version: 66.04
glider: 167
mission: 2
dive: 493
start: 8 12 109 9 31 10
data:
$ID,167
$MISSION,2
$DIVE,493
$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,-15945.704
$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,74
$R_STBD_OVSHOOT,60
$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
$GPS1,092306,2511.088,12403.637,40,1.5,53,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-66.8
$GPS2,093052,2511.133,12403.705,15,99.0,34,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2507.440,12352.497
$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,2096
$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,-41.90,0.000,2,0.000,0.000,142,2401,2278
$GC,65,-1.49,-121.7,3.0,-1.6,8,137,7.90,2.15,-58.33,0.000,4,0.232,0.053,2049,3745,3989
$GC,208,-0.87,-121.7,21.0,-21.3,33,215,0.75,1.98,0.00,0.000,6,0.173,0.021,2259,2350,3990
$GC,555,-1.20,-121.7,62.9,-10.7,94,561,0.25,2.15,0.00,0.000,4,0.055,0.041,2141,3736,3991
$GC,585,-1.10,-121.7,67.1,-14.3,99,592,0.17,1.90,0.00,0.000,6,0.170,0.021,2185,2379,3991
$GC,932,-1.20,-121.7,113.3,-10.5,160,938,0.00,1.95,0.00,0.000,4,0.000,0.023,2185,1006,3992
$GC,1002,-1.20,-121.7,120.8,-11.3,172,1009,0.00,1.98,0.00,0.000,6,0.000,0.025,2178,2356,3992
$GC,1349,-1.35,-121.7,157.7,-11.0,233,1356,0.17,2.12,0.00,0.000,4,0.064,0.041,2094,3757,3994
$GC,1414,-1.00,-121.7,167.3,-15.9,244,1420,0.45,1.92,0.00,0.000,6,0.162,0.021,2221,2371,3994
$GC,1760,-1.33,-121.7,204.5,-10.6,305,1766,0.25,0.00,0.00,0.000,6,0.057,0.000,2112,2370,3995
$GC,2106,-1.26,-121.7,242.0,-11.0,366,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2371,3995
$GC,2451,-1.26,-121.7,282.3,-11.0,427,2457,0.00,2.12,0.00,0.000,4,0.000,0.041,2103,3757,3996
$GC,2504,-1.00,-121.7,289.1,-13.6,436,2510,0.40,1.92,0.00,0.000,6,0.157,0.021,2216,2379,3995
$GC,2837,-1.31,-121.7,323.4,-9.5,476,2841,0.22,1.95,0.00,0.000,4,0.060,0.022,2119,1024,3995
$GC,2894,-1.22,-121.7,330.2,-11.1,481,2899,0.15,2.00,0.00,0.000,6,0.167,0.025,2148,2375,3995
$GC,3225,-1.36,-121.7,365.0,-9.1,512,3230,0.12,2.10,0.00,0.000,4,0.077,0.041,2087,3757,3995
$GC,3249,-1.28,-121.7,367.5,-10.1,514,3254,0.17,1.98,0.00,0.000,6,0.169,0.020,2132,2346,3995
$GC,3581,-1.38,-121.7,399.5,-10.4,545,3589,0.00,1.90,0.00,0.000,4,0.000,0.024,2132,1008,3995
$GC,3612,-1.38,-121.7,402.9,-10.7,547,3618,0.00,1.98,0.00,0.000,6,0.000,0.026,2126,2350,3995
$GC,3938,-1.46,-121.7,433.8,-9.0,578,3940,0.15,0.00,0.00,0.000,6,0.074,0.000,2061,2351,3995
$GC,4258,-1.28,-121.7,469.5,-12.5,608,4263,0.22,2.15,0.00,0.000,4,0.165,0.041,2124,3761,3994
$GC,4293,-1.20,-121.7,474.1,-12.3,610,4300,0.12,2.00,0.00,0.000,6,0.166,0.022,2154,2346,3994
$GC,4617,-1.40,-121.7,506.4,-9.5,638,4622,0.17,1.90,0.00,0.000,4,0.067,0.024,2085,1010,3993
$GC,4647,-1.34,-121.7,509.6,-11.2,639,4651,0.00,1.98,0.00,0.000,6,0.000,0.028,2084,2341,3992
$GC,4975,-1.34,-121.7,545.0,-10.9,655,4979,0.00,2.17,0.00,0.000,4,0.000,0.045,2084,3760,3991
$GC,5026,-1.12,-121.7,551.5,-12.6,657,5030,0.35,2.03,0.00,0.000,6,0.160,0.022,2182,2338,3991
$GC,5351,-1.45,-121.7,582.1,-9.4,673,5356,0.28,2.22,0.00,0.000,4,0.063,0.044,2068,3763,3990
