3,422,2426,0.17,0.00,0.00,0.000,6,0.067,0.000,2111,2329,3995
$GC,2755,-1.33,-121.7,320.8,-11.0,466,2759,0.00,2.15,0.00,0.000,4,0.000,0.042,2110,3750,3995
$GC,2813,-1.11,-121.7,328.0,-12.5,471,2818,0.28,2.03,0.00,0.000,6,0.160,0.021,2186,2304,3995
$GC,3140,-1.39,-121.7,357.1,-8.5,501,3146,0.25,0.00,0.00,0.000,6,0.057,0.000,2084,2303,3995
$GC,3470,-1.29,-121.7,390.3,-10.6,532,3475,0.17,2.22,0.00,0.000,4,0.158,0.040,2124,3750,3995
$GC,3512,-1.18,-121.7,395.3,-10.9,535,3516,0.15,2.03,0.00,0.000,6,0.166,0.022,2162,2321,3995
$GC,3843,-1.37,-121.7,426.9,-9.4,566,3847,0.17,1.88,0.00,0.000,4,0.066,0.025,2092,1010,3995
$GC,3906,-1.19,-121.7,433.6,-10.9,571,3912,0.28,1.90,0.00,0.000,6,0.162,0.027,2160,2307,3994
$GC,4233,-1.41,-121.7,465.4,-9.6,602,4238,0.20,2.22,0.00,0.000,4,0.066,0.044,2071,3756,3993
$GC,4264,-1.27,-121.7,468.9,-12.4,604,4268,0.22,2.10,0.00,0.000,6,0.167,0.022,2131,2280,3994
$GC,4597,-1.38,-121.7,500.6,-9.1,635,4601,0.00,1.80,0.00,0.000,4,0.000,0.026,2131,1021,3992
$GC,4627,-1.43,-121.7,503.6,-9.9,636,4631,0.08,1.90,0.00,0.000,6,0.071,0.028,2071,2290,3992
$GC,4957,-1.25,-121.7,539.7,-10.8,652,4961,0.22,2.25,0.00,0.000,4,0.168,0.042,2128,3756,3991
$GC,5054,-1.17,-121.7,550.3,-11.3,656,5059,0.15,2.08,0.00,0.000,6,0.166,0.023,2165,2310,3990
$GC,5371,-1.43,-121.7,581.8,-9.5,671,5375,0.20,1.85,0.00,0.000,4,0.069,0.024,2082,1020,3988
$GC,5410,-1.27,-121.7,586.3,-12.2,672,5417,0.22,1.90,0.00,0.000,6,0.163,0.029,2135,2302,3988
$GC,5728,-1.44,-121.7,615.6,-8.6,688,5733,0.15,2.25,0.00,0.000,4,0.074,0.045,2071,3760,3986
$GC,5750,-1.44,-121.7,618.1,-9.8,689,5754,0.00,2.10,0.00,0.000,6,0.000,0.022,2071,2293,3985
$GC,6080,-1.30,-121.7,651.1,-10.1,705,6085,0.20,2.30,0.00,0.000,4,0.166,0.045,2124,3750,3983
$GC,6143,-1.23,-121.7,657.8,-10.6,708,6147,0.00,2.05,0.00,0.000,6,0.000,0.024,2124,2319,3983
$GC,6477,-1.37,-121.7,687.4,-8.4,724,6481,0.00,1.88,0.00,0.000,4,0.000,0.027,2124,1018,3981
$GC,6523,-1.37,-121.7,691.6,-9.1,726,6527,0.00,1.92,0.00,0.000,6,0.000,0.030,2124,2303,3980
$GC,6857,-1.48,-121.7,718.5,-8.3,742,6861,0.15,1.88,0.00,0.000,4,0.077,0.025,2063,1025,3978
$GC,6904,-1.28,-121.7,723.1,-10.6,744,6908,0.28,1.88,0.00,0.000,6,0.166,0.030,2132,2275,3978
$GC,7242,-1.45,-121.7,751.2,-8.8,760,7247,0.15,2.30,0.00,0.000,4,0.081,0.047,2071,3754,3976
$GC,7265,-1.45,-121.7,754.1,-10.0,761,7269,0.00,2.12,0.00,0.000,6,0.000,0.022,2070,2271,3975
$GC,7593,-1.39,-121.7,788.4,-10.3,777,7597,0.00,2.33,0.00,0.000,4,0.000,0.047,2062,3749,3973
$GC,7666,-1.11,-121.7,797.7,-13.1,780,7671,0.45,2.10,0.00,0.000,6,0.175,0.023,2185,2284,3973
