version: 66.04
glider: 167
mission: 2
dive: 494
start: 8 12 109 14 25 19
data:
$ID,167
$MISSION,2
$DIVE,494
$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,-15991.301
$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,71
$R_STBD_OVSHOOT,47
$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
$GPS1,141706,2511.315,12404.598,24,1.2,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-63.5
$GPS2,142501,2511.401,12404.701,44,0.9,44,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2507.707,12353.492
$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,2213
$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,-41.72,0.000,2,0.000,0.000,142,2360,2146
$GC,65,-1.49,-121.7,3.0,-1.1,8,146,7.97,2.05,-65.45,0.000,4,0.235,0.038,2064,989,3989
$GC,182,-1.01,-121.7,14.4,-19.6,29,188,0.57,2.10,0.00,0.000,6,0.168,0.027,2216,2398,3990
$GC,530,-1.13,-121.7,59.9,-10.5,90,536,0.00,2.08,0.00,0.000,4,0.000,0.042,2206,3759,3991
$GC,588,-0.97,-121.7,67.3,-13.2,100,594,0.00,2.00,0.00,0.000,6,0.000,0.021,2206,2339,3991
$GC,934,-1.07,-121.7,110.7,-10.6,161,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2339,3992
$GC,1279,-1.30,-121.7,147.0,-10.2,222,1285,0.20,1.90,0.00,0.000,4,0.058,0.022,2114,1004,3994
$GC,1317,-1.11,-121.7,151.6,-12.4,228,1323,0.28,2.03,0.00,0.000,6,0.160,0.025,2181,2392,3994
$GC,1663,-1.25,-121.7,186.0,-9.9,289,1669,0.12,2.00,0.00,0.000,4,0.076,0.021,2128,1004,3995
$GC,1689,-1.25,-121.7,188.8,-11.1,293,1695,0.00,2.00,0.00,0.000,6,0.000,0.025,2124,2372,3995
$GC,2035,-1.15,-121.7,229.7,-11.7,354,2041,0.17,2.08,0.00,0.000,4,0.163,0.039,2167,3756,3996
$GC,2094,-1.10,-121.7,236.5,-11.3,364,2100,0.00,1.92,0.00,0.000,6,0.000,0.021,2167,2362,3996
$GC,2440,-1.21,-121.7,272.4,-9.7,425,2446,0.00,1.90,0.00,0.000,4,0.000,0.024,2167,1025,3996
$GC,2492,-1.33,-121.7,278.0,-11.3,434,2499,0.15,1.95,0.00,0.000,6,0.071,0.027,2102,2357,3996
$GC,2830,-1.20,-121.7,319.1,-12.1,481,2835,0.20,2.12,0.00,0.000,4,0.164,0.039,2151,3760,3996
$GC,2935,-1.14,-121.7,329.9,-10.5,489,2941,0.00,1.95,0.00,0.000,6,0.000,0.021,2150,2357,3996
$GC,3261,-1.26,-121.7,358.8,-9.0,520,3264,0.00,1.90,0.00,0.000,4,0.000,0.024,2151,1024,3996
$GC,3301,-1.26,-121.7,362.8,-9.6,523,3307,0.00,1.95,0.00,0.000,6,0.000,0.027,2149,2349,3996
$GC,3627,-1.42,-121.7,396.1,-10.5,554,3632,0.17,2.15,0.00,0.000,4,0.069,0.042,2067,3760,3996
$GC,3702,-1.11,-121.7,405.5,-13.2,560,3707,0.43,1.98,0.00,0.000,6,0.161,0.021,2187,2351,3996
$GC,4028,-1.40,-121.7,436.0,-8.6,590,4032,0.22,1.92,0.00,0.000,4,0.061,0.023,2091,1016,3996
$GC,4076,-1.27,-121.7,440.9,-11.3,594,4080,0.20,2.00,0.00,0.000,6,0.165,0.026,2138,2358,3996
$GC,4407,-1.41,-121.7,471.4,-8.4,625,4411,0.15,1.95,0.00,0.000,4,0.072,0.023,2078,1011,3995
$GC,4436,-1.30,-121.7,474.4,-10.0,627,4443,0.20,1.98,0.00,0.000,6,0.168,0.026,2123,2351,3995
$GC,4761,-1.39,-121.7,504.6,-9.8,656,4764,0.00,1.95,0.00,0.000,4,0.000,0.025,2124,1009,3993
$GC,4796,-1.39,-121.7,508.3,-10.6,657,4799,0.00,1.95,0.00,0.000,6,0.000,0.028,2123,2324,3993
$GC,5118,-1.47,-121.7,543.1,-10.8,673,5120,0.15,0.00,0.00,0.000,6,0.077,0.000,2062,2325,3991
$GC,5428,-1.35,-121.7,578.7,-11.2,688,5430,0.17,0.00,0.00,0.000,6,0.163,0.000,2109,2325,3989
