version: 66.04
glider: 167
mission: 2
dive: 495
start: 8 12 109 19 18 16
data:
$ID,167
$MISSION,2
$DIVE,495
$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,-16024.329
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,191006,2511.317,12405.025,37,0.9,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-65.9
$GPS2,191758,2511.385,12405.188,12,3.5,31,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2507.691,12353.979
$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,12,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,-41.70,0.000,2,0.000,0.000,140,2417,2280
$GC,65,-1.49,-121.7,3.1,-1.4,8,137,8.02,2.20,-57.80,0.000,4,0.237,0.036,2062,968,3989
$GC,161,-0.99,-121.7,11.6,-18.7,25,168,0.60,2.12,0.00,0.000,6,0.168,0.026,2221,2395,3990
$GC,507,-0.99,-121.7,56.7,-12.8,86,513,0.00,2.08,0.00,0.000,4,0.000,0.041,2212,3757,3991
$GC,582,-0.91,-121.7,67.4,-14.4,99,589,0.15,1.98,0.00,0.000,6,0.163,0.021,2251,2348,3991
$GC,928,-1.27,-121.7,104.8,-10.9,160,935,0.28,1.90,0.00,0.000,4,0.054,0.022,2130,1017,3992
$GC,966,-1.09,-121.7,109.0,-11.9,166,973,0.25,2.03,0.00,0.000,6,0.162,0.026,2192,2396,3992
$GC,1312,-1.26,-121.7,148.6,-11.7,227,1318,0.17,0.00,0.00,0.000,6,0.065,0.000,2120,2398,3994
$GC,1658,-1.12,-121.7,189.5,-10.2,288,1664,0.20,0.00,0.00,0.000,6,0.160,0.000,2179,2398,3995
$GC,2003,-1.28,-121.7,220.5,-10.8,349,2010,0.15,2.05,0.00,0.000,4,0.071,0.041,2111,3748,3996
$GC,2042,-1.05,-121.7,225.1,-13.8,355,2049,0.35,1.92,0.00,0.000,6,0.163,0.020,2207,2362,3995
$GC,2388,-1.34,-121.7,263.3,-9.4,416,2394,0.22,0.00,0.00,0.000,6,0.060,0.000,2109,2362,3996
$GC,2733,-1.22,-121.7,301.3,-11.4,476,2737,0.15,2.12,0.00,0.000,4,0.163,0.040,2139,3747,3996
$GC,2778,-1.08,-121.7,306.9,-11.6,479,2784,0.20,1.90,0.00,0.000,6,0.163,0.020,2192,2378,3996
$GC,3104,-1.36,-121.7,339.9,-10.0,510,3106,0.25,0.00,0.00,0.000,6,0.059,0.000,2092,2378,3996
$GC,3422,-1.20,-121.7,377.7,-11.7,540,3427,0.20,2.12,0.00,0.000,4,0.163,0.040,2143,3761,3996
$GC,3519,-1.20,-121.7,388.3,-10.3,548,3523,0.00,1.90,0.00,0.000,6,0.000,0.021,2142,2389,3996
$GC,3851,-1.29,-121.7,421.0,-9.7,579,3855,0.00,1.95,0.00,0.000,4,0.000,0.025,2143,1021,3996
$GC,3955,-1.29,-121.7,431.7,-10.5,588,3958,0.00,1.98,0.00,0.000,6,0.000,0.027,2139,2364,3996
$GC,4286,-1.36,-121.7,465.0,-10.4,619,4290,0.00,2.12,0.00,0.000,4,0.000,0.044,2137,3758,3995
$GC,4315,-1.36,-121.7,468.0,-10.4,621,4322,0.00,1.98,0.00,0.000,6,0.000,0.021,2137,2344,3995
$GC,4641,-1.50,-121.7,499.4,-9.9,652,4647,0.20,1.90,0.00,0.000,4,0.065,0.023,2049,1014,3994
$GC,4668,-1.41,-121.7,502.1,-10.9,654,4673,0.17,2.03,0.00,0.000,6,0.181,0.028,2086,2379,3993
$GC,5004,-1.29,-121.7,542.3,-11.5,670,5009,0.15,2.10,0.00,0.000,4,0.175,0.043,2125,3748,3993
$GC,5107,-1.17,-121.7,554.1,-10.0,674,5113,0.15,1.92,0.00,0.000,6,0.169,0.021,2162,2384,3992
$GC,5423,-1.38,-121.7,581.5,-8.3,690,5428,0.17,1.98,0.00,0.000,4,0.070,0.023,2086,1013,3991
$GC,5486,-1.21,-121.7,588.2,-11.3,692,5493,0.25,2.03,0.00,0.000,6,0.164,0.029,2151,2372,3990
$GC,5803,-1.41,-121.7,620.4,-10.1,708,5805,0.17,0.00,0.00,0.000,6,0.073,0.000,2084,2373,3988