$GC,7984,-1.45,-121.7,822.8,-7.7,795,7988,0.28,1.83,0.00,0.000,4,0.068,0.026,2075,1026,3971
$GC,8017,-1.33,-121.7,826.2,-10.4,796,8022,0.17,1.85,0.00,0.000,6,0.173,0.032,2115,2251,3971
$GC,8341,-1.33,-121.7,856.5,-9.5,812,8345,0.00,2.35,0.00,0.000,4,0.000,0.049,2111,3754,3969
$GC,8487,-1.21,-121.7,872.7,-12.2,818,8492,0.17,2.12,0.00,0.000,6,0.170,0.025,2155,2287,3968
$GC,8808,-1.45,-121.7,900.1,-8.7,833,8813,0.20,1.85,0.00,0.000,4,0.071,0.027,2072,1021,3967
$GC,8916,-1.30,-121.7,913.2,-12.3,837,8922,0.20,1.85,0.00,0.000,6,0.171,0.035,2122,2239,3966
$STATE,9125,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9125,begin apogee
$GC,9134,-0.27,0.0,935.0,9.9,848,9237,1.12,0.00,94.47,1.353,6,0.156,0.000,2455,2371,3532
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9241,1.49,121.7,941.5,0.0,853,9353,1.60,2.20,103.70,1.337,4,0.066,0.028,3029,1011,3034
$GC,9389,0.94,214.3,945.7,6.4,860,9475,0.70,2.12,77.95,1.318,6,0.207,0.031,2854,2365,2658
$GC,9804,0.88,257.9,907.0,9.9,880,9847,0.00,2.28,36.33,1.287,4,0.000,0.051,2854,3755,2479
$GC,9972,0.73,260.1,887.1,12.9,887,9977,0.30,1.98,0.00,0.000,6,0.184,0.023,2784,2415,2475
$GC,10294,1.08,336.7,860.4,7.6,903,10366,0.28,2.20,66.43,1.293,4,0.068,0.048,2893,3747,2162
$GC,10458,0.90,336.7,838.8,13.7,910,10464,0.25,1.92,0.00,0.000,6,0.183,0.024,2837,2448,2155
$GC,10776,1.02,358.4,803.9,11.5,926,10802,0.10,2.30,19.27,1.220,4,0.094,0.032,2884,984,2070
$GC,10825,1.02,358.4,796.8,14.3,928,10829,0.00,2.30,0.00,0.000,6,0.000,0.032,2884,2460,2068
$GC,11140,1.02,358.4,752.3,13.9,943,11144,0.00,2.25,0.00,0.000,4,0.000,0.031,2884,982,2065
$GC,11174,1.02,358.4,747.8,13.1,944,11178,0.00,2.28,0.00,0.000,6,0.000,0.032,2884,2457,2064
$GC,11497,1.03,363.7,707.8,12.7,960,11507,0.00,2.03,5.20,0.937,4,0.000,0.049,2885,3749,2049
$GC,11552,0.94,363.7,699.8,14.0,962,11559,0.17,1.90,0.00,0.000,6,0.188,0.025,2850,2442,2047
$GC,11870,1.16,373.9,662.1,12.3,978,11886,0.17,2.20,10.45,1.106,4,0.077,0.032,2925,990,2006
$GC,12008,1.09,373.9,641.5,14.9,983,12012,0.00,2.35,0.00,0.000,6,0.000,0.032,2925,2516,2004
$GC,12331,1.00,373.9,591.0,14.9,999,12336,0.20,2.33,0.00,0.000,4,0.179,0.030,2875,986,2002
$GC,12399,1.13,390.1,582.2,11.9,1002,12419,0.10,2.28,14.75,1.105,6,0.097,0.031,2914,2475,1941
$GC,12750,1.15,405.5,539.0,11.9,1019,12772,0.00,2.03,14.68,1.072,4,0.000,0.051,2914,3749,1877
$GC,12841,1.07,405.5,526.2,14.1,1023,12845,0.15,1.85,0.00,0.000,6,0.187,0.025,2886,2488,1875
$GC,13170,1.35,423.8,486.1,11.7,1043,13193,0.22,2.28,16.48,1.045,4,0.069,0.030,2987,983,1803
