version: 66.04
glider: 167
mission: 2
dive: 492
start: 8 12 109 4 36 10
data:
$ID,167
$MISSION,2
$DIVE,492
$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,-15909.272
$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,57
$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
$GPS1,042806,2510.362,12403.327,26,1.4,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-66.0
$GPS2,043552,2510.431,12403.421,13,99.0,32,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2506.738,12352.214
$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,2093
$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,12,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,60,0.00,0.00,-41.95,0.000,2,0.000,0.000,141,2401,2291
$GC,65,-1.49,-121.7,3.0,-2.0,8,136,7.95,0.00,-59.47,0.000,6,0.235,0.000,2057,2402,3989
$GC,475,-1.01,-121.7,71.6,-19.6,81,482,0.52,2.08,0.00,0.000,4,0.164,0.040,2204,3750,3990
$GC,517,-0.91,-121.7,79.0,-15.5,88,524,0.17,2.00,0.00,0.000,6,0.156,0.021,2251,2332,3991
$GC,864,-1.16,-121.7,114.9,-9.6,149,870,0.20,1.95,0.00,0.000,4,0.060,0.023,2160,967,3991
$GC,956,-1.05,-121.7,127.2,-13.6,165,963,0.20,2.05,0.00,0.000,6,0.161,0.025,2205,2362,3992
$GC,1302,-1.30,-121.7,165.3,-10.7,226,1309,0.20,2.10,0.00,0.000,4,0.061,0.041,2111,3748,3993
$GC,1425,-1.01,-121.7,183.1,-14.9,247,1432,0.38,1.98,0.00,0.000,6,0.159,0.019,2216,2314,3994
$GC,1773,-1.25,-121.7,219.2,-10.4,308,1779,0.17,1.90,0.00,0.000,4,0.064,0.022,2135,974,3994
$GC,1815,-1.19,-121.7,224.4,-12.3,315,1823,0.12,2.03,0.00,0.000,6,0.164,0.024,2157,2370,3994
$GC,2164,-1.30,-121.7,261.9,-10.8,376,2170,0.00,2.08,0.00,0.000,4,0.000,0.041,2152,3741,3994
$GC,2183,-1.37,-121.7,264.5,-11.2,379,2190,0.12,2.00,0.00,0.000,6,0.077,0.019,2099,2285,3994
$GC,2526,-1.19,-121.7,307.9,-12.4,434,2531,0.17,2.25,0.00,0.000,4,0.161,0.038,2143,3754,3995
$GC,2606,-1.10,-121.7,316.5,-10.4,440,2613,0.17,1.98,0.00,0.000,6,0.160,0.020,2189,2338,3995
$GC,2932,-1.36,-121.7,346.7,-9.4,471,2936,0.20,1.88,0.00,0.000,4,0.063,0.022,2102,1019,3995
$GC,2972,-1.23,-121.7,351.0,-11.2,474,2979,0.20,2.00,0.00,0.000,6,0.163,0.026,2150,2384,3995
$GC,3298,-1.39,-121.7,383.1,-10.2,505,3302,0.15,2.00,0.00,0.000,4,0.072,0.023,2090,1012,3994
$GC,3328,-1.30,-121.7,386.7,-12.6,507,3335,0.15,2.00,0.00,0.000,6,0.170,0.028,2122,2361,3995
$GC,3654,-1.36,-121.7,422.8,-10.6,538,3658,0.00,1.95,0.00,0.000,4,0.000,0.024,2122,1014,3995
$GC,3702,-1.36,-121.7,428.0,-11.2,542,3705,0.00,1.98,0.00,0.000,6,0.000,0.026,2117,2354,3995
$GC,4033,-1.41,-121.7,463.1,-10.5,573,4037,0.00,2.12,0.00,0.000,4,0.000,0.044,2111,3755,3994
$GC,4107,-1.26,-121.7,471.4,-12.3,579,4113,0.00,1.98,0.00,0.000,6,0.000,0.021,2111,2345,3993
$GC,4445,-1.32,-121.7,504.7,-9.3,609,4449,0.00,2.17,0.00,0.000,4,0.000,0.044,2111,3751,3992
$GC,4475,-1.23,-121.7,507.9,-9.9,610,4479,0.15,1.98,0.00,0.000,6,0.167,0.022,2148,2354,3992
$GC,4805,-1.42,-121.7,537.0,-8.9,626,4809,0.17,1.95,0.00,0.000,4,0.070,0.024,2072,1005,3991
$GC,4844,-1.23,-121.7,541.4,-10.6,627,4851,0.28,2.03,0.00,0.000,6,0.162,0.028,2146,2360,3990
$GC,5162,-1.42,-121.7,570.0,-8.3,643,5164,0.17,0.00,0.00,0.000,6,0.070,0.000,2079,2362,3988
