version: 66.04
glider: 167
mission: 2
dive: 496
start: 8 13 109 0 10 24
data:
$ID,167
$MISSION,2
$DIVE,496
$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,-16054.254
$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,84
$R_STBD_OVSHOOT,55
$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
$GPS1,000224,2511.899,12405.957,23,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-67.0
$GPS2,001006,2512.046,12406.127,13,1.3,29,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2508.353,12354.917
$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,2186
$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,-41.80,0.000,2,0.000,0.000,141,2397,2269
$GC,65,-1.49,-121.7,3.2,-2.0,8,137,7.97,2.12,-58.08,0.000,4,0.234,0.036,2063,989,3989
$GC,179,-0.97,-121.7,15.3,-19.5,28,186,0.62,2.08,0.00,0.000,6,0.169,0.027,2229,2381,3990
$GC,526,-1.19,-121.7,60.1,-12.3,89,532,0.17,2.10,0.00,0.000,4,0.066,0.041,2140,3760,3991
$GC,630,-0.86,-121.7,78.0,-19.0,107,636,0.45,1.95,0.00,0.000,6,0.163,0.021,2267,2362,3991
$GC,976,-1.27,-121.7,114.7,-9.3,168,982,0.32,1.92,0.00,0.000,4,0.054,0.023,2127,1014,3991
$GC,1030,-1.06,-121.7,121.7,-13.9,177,1037,0.28,2.05,0.00,0.000,6,0.164,0.027,2198,2407,3992
$GC,1378,-1.21,-121.7,160.6,-11.6,238,1385,0.15,2.00,0.00,0.000,4,0.070,0.022,2136,1019,3993
$GC,1431,-1.07,-121.7,167.9,-13.7,247,1438,0.25,2.00,0.00,0.000,6,0.159,0.025,2195,2387,3994
$GC,1777,-1.23,-121.7,203.4,-10.3,308,1784,0.15,1.98,0.00,0.000,4,0.071,0.021,2133,1015,3994
$GC,1864,-1.08,-121.7,213.4,-12.2,323,1871,0.25,1.92,0.00,0.000,6,0.157,0.024,2193,2340,3994
$GC,2211,-1.31,-121.7,249.5,-10.5,384,2219,0.17,2.15,0.00,0.000,4,0.068,0.041,2110,3762,3995
$GC,2256,-1.07,-121.7,254.5,-11.8,391,2262,0.32,1.98,0.00,0.000,6,0.163,0.020,2200,2338,3995
$GC,2603,-1.33,-121.7,288.3,-9.6,452,2609,0.20,2.17,0.00,0.000,4,0.061,0.041,2110,3755,3995
$GC,2628,-1.33,-121.7,291.0,-10.0,456,2634,0.00,1.95,0.00,0.000,6,0.000,0.021,2110,2338,3995
$GC,2959,-1.28,-121.7,326.5,-10.9,494,2962,0.00,2.15,0.00,0.000,4,0.000,0.039,2099,3748,3995
$GC,2994,-1.06,-121.7,330.6,-12.3,497,2999,0.38,1.90,0.00,0.000,6,0.164,0.020,2203,2377,3995
$GC,3320,-1.34,-121.7,360.7,-9.7,527,3324,0.22,1.92,0.00,0.000,4,0.060,0.022,2109,1031,3995
$GC,3382,-1.22,-121.7,368.0,-11.8,532,3389,0.20,1.95,0.00,0.000,6,0.161,0.026,2153,2356,3995
$GC,3709,-1.36,-121.7,400.7,-8.4,563,3713,0.15,1.92,0.00,0.000,4,0.072,0.022,2092,1026,3995
$GC,3744,-1.23,-121.7,404.1,-9.7,566,3748,0.22,1.92,0.00,0.000,6,0.162,0.026,2146,2333,3995
$GC,4075,-1.37,-121.7,433.7,-9.6,597,4077,0.12,0.00,0.00,0.000,6,0.077,0.000,2094,2334,3994
$GC,4396,-1.37,-121.7,468.5,-10.9,627,4400,0.00,1.90,0.00,0.000,4,0.000,0.024,2094,1024,3993
$GC,4443,-1.22,-121.7,474.1,-11.7,631,4447,0.20,1.95,0.00,0.000,6,0.168,0.028,2147,2342,3993
$GC,4785,-1.39,-121.7,504.4,-8.7,661,4789,0.15,1.92,0.00,0.000,4,0.073,0.023,2086,1019,3992
$GC,4813,-1.34,-121.7,507.5,-10.5,662,4817,0.12,1.95,0.00,0.000,6,0.176,0.028,2114,2336,3992
$GC,5143,-1.40,-121.7,540.2,-10.0,678,5146,0.00,2.17,0.00,0.000,4,0.000,0.044,2111,3760,3990
$GC,5173,-1.34,-121.7,543.6,-11.4,679,5176,0.00,2.03,0.00,0.000,6,0.000,0.021,2111,2323,3990