$GC,6112,-1.41,-121.7,653.6,-10.1,723,6115,0.00,1.98,0.00,0.000,4,0.000,0.024,2084,1014,3986
$GC,6160,-1.25,-121.7,658.5,-11.4,725,6164,0.22,2.03,0.00,0.000,6,0.166,0.030,2141,2364,3985
$GC,6489,-1.42,-121.7,688.0,-9.2,741,6494,0.15,1.98,0.00,0.000,4,0.077,0.024,2082,1020,3982
$GC,6542,-1.26,-121.7,694.0,-11.5,743,6546,0.22,1.95,0.00,0.000,6,0.168,0.030,2140,2319,3982
$GC,6871,-1.44,-121.7,727.5,-10.7,759,6876,0.17,1.92,0.00,0.000,4,0.074,0.024,2065,1010,3980
$GC,6912,-1.27,-121.7,732.7,-12.5,760,6919,0.28,1.98,0.00,0.000,6,0.170,0.028,2131,2330,3979
$GC,7232,-1.44,-121.7,766.2,-10.0,776,7236,0.15,2.22,0.00,0.000,4,0.078,0.047,2071,3760,3977
$GC,7282,-1.19,-121.7,772.8,-12.7,778,7287,0.32,2.08,0.00,0.000,6,0.170,0.022,2159,2313,3977
$GC,7604,-1.46,-121.7,801.7,-9.1,793,7606,0.25,0.00,0.00,0.000,6,0.066,0.000,2065,2313,3975
$GC,7908,-1.39,-121.7,835.8,-11.2,808,7913,0.12,2.28,0.00,0.000,4,0.179,0.046,2085,3754,3973
$GC,7950,-1.20,-121.7,840.5,-12.4,810,7955,0.28,2.08,0.00,0.000,6,0.171,0.023,2159,2314,3972
$GC,8280,-1.46,-121.7,868.8,-8.0,826,8284,0.20,1.90,0.00,0.000,4,0.073,0.025,2076,1007,3971
$GC,8327,-1.31,-121.7,873.4,-10.1,828,8331,0.17,1.98,0.00,0.000,6,0.173,0.031,2116,2290,3971
$GC,8662,-1.43,-121.7,901.7,-7.9,844,8666,0.00,2.30,0.00,0.000,4,0.000,0.049,2111,3761,3968
$GC,8692,-1.43,-121.7,904.6,-9.8,845,8695,0.00,2.12,0.00,0.000,6,0.000,0.023,2111,2291,3968
$GC,9014,-1.43,-121.7,933.3,-8.7,861,9018,0.00,2.35,0.00,0.000,4,0.000,0.051,2110,3757,3967
$GC,9077,-1.34,-121.7,939.4,-11.1,864,9081,0.00,2.10,0.00,0.000,6,0.000,0.024,2110,2304,3967
$STATE,9138,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9139,begin apogee
$GC,9147,-0.27,0.0,945.7,9.6,867,9251,1.20,0.00,94.70,1.362,6,0.165,0.000,2455,2364,3532
$STATE,9251,end apogee,CONTROL_FINISHED_OK
$STATE,9251,begin climb
$GC,9255,1.49,121.7,951.4,0.0,872,9366,1.60,2.33,104.47,1.343,4,0.066,0.048,3020,3760,3034
$GC,9420,0.68,187.0,953.3,8.4,880,9481,1.05,2.05,55.08,1.317,6,0.217,0.022,2769,2388,2769
$GC,9804,0.88,277.4,925.9,6.6,899,9887,0.17,2.17,75.50,1.319,4,0.080,0.028,2841,989,2401
$GC,10047,0.93,323.7,901.6,9.7,910,10092,0.00,2.22,39.83,1.285,6,0.000,0.031,2842,2430,2212
$GC,10423,0.95,338.3,857.6,12.0,928,10447,0.00,2.12,14.88,1.059,4,0.000,0.051,2842,3757,2153
$GC,10548,0.88,341.2,840.7,12.8,933,10560,0.00,1.92,4.00,0.807,6,0.000,0.023,2841,2461,2141
$GC,10870,0.89,347.8,799.7,12.6,949,10884,0.00,2.28,7.62,1.088,4,0.000,0.031,2842,990,2113
$GC,10931,0.96,349.2,791.7,12.9,951,10937,0.00,2.25,0.00,0.000,6,0.000,0.031,2841,2454,2112
$GC,11248,0.97,361.4,752.3,12.2,967,11266,0.00,0.00,13.00,1.178,6,0.000,0.000,2841,2455,2058
$GC,11578,1.02,361.4,708.8,13.4,983,11582,0.00,2.05,0.00,0.000,4,0.000,0.050,2841,3764,2055
$GC,11624,1.02,361.4,701.9,14.2,985,11628,0.00,1.92,0.00,0.000,6,0.000,0.024,2841,2460,2054
$GC,11957,1.22,398.3,662.7,10.4,1001,11999,0.22,2.15,32.25,1.191,4,0.074,0.048,2933,3750,1907
$GC,12067,0.97,398.3,646.2,16.4,1005,12073,0.32,1.88,0.00,0.000,6,0.186,0.024,2857,2495,1904