$GC,5737,-1.41,-121.7,607.4,-8.6,703,5740,0.00,1.90,0.00,0.000,4,0.000,0.025,2109,1021,3987
$GC,5771,-1.36,-121.7,610.8,-9.2,704,5775,0.00,1.92,0.00,0.000,6,0.000,0.027,2102,2320,3986
$GC,6094,-1.36,-121.7,639.3,-9.0,720,6098,0.00,1.90,0.00,0.000,4,0.000,0.024,2102,1014,3984
$GC,6128,-1.36,-121.7,642.8,-10.2,721,6132,0.00,1.95,0.00,0.000,6,0.000,0.029,2098,2317,3984
$GC,6452,-1.36,-121.7,676.4,-11.5,737,6456,0.00,2.22,0.00,0.000,4,0.000,0.047,2097,3756,3982
$GC,6488,-1.25,-121.7,681.0,-12.7,738,6492,0.17,2.08,0.00,0.000,6,0.169,0.022,2142,2303,3981
$GC,6809,-1.42,-121.7,718.0,-11.3,754,6814,0.17,1.85,0.00,0.000,4,0.074,0.024,2067,1014,3979
$GC,6872,-1.23,-121.7,726.0,-13.5,756,6879,0.30,1.90,0.00,0.000,6,0.161,0.028,2141,2290,3979
$GC,7189,-1.44,-121.7,756.9,-8.9,772,7193,0.17,2.28,0.00,0.000,4,0.074,0.046,2071,3756,3976
$GC,7211,-1.44,-121.7,759.4,-10.7,773,7214,0.00,2.10,0.00,0.000,6,0.000,0.021,2071,2289,3976
$GC,7540,-1.28,-121.7,795.2,-11.1,789,7545,0.17,2.33,0.00,0.000,4,0.171,0.045,2113,3754,3974
$GC,7655,-1.19,-121.7,807.8,-11.8,794,7659,0.17,2.08,0.00,0.000,6,0.168,0.024,2158,2315,3973
$GC,7985,-1.44,-121.7,840.7,-10.1,810,7990,0.20,1.90,0.00,0.000,4,0.071,0.026,2075,1012,3971
$GC,8066,-1.28,-121.7,851.2,-12.6,813,8070,0.22,1.90,0.00,0.000,6,0.168,0.032,2130,2272,3971
$GC,8390,-1.44,-121.7,884.6,-9.5,829,8392,0.15,0.00,0.00,0.000,6,0.081,0.000,2074,2274,3969
$GC,8697,-1.44,-121.7,915.2,-9.3,844,8701,0.00,1.85,0.00,0.000,4,0.000,0.028,2073,1021,3968
$GC,8732,-1.29,-121.7,918.7,-10.7,845,8736,0.22,1.90,0.00,0.000,6,0.170,0.033,2130,2253,3967
$GC,9054,-1.44,-121.7,946.4,-8.0,861,9059,0.15,2.35,0.00,0.000,4,0.082,0.048,2071,3755,3966
$STATE,9124,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9124,begin apogee
$GC,9133,-0.27,0.0,954.6,12.0,864,9230,1.33,0.00,92.80,1.390,6,0.176,0.000,2447,2368,3532
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9235,1.49,121.7,959.2,0.0,869,9347,1.62,2.30,104.70,1.350,4,0.064,0.044,3023,3751,3034
$GC,9444,0.64,155.9,954.4,10.6,879,9480,1.10,2.05,29.30,1.299,6,0.219,0.021,2757,2376,2896
$GC,9795,0.81,244.2,929.3,6.7,895,9878,0.15,2.22,73.70,1.328,4,0.090,0.030,2816,985,2535
$GC,10037,0.87,298.8,905.6,9.1,906,10089,0.00,2.20,46.83,1.299,6,0.000,0.031,2816,2412,2313
$GC,10408,0.92,334.3,865.7,10.5,924,10443,0.00,2.17,30.02,1.272,4,0.000,0.051,2816,3750,2168
$GC,10554,0.93,345.6,848.1,12.2,930,10570,0.00,1.95,10.85,1.158,6,0.000,0.025,2825,2417,2122
$GC,10895,1.05,372.0,810.2,11.2,947,10925,0.17,2.20,23.58,1.244,4,0.076,0.048,2898,3748,2014
$GC,10966,0.84,372.0,798.8,18.1,950,10970,0.35,1.90,0.00,0.000,6,0.183,0.024,2815,2458,2011
$GC,11287,1.14,404.7,762.7,10.7,966,11322,0.25,2.15,28.90,1.236,4,0.069,0.048,2916,3751,1881
$GC,11428,0.96,404.7,739.6,17.2,972,11432,0.20,1.83,0.00,0.000,6,0.177,0.023,2853,2529,1876
$GC,11755,1.05,404.7,695.0,13.1,988,11759,0.00,2.33,0.00,0.000,4,0.000,0.028,2862,963,1874
$GC,11874,1.18,411.8,679.2,12.5,993,11892,0.17,2.40,6.47,0.999,6,0.082,0.031,2930,2529,1853
$GC,12202,1.03,411.8,627.0,16.1,1009,12206,0.17,1.92,0.00,0.000,4,0.182,0.048,2880,3764,1851