$GC,5501,-1.34,-121.7,576.1,-9.7,695,5505,0.00,1.85,0.00,0.000,4,0.000,0.025,2111,1027,3988
$GC,5552,-1.27,-121.7,581.3,-10.2,697,5556,0.00,1.90,0.00,0.000,6,0.000,0.028,2110,2309,3987
$GC,5881,-1.34,-121.7,612.3,-9.1,713,5885,0.00,2.22,0.00,0.000,4,0.000,0.045,2110,3753,3986
$GC,5916,-1.25,-121.7,615.9,-10.4,714,5920,0.12,2.08,0.00,0.000,6,0.171,0.022,2141,2303,3985
$GC,6239,-1.43,-121.7,644.1,-8.6,730,6243,0.17,1.85,0.00,0.000,4,0.071,0.024,2065,1015,3982
$GC,6307,-1.22,-121.7,651.5,-11.5,733,6311,0.32,1.90,0.00,0.000,6,0.165,0.030,2147,2286,3981
$GC,6644,-1.44,-121.7,681.0,-8.5,749,6648,0.17,2.28,0.00,0.000,4,0.072,0.048,2071,3751,3979
$GC,6672,-1.32,-121.7,684.4,-11.6,750,6676,0.17,2.10,0.00,0.000,6,0.174,0.023,2115,2289,3979
$GC,6996,-1.41,-121.7,716.7,-10.5,766,7000,0.00,1.85,0.00,0.000,4,0.000,0.028,2115,1031,3977
$GC,7043,-1.41,-121.7,722.1,-11.7,768,7047,0.00,1.88,0.00,0.000,6,0.000,0.031,2113,2257,3977
$GC,7376,-1.48,-121.7,757.5,-10.3,784,7381,0.12,2.33,0.00,0.000,4,0.085,0.046,2057,3752,3974
$GC,7440,-1.19,-121.7,765.5,-13.6,787,7445,0.38,2.12,0.00,0.000,6,0.170,0.023,2160,2274,3974
$GC,7770,-1.45,-121.7,794.3,-8.1,803,7774,0.20,1.80,0.00,0.000,4,0.071,0.026,2076,1032,3972
$GC,7804,-1.29,-121.7,797.8,-10.2,804,7808,0.22,1.85,0.00,0.000,6,0.173,0.030,2130,2267,3971
$GC,8129,-1.45,-121.7,828.9,-10.1,820,8134,0.15,2.33,0.00,0.000,4,0.081,0.048,2071,3754,3970
$GC,8157,-1.31,-121.7,832.7,-12.5,821,8162,0.20,2.12,0.00,0.000,6,0.177,0.024,2121,2284,3969
$GC,8483,-1.40,-121.7,869.0,-11.1,837,8487,0.00,2.33,0.00,0.000,4,0.000,0.048,2113,3756,3968
$GC,8574,-1.30,-121.7,880.6,-12.1,841,8578,0.00,2.12,0.00,0.000,6,0.000,0.025,2113,2293,3967
$GC,8908,-1.30,-121.7,917.1,-10.7,857,8912,0.00,2.33,0.00,0.000,4,0.000,0.051,2110,3754,3966
$GC,9010,-1.20,-121.7,929.0,-11.6,861,9017,0.17,2.10,0.00,0.000,6,0.172,0.024,2154,2305,3965
$STATE,9137,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9137,begin apogee
$GC,9146,-0.27,0.0,940.7,8.8,868,9249,0.98,0.00,94.38,1.356,6,0.144,0.000,2452,2355,3532
$STATE,9250,end apogee,CONTROL_FINISHED_OK
$STATE,9250,begin climb
$GC,9253,1.49,121.7,946.7,0.0,873,9365,1.62,2.35,104.10,1.341,4,0.066,0.046,3026,3753,3035
$GC,9503,0.65,165.5,939.5,9.9,885,9547,1.10,2.00,37.28,1.302,6,0.219,0.022,2760,2392,2857
$GC,9870,0.81,240.5,911.4,7.7,903,9940,0.15,2.33,62.72,1.312,4,0.087,0.048,2815,3760,2550
$GC,10088,0.68,244.8,886.5,12.7,913,10098,0.20,2.00,4.38,0.861,6,0.190,0.025,2767,2423,2533
$GC,10424,0.96,295.1,854.4,9.4,929,10474,0.22,2.25,43.60,1.286,4,0.073,0.051,2860,3758,2327
$GC,10604,0.76,295.1,828.4,14.6,937,10609,0.30,1.92,0.00,0.000,6,0.184,0.025,2791,2460,2322
$GC,10927,1.03,331.4,793.4,10.4,953,10963,0.20,2.28,30.75,1.247,4,0.074,0.029,2886,979,2180
$GC,11116,0.94,331.4,766.3,15.1,960,11122,0.15,2.22,0.00,0.000,6,0.188,0.031,2850,2427,2175
$GC,11433,0.95,336.0,725.0,12.7,976,11442,0.00,2.15,4.22,0.831,4,0.000,0.051,2850,3761,2162
$GC,11501,0.87,336.0,715.4,14.3,979,11505,0.12,1.95,0.00,0.000,6,0.191,0.025,2829,2432,2161
$GC,11836,1.04,356.0,675.9,11.6,995,11862,0.15,2.17,18.75,1.170,4,0.081,0.050,2886,3753,2079