$GC,12383,1.19,398.3,603.4,13.6,1021,12388,0.17,2.00,0.00,0.000,4,0.079,0.049,2931,3750,1901
$GC,12431,0.94,398.3,595.5,19.4,1023,12435,0.32,1.80,0.00,0.000,6,0.180,0.025,2852,2513,1901
$GC,12764,1.23,419.5,552.0,11.5,1039,12789,0.22,2.03,18.80,1.095,4,0.071,0.051,2945,3746,1820
$GC,12908,1.01,419.5,529.5,15.7,1045,12912,0.32,1.88,0.00,0.000,6,0.183,0.024,2868,2463,1816
$GC,13231,1.33,457.3,495.4,10.3,1063,13273,0.25,2.30,33.17,1.071,4,0.069,0.029,2980,992,1665
$GC,13381,1.18,457.3,472.7,16.3,1076,13387,0.22,2.22,0.00,0.000,6,0.186,0.031,2924,2432,1660
$GC,13706,1.36,457.3,426.8,13.9,1107,13711,0.17,2.20,0.00,0.000,4,0.071,0.029,3002,982,1658
$GC,13826,1.16,457.3,406.7,16.4,1117,13831,0.32,2.33,0.00,0.000,6,0.190,0.032,2919,2497,1658
$GC,14153,1.39,482.9,365.9,11.2,1147,14180,0.20,1.98,21.10,0.961,4,0.067,0.048,3000,3762,1563
$GC,14250,1.14,482.9,351.9,15.9,1155,14255,0.35,2.00,0.00,0.000,6,0.180,0.024,2917,2422,1560
$GC,14576,1.43,488.6,313.8,12.6,1185,14589,0.22,2.12,5.65,0.753,4,0.067,0.048,3010,3764,1541
$GC,14595,1.57,488.6,310.9,13.6,1186,14601,0.00,2.12,0.00,0.000,6,0.000,0.023,3020,2304,1540
$GC,14937,1.38,488.6,253.4,14.7,1241,14943,0.12,1.92,0.00,0.000,4,0.185,0.028,2999,979,1540
$GC,15012,1.26,488.6,242.9,13.6,1254,15019,0.20,2.05,0.00,0.000,6,0.181,0.029,2949,2339,1539
$GC,15361,1.45,489.8,199.0,13.0,1315,15368,0.17,2.03,0.00,0.000,4,0.071,0.028,3031,982,1538
$GC,15473,1.28,489.8,181.2,16.7,1334,15480,0.28,2.12,0.00,0.000,6,0.178,0.030,2960,2399,1538
$GC,15821,1.52,516.8,136.9,11.1,1395,15855,0.17,2.15,25.42,0.759,4,0.074,0.045,3032,3754,1424
$GC,15963,1.40,516.8,115.8,14.1,1420,15970,0.15,2.10,0.00,0.000,6,0.190,0.022,2997,2305,1422
$GC,16309,1.69,543.1,76.4,11.2,1481,16338,0.22,2.28,22.50,0.690,4,0.067,0.042,3093,3746,1316
$GC,16386,1.45,543.1,65.0,15.5,1494,16393,0.32,2.15,0.00,0.000,6,0.186,0.021,3016,2266,1314
$GC,16733,1.68,567.5,22.4,11.3,1555,16762,0.17,2.35,21.15,0.627,4,0.072,0.043,3093,3757,1217
$GC,16825,1.50,567.5,8.3,15.2,1571,16832,0.28,2.08,0.00,0.000,6,0.184,0.021,3030,2321,1215
$STATE,16864,end climb,SURFACE_DEPTH_REACHED
$STATE,16864,begin surface coast
$FINISH,1.7,1.000779
$STATE,16888,end surface coast,CONTROL_FINISHED_OK
$STATE,16888,begin surface
$SM_CCo,16969,0.00,0.000,0,0,1214,568.61
$SM_GC,2.71,7.70,0.00,0.00,0.048,0.000,0.000,141,2397,1214,-7.50,0.40,568.61
$IRIDIUM_FIX,2500.82,12404.52,061198,141439
$TT8_MAMPS,0.029146
$HUMID,1718
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,23.3,86.561
$10V_AH,10.6,45.972
$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,32.200,149.225,589.125,0.000,0.000,27.704,40.460,210.538,8.500,0.000,0.000,32.398,2614.621,10484.997,716.017,2802.979,800.780,0.000,2166.946,0.000,2729.505,0.000,53.396,0.000
$DEVICE_MAMPS,237.003,86.671,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.013,1105.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85280,1582
$CAP_FILE_SIZE,186871,0
$CFSIZE,260165632,186036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130809,000224,2511.899,12405.957,23,1.0,42,-3.8