$GC,5471,-1.35,-121.7,601.0,-10.1,658,5475,0.12,1.98,0.00,0.000,4,0.170,0.025,2109,1019,3986
$GC,5512,-1.30,-121.7,605.1,-9.5,659,5517,0.00,2.00,0.00,0.000,6,0.000,0.029,2103,2357,3986
$GC,5828,-1.30,-121.7,636.5,-9.9,675,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2357,3983
$GC,6139,-1.36,-121.7,665.3,-8.9,690,6142,0.00,1.98,0.00,0.000,4,0.000,0.025,2103,1011,3981
$GC,6185,-1.28,-121.7,669.7,-9.6,692,6190,0.12,2.00,0.00,0.000,6,0.178,0.029,2128,2341,3980
$GC,6521,-1.45,-121.7,700.3,-9.5,708,6523,0.15,0.00,0.00,0.000,6,0.082,0.000,2070,2342,3978
$GC,6828,-1.45,-121.7,731.2,-9.8,723,6832,0.00,1.95,0.00,0.000,4,0.000,0.025,2070,1014,3976
$GC,6862,-1.29,-121.7,734.8,-10.7,724,6867,0.20,1.98,0.00,0.000,6,0.167,0.031,2122,2327,3975
$GC,7186,-1.42,-121.7,761.4,-8.0,740,7190,0.12,1.95,0.00,0.000,4,0.083,0.023,2074,1000,3973
$GC,7219,-1.25,-121.7,764.7,-9.8,741,7224,0.25,1.98,0.00,0.000,6,0.169,0.030,2137,2313,3973
$GC,7537,-1.45,-121.7,790.9,-8.4,756,7539,0.17,0.00,0.00,0.000,6,0.074,0.000,2071,2315,3971
$GC,7845,-1.38,-121.7,821.6,-10.3,771,7850,0.12,2.28,0.00,0.000,4,0.172,0.048,2097,3766,3969
$GC,7935,-1.25,-121.7,831.6,-11.2,775,7940,0.17,2.12,0.00,0.000,6,0.173,0.023,2142,2292,3969
$GC,8261,-1.41,-121.7,862.3,-9.4,791,8265,0.15,2.33,0.00,0.000,4,0.080,0.048,2085,3758,3967
$GC,8289,-1.32,-121.7,866.0,-12.3,792,8293,0.12,2.10,0.00,0.000,6,0.179,0.022,2114,2300,3967
$GC,8606,-1.32,-121.7,899.6,-10.5,807,8611,0.00,2.30,0.00,0.000,4,0.000,0.048,2111,3756,3966
$GC,8697,-1.21,-121.7,910.5,-12.8,811,8702,0.17,2.10,0.00,0.000,6,0.170,0.023,2155,2308,3965
$GC,9029,-1.47,-121.7,940.7,-8.8,827,9033,0.20,1.90,0.00,0.000,4,0.072,0.026,2072,1009,3964
$GC,9075,-1.30,-121.7,946.0,-11.7,829,9079,0.20,1.98,0.00,0.000,6,0.171,0.034,2122,2305,3964
$STATE,9136,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9136,begin apogee
$GC,9145,-0.27,0.0,952.8,10.3,832,9248,1.12,0.00,94.30,1.372,6,0.159,0.000,2452,2360,3532
$STATE,9248,end apogee,CONTROL_FINISHED_OK
$STATE,9249,begin climb
$GC,9252,1.49,121.7,958.8,0.0,837,9361,1.60,0.00,104.35,1.355,6,0.065,0.000,3020,2361,3035
$GC,9665,0.90,187.1,940.1,8.3,857,9725,0.73,0.00,54.78,1.331,6,0.209,0.000,2836,2362,2769
$GC,10036,0.89,249.4,908.3,8.6,875,10097,0.00,2.38,52.42,1.317,4,0.000,0.051,2835,3767,2514
$GC,10170,0.77,254.2,893.8,12.7,881,10181,0.17,2.08,5.35,0.963,6,0.183,0.021,2801,2384,2494
$GC,10500,0.99,300.7,861.2,9.7,897,10547,0.17,2.28,40.53,1.293,4,0.078,0.048,2873,3763,2306
$GC,10649,0.81,300.7,839.7,14.9,904,10654,0.25,2.00,0.00,0.000,6,0.183,0.023,2810,2412,2301
$GC,10984,1.08,322.4,801.8,11.5,920,11010,0.20,2.20,18.62,1.229,4,0.077,0.048,2892,3754,2216
$GC,11017,0.99,322.4,796.8,15.4,921,11022,0.15,1.90,0.00,0.000,6,0.193,0.022,2865,2467,2216
$GC,11339,0.99,322.4,750.7,14.1,937,11342,0.00,2.22,0.00,0.000,4,0.000,0.030,2871,983,2212
$GC,11475,0.99,322.4,732.0,14.3,943,11479,0.00,2.38,0.00,0.000,6,0.000,0.033,2871,2515,2212
$GC,11803,0.99,322.6,688.0,13.0,959,11807,0.00,1.95,0.00,0.000,4,0.000,0.052,2871,3762,2210
$GC,11849,0.89,322.6,681.6,13.2,961,11854,0.17,1.85,0.00,0.000,6,0.184,0.025,2836,2489,2210
$GC,12184,1.15,367.1,645.9,9.9,977,12230,0.20,2.15,38.33,1.190,4,0.075,0.050,2918,3765,2033