$GC,12254,1.03,411.8,618.5,16.5,1011,12257,0.00,1.83,0.00,0.000,6,0.000,0.025,2885,2502,1850
$GC,12582,1.15,419.3,575.3,12.5,1027,12596,0.00,2.05,7.90,1.013,4,0.000,0.049,2885,3753,1821
$GC,12682,1.15,419.3,561.5,13.2,1031,12685,0.00,1.73,0.00,0.000,6,0.000,0.025,2894,2560,1820
$GC,13004,1.32,438.9,522.1,11.6,1047,13029,0.17,1.95,18.40,1.080,4,0.079,0.050,2970,3748,1741
$GC,13064,1.04,438.9,512.8,16.5,1049,13070,0.35,1.85,0.00,0.000,6,0.188,0.023,2888,2483,1739
$GC,13390,1.30,453.0,473.0,12.0,1075,13410,0.20,2.33,13.25,1.016,4,0.077,0.028,2980,968,1684
$GC,13433,1.15,453.0,466.1,15.0,1079,13440,0.25,2.38,0.00,0.000,6,0.190,0.031,2917,2510,1683
$GC,13759,1.31,466.7,425.4,12.1,1110,13781,0.15,2.03,12.75,0.978,4,0.074,0.049,2976,3759,1628
$GC,13870,1.11,466.7,408.6,16.4,1119,13876,0.30,1.83,0.00,0.000,6,0.186,0.024,2904,2515,1627
$GC,14195,1.35,474.2,366.9,12.5,1150,14208,0.17,2.38,7.53,0.865,4,0.076,0.030,2980,975,1598
$GC,14262,1.24,474.2,357.3,15.2,1155,14269,0.15,2.22,0.00,0.000,6,0.186,0.031,2944,2433,1597
$GC,14588,1.39,475.0,312.4,13.0,1186,14593,0.15,2.08,0.00,0.000,4,0.075,0.048,3001,3758,1595
$GC,14628,1.15,475.0,306.2,15.7,1189,14635,0.35,1.95,0.00,0.000,6,0.183,0.024,2918,2430,1595
$GC,14971,1.48,512.5,266.4,10.4,1246,15011,0.25,2.28,33.58,0.889,4,0.066,0.029,3028,965,1441
$GC,15110,1.32,512.5,246.1,15.1,1270,15117,0.22,2.20,0.00,0.000,6,0.180,0.029,2973,2409,1438
$GC,15456,1.43,512.5,199.6,13.4,1331,15462,0.00,2.15,0.00,0.000,4,0.000,0.029,2980,971,1435
$GC,15548,1.43,512.5,186.2,15.7,1347,15554,0.00,2.20,0.00,0.000,6,0.000,0.030,2980,2429,1435
$GC,15891,1.44,519.2,137.3,12.6,1408,15904,0.00,2.08,6.45,0.654,4,0.000,0.048,2980,3755,1415
$GC,15968,1.45,523.8,127.1,12.7,1421,15980,0.00,1.92,5.62,0.615,6,0.000,0.021,2980,2426,1396
$GC,16323,1.73,550.5,82.4,11.1,1483,16352,0.30,2.22,23.30,0.704,4,0.061,0.028,3114,969,1286
$GC,16434,1.52,550.5,65.3,16.9,1502,16441,0.30,2.22,0.00,0.000,6,0.183,0.030,3034,2437,1284
$GC,16781,1.57,550.5,20.1,13.6,1563,16787,0.00,2.17,0.00,0.000,4,0.000,0.028,3043,968,1283
$GC,16823,1.58,561.8,14.6,12.2,1570,16840,0.00,2.15,10.40,0.596,6,0.000,0.028,3043,2411,1241
$STATE,16906,end climb,SURFACE_DEPTH_REACHED
$STATE,16906,begin surface coast
$FINISH,1.7,1.021859
$STATE,16932,end surface coast,CONTROL_FINISHED_OK
$STATE,16932,begin surface
$SM_CCo,17012,0.00,0.000,0,0,1238,562.72
$SM_GC,2.76,7.75,0.00,0.00,0.050,0.000,0.000,139,2417,1238,-7.51,0.96,562.72
$IRIDIUM_FIX,2500.82,12404.52,061198,090933
$TT8_MAMPS,0.029146
$HUMID,1735
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,22.5,86.347
$10V_AH,10.6,45.874
$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,30.100,160.025,586.325,0.000,0.000,29.383,34.412,205.451,8.750,0.000,0.000,44.968,2623.572,10514.374,703.978,2847.795,775.800,0.000,2176.312,0.000,2752.154,0.000,52.757,0.000
$DEVICE_MAMPS,234.702,50.622,1389.804,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.995,1101.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85173,1589
$CAP_FILE_SIZE,187894,0
$CFSIZE,260165632,186126336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120809,191006,2511.317,12405.025,37,0.9,38,-3.8