$GC,5396,-1.18,-121.7,587.8,-12.7,675,5401,0.35,2.03,0.00,0.000,6,0.164,0.021,2164,2331,3988
$GC,5721,-1.43,-121.7,615.5,-8.1,691,5723,0.22,0.00,0.00,0.000,6,0.066,0.000,2078,2331,3987
$GC,6027,-1.37,-121.7,645.8,-10.1,706,6030,0.00,2.22,0.00,0.000,4,0.000,0.044,2071,3760,3984
$GC,6062,-1.14,-121.7,649.9,-12.4,707,6068,0.38,2.03,0.00,0.000,6,0.165,0.021,2175,2338,3984
$GC,6387,-1.40,-121.7,683.0,-9.5,723,6392,0.22,1.92,0.00,0.000,4,0.068,0.025,2083,1010,3981
$GC,6479,-1.26,-121.7,693.8,-12.3,727,6484,0.20,1.98,0.00,0.000,6,0.166,0.031,2134,2321,3981
$GC,6815,-1.44,-121.7,726.9,-9.0,743,6820,0.15,2.22,0.00,0.000,4,0.078,0.046,2071,3753,3979
$GC,6872,-1.18,-121.7,733.5,-12.2,745,6879,0.32,2.08,0.00,0.000,6,0.169,0.023,2159,2306,3978
$GC,7189,-1.45,-121.7,759.2,-8.1,761,7194,0.20,2.28,0.00,0.000,4,0.069,0.046,2071,3750,3976
$GC,7217,-1.33,-121.7,762.1,-11.6,762,7222,0.17,2.05,0.00,0.000,6,0.175,0.023,2115,2323,3976
$GC,7535,-1.33,-121.7,793.5,-10.3,777,7538,0.00,2.25,0.00,0.000,4,0.000,0.048,2111,3750,3974
$GC,7604,-1.23,-121.7,801.4,-11.6,780,7608,0.15,2.05,0.00,0.000,6,0.170,0.024,2148,2331,3973
$GC,7940,-1.45,-121.7,834.6,-9.8,796,7945,0.20,1.92,0.00,0.000,4,0.069,0.025,2067,1011,3971
$GC,7992,-1.27,-121.7,841.0,-12.4,798,7996,0.28,1.98,0.00,0.000,6,0.167,0.031,2132,2321,3971
$GC,8317,-1.40,-121.7,872.9,-9.4,814,8321,0.12,2.25,0.00,0.000,4,0.086,0.048,2085,3758,3969
$GC,8465,-1.20,-121.7,890.4,-11.5,820,8470,0.28,2.05,0.00,0.000,6,0.172,0.024,2158,2338,3968
$GC,8791,-1.47,-121.7,919.3,-8.7,836,8795,0.22,1.95,0.00,0.000,4,0.071,0.027,2068,1005,3966
$GC,8807,-1.58,-121.7,921.3,-8.6,836,8813,0.00,2.00,0.00,0.000,6,0.000,0.032,2061,2326,3967
$GC,9124,-1.40,-121.7,957.0,-11.1,852,9129,0.12,2.10,0.00,0.000,3,0.185,0.047,2085,3670,3965
$STATE,9129,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9130,begin apogee
$GC,9140,-0.27,0.0,957.8,10.8,852,9237,1.27,0.00,92.70,1.395,6,0.173,0.000,2448,2347,3531
$STATE,9238,end apogee,CONTROL_FINISHED_OK
$STATE,9238,begin climb
$GC,9241,1.49,121.7,963.3,0.0,857,9353,1.62,2.15,104.18,1.357,4,0.065,0.028,3031,1001,3035
$GC,9591,0.83,159.5,944.7,10.3,873,9634,0.85,2.10,32.17,1.310,6,0.212,0.031,2815,2381,2880
$GC,9947,0.77,213.6,911.2,9.2,890,9997,0.00,2.25,45.50,1.315,4,0.000,0.051,2815,3751,2661
$GC,10127,0.62,235.0,890.4,11.5,898,10152,0.28,1.98,19.20,1.251,6,0.189,0.022,2745,2425,2573
$GC,10479,0.98,297.3,859.5,8.6,915,10541,0.30,2.22,52.95,1.293,4,0.070,0.049,2866,3741,2318
$GC,10649,0.77,297.3,835.1,14.7,922,10656,0.28,1.88,0.00,0.000,6,0.186,0.025,2798,2494,2313
$GC,10966,0.89,316.8,797.8,11.6,938,10989,0.00,2.05,16.65,1.213,4,0.000,0.050,2798,3735,2240
$GC,11029,0.93,316.9,789.7,13.0,940,11036,0.12,1.83,0.00,0.000,6,0.088,0.025,2851,2492,2237
$GC,11347,0.94,325.8,748.7,12.4,956,11361,0.00,2.05,8.68,1.104,4,0.000,0.051,2851,3744,2203
$GC,11384,0.84,325.8,743.1,14.8,957,11391,0.17,1.80,0.00,0.000,6,0.189,0.024,2817,2512,2202
$GC,11702,1.10,361.4,709.8,10.5,973,11744,0.20,2.40,31.55,1.214,4,0.074,0.032,2899,998,2057
$GC,11867,1.02,361.4,686.1,13.4,980,11871,0.00,2.25,0.00,0.000,6,0.000,0.031,2899,2458,2052