$GC,13273,1.18,423.8,469.7,15.2,1052,13278,0.25,2.30,0.00,0.000,6,0.189,0.031,2925,2471,1800
$GC,13599,1.34,429.1,427.7,12.7,1082,13611,0.15,2.03,5.70,0.838,4,0.074,0.051,2982,3752,1781
$GC,13692,1.09,429.1,412.6,17.3,1090,13696,0.35,2.00,0.00,0.000,6,0.188,0.023,2900,2384,1780
$GC,14018,1.36,439.6,370.7,12.3,1120,14034,0.20,2.10,10.75,0.927,4,0.071,0.031,2990,983,1738
$GC,14164,1.22,439.6,349.0,14.2,1132,14171,0.20,2.25,0.00,0.000,6,0.183,0.031,2941,2455,1735
$GC,14490,1.45,475.9,311.5,10.4,1163,14527,0.20,2.08,30.92,0.937,4,0.067,0.049,3021,3755,1591
$GC,14574,1.20,475.9,299.5,14.8,1170,14581,0.38,2.05,0.00,0.000,6,0.179,0.023,2932,2384,1588
$GC,14923,1.54,487.1,259.3,12.2,1231,14941,0.28,2.12,10.23,0.823,4,0.066,0.031,3054,968,1545
$GC,14953,1.54,487.1,254.5,14.9,1236,14959,0.00,2.08,0.00,0.000,6,0.000,0.030,3054,2326,1544
$GC,15301,1.33,487.1,194.8,16.5,1297,15307,0.28,2.22,0.00,0.000,4,0.183,0.045,2978,3753,1542
$GC,15404,1.33,487.1,179.9,13.4,1315,15410,0.00,2.15,0.00,0.000,6,0.000,0.023,2981,2279,1542
$GC,15749,1.49,487.1,139.8,13.4,1376,15756,0.12,2.33,0.00,0.000,4,0.081,0.043,3031,3762,1541
$GC,15832,1.33,487.1,126.5,16.3,1390,15838,0.25,2.05,0.00,0.000,6,0.172,0.021,2975,2338,1542
$GC,16181,1.73,552.0,91.1,8.4,1451,16242,0.30,2.33,53.88,0.719,4,0.061,0.044,3100,3755,1280
$GC,16291,1.56,552.0,76.9,14.9,1470,16297,0.22,2.12,0.00,0.000,6,0.183,0.021,3051,2317,1277
$GC,16637,1.76,561.5,32.9,12.4,1531,16655,0.15,2.30,8.55,0.584,4,0.079,0.042,3110,3755,1241
$GC,16699,1.56,561.5,23.8,15.3,1541,16706,0.28,2.25,0.00,0.000,6,0.188,0.021,3048,2202,1240
$STATE,16852,end climb,SURFACE_DEPTH_REACHED
$STATE,16852,begin surface coast
$FINISH,1.8,1.021953
$STATE,16880,end surface coast,CONTROL_FINISHED_OK
$STATE,16880,begin surface
$SM_CCo,16961,0.00,0.000,0,0,1239,562.47
$SM_GC,2.72,7.85,0.00,0.00,0.056,0.000,0.000,141,2401,1239,-7.50,0.51,562.47
$IRIDIUM_FIX,2458.45,12401.21,051198,181849
$TT8_MAMPS,0.029913
$HUMID,1716
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,5
$24V_AH,23.2,85.703
$10V_AH,10.6,45.579
$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,32.275,159.150,579.725,0.000,0.000,25.769,42.531,203.872,8.750,0.000,0.000,15.188,2621.804,10479.111,681.247,2818.251,787.141,0.000,2158.730,0.000,2759.095,0.000,51.085,0.000
$DEVICE_MAMPS,240.838,66.729,1352.988,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.466,1092.241,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85173,1573
$CAP_FILE_SIZE,189431,0
$CFSIZE,260165632,186400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120809,042806,2510.362,12403.327,26,1.4,27,-3.8