$GC,12301,0.99,367.1,629.5,15.4,982,12306,0.25,1.98,0.00,0.000,6,0.186,0.023,2863,2433,2029
$GC,12625,1.25,422.5,597.2,9.1,998,12680,0.20,2.33,47.28,1.149,4,0.078,0.031,2955,977,1808
$GC,12788,1.17,425.5,575.6,12.8,1005,12792,0.12,2.42,0.00,0.000,6,0.187,0.034,2927,2530,1801
$GC,13105,1.17,425.5,531.5,14.5,1020,13109,0.00,2.35,0.00,0.000,4,0.000,0.029,2936,976,1797
$GC,13161,1.17,425.5,522.9,14.3,1022,13167,0.00,2.35,0.00,0.000,6,0.000,0.034,2936,2501,1797
$GC,13481,1.17,425.5,476.7,14.0,1045,13485,0.00,2.33,0.00,0.000,4,0.000,0.031,2937,969,1796
$GC,13526,1.17,425.5,470.5,13.5,1048,13532,0.00,2.30,0.00,0.000,6,0.000,0.032,2937,2471,1796
$GC,13854,1.17,425.5,425.4,14.1,1079,13857,0.00,2.03,0.00,0.000,4,0.000,0.051,2937,3766,1794
$GC,13912,1.17,425.5,416.3,15.1,1084,13916,0.00,1.90,0.00,0.000,6,0.000,0.024,2945,2476,1794
$GC,14246,1.28,442.7,372.1,11.8,1115,14268,0.00,2.08,16.50,0.963,4,0.000,0.048,2946,3771,1726
$GC,14321,1.23,447.0,362.5,12.7,1121,14330,0.00,1.83,5.28,0.764,6,0.000,0.025,2955,2515,1709
$GC,14657,1.35,465.3,321.0,11.7,1153,14680,0.00,2.38,16.80,0.919,4,0.000,0.029,2966,980,1633
$GC,14819,1.36,469.5,300.9,12.7,1167,14831,0.00,2.40,4.40,0.663,6,0.000,0.032,2966,2533,1618
$GC,15173,1.50,481.5,256.6,12.2,1228,15191,0.17,1.92,11.85,0.836,4,0.077,0.048,3039,3759,1567
$GC,15221,1.21,481.5,248.5,17.9,1236,15228,0.43,1.95,0.00,0.000,6,0.183,0.022,2934,2425,1566
$GC,15568,1.54,525.1,207.8,9.9,1297,15612,0.25,2.17,37.92,0.833,4,0.065,0.047,3040,3770,1389
$GC,15643,1.39,525.1,197.3,14.6,1310,15650,0.22,2.12,0.00,0.000,6,0.183,0.023,2990,2331,1386
$GC,15990,1.65,525.1,149.1,13.2,1371,15997,0.20,1.98,0.00,0.000,4,0.068,0.028,3088,992,1383
$GC,16130,1.48,525.1,126.4,16.8,1395,16136,0.25,2.00,0.00,0.000,6,0.185,0.031,3023,2321,1382
$GC,16477,1.66,552.9,80.6,11.0,1456,16506,0.15,2.30,23.00,0.701,4,0.068,0.046,3084,3753,1276
$GC,16525,1.60,552.9,73.9,15.7,1464,16532,0.15,2.17,0.00,0.000,6,0.186,0.021,3057,2267,1275
$GC,16872,1.74,564.7,26.0,12.2,1525,16890,0.12,2.33,10.77,0.611,4,0.086,0.050,3106,3751,1229
$GC,16959,1.55,564.7,11.8,17.0,1540,16966,0.28,2.08,0.00,0.000,6,0.183,0.021,3042,2322,1228
$STATE,17020,end climb,SURFACE_DEPTH_REACHED
$STATE,17020,begin surface coast
$FINISH,1.8,1.021753
$STATE,17044,end surface coast,CONTROL_FINISHED_OK
$STATE,17045,begin surface
$SM_CCo,17126,0.00,0.000,0,0,1226,565.66
$SM_GC,2.74,7.72,0.00,0.00,0.049,0.000,0.000,142,2401,1226,-7.49,0.51,565.66
$IRIDIUM_FIX,2500.82,12409.79,051198,232312
$TT8_MAMPS,0.028379
$HUMID,1729
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,23.2,85.915
$10V_AH,10.6,45.675
$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,29.475,154.475,582.475,0.000,0.000,27.920,36.047,206.913,8.500,0.000,0.000,33.486,2568.283,10792.030,692.039,2746.479,771.934,0.000,2120.614,0.000,2665.034,0.000,55.067,0.000
$DEVICE_MAMPS,234.702,107.380,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.046,1061.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85253,1555
$CAP_FILE_SIZE,186146,0
$CFSIZE,260165632,186310656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120809,092306,2511.088,12403.637,40,1.5,53,-3.8