$GC,11896,0.88,356.0,666.8,15.1,997,11903,0.25,1.92,0.00,0.000,6,0.184,0.024,2830,2456,2077
$GC,12214,1.16,385.9,631.2,10.9,1013,12245,0.22,2.10,25.73,1.155,4,0.070,0.048,2923,3758,1959
$GC,12316,0.96,385.9,615.6,15.5,1017,12322,0.28,2.03,0.00,0.000,6,0.184,0.025,2858,2400,1955
$GC,12633,1.22,407.1,576.1,11.5,1033,12665,0.20,2.22,21.45,1.028,4,0.074,0.030,2950,972,1871
$GC,12753,1.07,407.1,558.0,14.2,1038,12758,0.22,2.15,0.00,0.000,6,0.184,0.032,2894,2368,1867
$GC,13071,1.22,431.1,518.5,11.3,1053,13097,0.12,2.12,21.02,1.072,4,0.087,0.030,2947,980,1773
$GC,13160,1.12,431.1,506.4,13.4,1057,13164,0.17,2.25,0.00,0.000,6,0.185,0.031,2905,2437,1770
$GC,13489,1.31,442.3,465.3,12.2,1086,13505,0.17,2.08,10.52,0.977,4,0.077,0.048,2973,3755,1728
$GC,13556,1.07,442.3,454.5,16.9,1091,13563,0.32,1.95,0.00,0.000,6,0.186,0.024,2896,2443,1726
$GC,13882,1.31,445.5,411.9,12.8,1122,13894,0.20,2.20,4.12,0.703,4,0.074,0.031,2980,979,1714
$GC,14034,1.15,445.5,389.2,14.2,1135,14041,0.25,2.10,0.00,0.000,6,0.185,0.032,2916,2360,1714
$GC,14360,1.38,471.4,352.2,11.2,1166,14393,0.20,2.17,22.98,0.955,4,0.067,0.031,3006,979,1608
$GC,14507,1.20,471.4,331.1,15.0,1179,14512,0.30,2.20,0.00,0.000,6,0.183,0.032,2929,2411,1606
$GC,14836,1.44,483.1,290.1,12.2,1216,14854,0.20,2.10,10.98,0.851,4,0.067,0.048,3013,3750,1561
$GC,14908,1.19,483.1,278.0,17.6,1228,14914,0.35,1.95,0.00,0.000,6,0.179,0.023,2929,2425,1560
$GC,15254,1.47,514.6,233.3,10.8,1289,15288,0.20,2.12,27.27,0.851,4,0.072,0.048,3014,3755,1435
$GC,15301,1.35,514.6,226.6,15.1,1297,15308,0.17,1.95,0.00,0.000,6,0.177,0.023,2980,2433,1434
$GC,15648,1.53,515.5,180.3,13.0,1358,15654,0.17,2.17,0.00,0.000,4,0.074,0.028,3059,965,1431
$GC,15812,1.31,515.5,153.7,17.0,1386,15819,0.35,2.17,0.00,0.000,6,0.183,0.028,2968,2414,1430
$GC,16161,1.63,556.9,108.6,10.1,1447,16206,0.25,2.22,35.75,0.739,4,0.064,0.027,3083,969,1260
$GC,16332,1.48,556.9,84.0,14.6,1477,16339,0.25,2.10,0.00,0.000,6,0.186,0.029,3019,2359,1257
$GC,16679,1.71,564.6,39.2,12.5,1538,16692,0.17,2.22,7.18,0.581,4,0.067,0.047,3097,3750,1229
$GC,16761,1.49,564.6,26.4,15.2,1552,16768,0.30,2.03,0.00,0.000,6,0.182,0.021,3026,2355,1229
$STATE,16947,end climb,SURFACE_DEPTH_REACHED
$STATE,16947,begin surface coast
$FINISH,1.8,1.001349
$STATE,16976,end surface coast,CONTROL_FINISHED_OK
$STATE,16976,begin surface
$SM_CCo,17055,0.00,0.000,0,0,1227,565.42
$SM_GC,2.73,7.72,0.00,0.00,0.052,0.000,0.000,142,2352,1227,-7.50,-0.88,565.42
$IRIDIUM_FIX,2503.20,12421.68,061198,191942
$TT8_MAMPS,0.028379
$HUMID,1749
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,4
$24V_AH,23.3,86.773
$10V_AH,10.6,46.072
$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,33.800,165.625,587.175,0.000,0.000,30.110,33.600,209.064,8.500,0.000,0.000,29.298,2657.006,10456.431,698.655,2879.888,803.894,0.000,2196.625,0.000,2800.242,0.000,51.092,0.000
$DEVICE_MAMPS,233.935,102.011,1356.056,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.984,1100.630,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85255,1590
$CAP_FILE_SIZE,194707,0
$CFSIZE,260165632,185937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130809,045554,2512.269,12406.592,37,1.3,38,-3.8