$GC,12186,0.92,361.4,641.5,13.7,995,12190,0.17,2.03,0.00,0.000,4,0.186,0.047,2848,3751,2050
$GC,12255,0.93,371.2,632.2,12.3,998,12269,0.00,1.88,8.43,1.046,6,0.000,0.025,2855,2464,2019
$GC,12588,1.10,393.3,593.5,11.5,1014,12614,0.12,2.22,20.58,1.126,4,0.087,0.031,2913,1003,1927
$GC,12728,1.10,393.3,573.2,15.0,1020,12732,0.00,2.35,0.00,0.000,6,0.000,0.031,2913,2523,1923
$GC,13045,1.05,393.3,524.7,14.4,1035,13049,0.00,2.30,0.00,0.000,4,0.000,0.029,2920,995,1921
$GC,13182,0.99,393.3,505.0,14.8,1041,13186,0.20,2.30,0.00,0.000,6,0.177,0.034,2868,2488,1921
$GC,13506,1.27,415.4,467.1,11.5,1069,13532,0.20,2.03,19.25,1.038,4,0.072,0.050,2953,3745,1838
$GC,13562,1.04,415.4,459.3,15.7,1074,13566,0.30,1.88,0.00,0.000,6,0.188,0.023,2884,2462,1835
$GC,13893,1.25,435.4,418.7,11.6,1105,13916,0.17,2.12,17.88,0.993,4,0.078,0.048,2949,3748,1757
$GC,14014,1.07,435.4,400.3,16.2,1115,14021,0.28,1.92,0.00,0.000,6,0.184,0.024,2887,2431,1753
$GC,14340,1.35,442.0,357.3,12.6,1146,14352,0.22,0.00,6.78,0.835,6,0.071,0.000,2981,2429,1730
$GC,14672,1.21,442.0,307.5,14.8,1177,14676,0.17,2.10,0.00,0.000,4,0.183,0.046,2932,3755,1727
$GC,14705,1.12,442.0,302.2,14.7,1179,14712,0.12,2.05,0.00,0.000,6,0.189,0.023,2911,2356,1727
$GC,15050,1.39,465.2,259.2,11.4,1239,15078,0.20,2.22,20.83,0.874,4,0.072,0.048,2995,3745,1634
$GC,15108,1.18,465.2,250.8,14.4,1249,15115,0.30,2.05,0.00,0.000,6,0.183,0.022,2927,2347,1632
$GC,15457,1.48,497.2,211.9,10.7,1310,15491,0.22,2.25,27.35,0.830,4,0.067,0.043,3019,3760,1504
$GC,15586,1.28,497.2,192.8,16.1,1332,15593,0.28,1.95,0.00,0.000,6,0.172,0.023,2956,2426,1500
$GC,15933,1.58,536.3,149.3,10.2,1393,15973,0.25,2.22,33.03,0.771,4,0.067,0.029,3073,992,1344
$GC,16025,1.38,536.3,136.9,14.2,1409,16032,0.30,2.05,0.00,0.000,6,0.183,0.030,2995,2335,1341
$GC,16370,1.68,573.5,91.0,10.4,1470,16409,0.22,2.05,31.17,0.708,4,0.064,0.028,3098,984,1194
$GC,16520,1.55,577.4,70.4,12.8,1496,16533,0.20,2.10,4.30,0.490,6,0.185,0.028,3046,2376,1179
$GC,16875,1.72,595.1,20.5,11.8,1558,16898,0.15,2.12,16.67,0.622,4,0.071,0.043,3106,3749,1105
$GC,16946,1.48,595.1,9.2,17.0,1570,16953,0.35,2.03,0.00,0.000,6,0.179,0.020,3021,2362,1104
$STATE,16990,end climb,SURFACE_DEPTH_REACHED
$STATE,16991,begin surface coast
$FINISH,2.0,1.005478
$STATE,17014,end surface coast,CONTROL_FINISHED_OK
$STATE,17015,begin surface
$SM_CCo,17094,0.00,0.000,0,0,1101,596.32
$SM_GC,2.68,7.70,0.00,0.00,0.050,0.000,0.000,142,2359,1101,-7.49,-0.68,596.32
$IRIDIUM_FIX,2500.82,12404.52,061198,040436
$TT8_MAMPS,0.028379
$HUMID,1736
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,21.8,86.131
$10V_AH,10.6,45.775
$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,33.175,157.000,609.825,0.000,0.000,25.650,34.428,213.291,8.250,0.000,0.000,35.804,2620.226,10548.158,703.242,2869.496,799.784,0.000,2202.890,0.000,2782.462,0.000,52.771,0.000
$DEVICE_MAMPS,232.401,52.923,1395.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.489,1092.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85188,1582
$CAP_FILE_SIZE,191413,0
$CFSIZE,260165632,186216448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120809,141706,2511.315,12404.598,24,1.2,25,-3.8