version: 66.04
glider: 167
mission: 2
dive: 497
start: 8 13 109 5 3 51
data:
$ID,167
$MISSION,2
$DIVE,497
$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,-16068.062
$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,70
$R_STBD_OVSHOOT,45
$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
$GPS1,045554,2512.269,12406.592,37,1.3,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-67.7
$GPS2,050332,2512.450,12406.748,13,1.4,13,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2508.757,12355.538
$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,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,-41.60,0.000,2,0.000,0.000,142,2353,2281
$GC,64,-1.49,-121.7,3.2,-2.3,8,135,7.85,2.00,-56.90,0.000,4,0.229,0.038,2061,986,3988
$GC,182,-0.97,-121.7,16.3,-20.1,29,189,0.62,2.10,0.00,0.000,6,0.170,0.028,2228,2388,3989
$GC,529,-1.18,-121.7,61.2,-12.0,90,535,0.17,2.10,0.00,0.000,4,0.066,0.041,2138,3763,3990
$GC,582,-0.81,-121.7,68.5,-15.2,99,588,0.50,2.00,0.00,0.000,6,0.166,0.020,2278,2334,3990
$GC,928,-1.21,-121.7,105.3,-10.1,160,935,0.30,2.20,0.00,0.000,4,0.056,0.041,2146,3757,3992
$GC,955,-1.29,-121.7,108.2,-11.6,164,961,0.00,1.90,0.00,0.000,6,0.000,0.020,2146,2383,3991
$GC,1301,-1.29,-121.7,147.3,-11.4,225,1307,0.00,1.92,0.00,0.000,4,0.000,0.023,2146,1025,3993
$GC,1372,-1.18,-121.7,155.3,-12.2,237,1378,0.00,2.00,0.00,0.000,6,0.000,0.035,2138,2387,3993
$GC,1718,-1.18,-121.7,195.7,-11.2,298,1724,0.00,1.95,0.00,0.000,4,0.000,0.023,2137,1030,3994
$GC,1745,-1.13,-121.7,198.9,-11.9,302,1751,0.15,1.95,0.00,0.000,6,0.166,0.026,2174,2362,3994
$GC,2094,-1.31,-121.7,236.8,-11.3,363,2100,0.15,2.10,0.00,0.000,4,0.072,0.041,2111,3748,3995
$GC,2119,-1.31,-121.7,240.3,-12.2,367,2125,0.00,1.95,0.00,0.000,6,0.000,0.019,2111,2326,3995
$GC,2465,-1.19,-121.7,280.8,-10.4,428,2471,0.17,2.20,0.00,0.000,4,0.160,0.039,2154,3760,3995
$GC,2514,-1.11,-121.7,285.9,-9.8,436,2521,0.12,1.95,0.00,0.000,6,0.163,0.021,2184,2359,3995
$GC,2849,-1.35,-121.7,317.1,-9.9,480,2854,0.20,1.92,0.00,0.000,4,0.063,0.022,2097,1011,3995
$GC,2897,-1.14,-121.7,322.5,-12.3,484,2902,0.30,1.98,0.00,0.000,6,0.159,0.026,2172,2354,3995
$GC,3224,-1.33,-121.7,356.4,-10.5,514,3229,0.17,1.92,0.00,0.000,4,0.066,0.022,2101,1019,3995
$GC,3247,-1.33,-121.7,359.3,-11.8,516,3251,0.00,1.95,0.00,0.000,6,0.000,0.027,2098,2344,3995
$GC,3579,-1.24,-121.7,399.3,-11.2,547,3588,0.17,2.15,0.00,0.000,4,0.163,0.041,2138,3757,3995
$GC,3657,-1.17,-121.7,408.1,-11.9,553,3664,0.12,1.98,0.00,0.000,6,0.167,0.021,2168,2348,3995
$GC,3984,-1.40,-121.7,439.2,-9.8,584,3988,0.20,1.90,0.00,0.000,4,0.064,0.022,2082,1014,3994
$GC,4035,-1.19,-121.7,445.6,-12.3,588,4042,0.30,1.98,0.00,0.000,6,0.160,0.027,2158,2354,3994
$GC,4363,-1.34,-121.7,478.3,-9.5,619,4367,0.15,1.95,0.00,0.000,4,0.075,0.023,2097,1013,3993
$GC,4392,-1.34,-121.7,481.6,-10.8,621,4398,0.00,1.95,0.00,0.000,6,0.000,0.027,2097,2332,3993
$GC,4714,-1.34,-121.7,514.6,-10.0,645,4717,0.00,2.17,0.00,0.000,4,0.000,0.044,2097,3755,3992
$GC,4766,-1.14,-121.7,520.4,-11.8,647,4771,0.28,2.00,0.00,0.000,6,0.162,0.021,2172,2341,3992
$GC,5090,-1.39,-121.7,548.5,-8.7,663,5094,0.17,1.92,0.00,0.000,4,0.065,0.024,2095,1007,3990
$GC,5171,-1.25,-121.7,557.4,-11.1,666,5175,0.17,1.98,0.00,0.000,6,0.168,0.029,2140,2330,3990
$GC,5492,-1.42,-121.7,587.6,-9.4,682,5497,0.15,1.92,0.00,0.000,4,0.074,0.024,2080,1014,3988
$GC,5528,-1.28,-121.7,591.5,-11.3,683,5532,0.20,1.92,0.00,0.000,6,0.164,0.029,2133,2308,3987
$GC,5850,-1.41,-121.7,622.3,-9.6,699,5854,0.12,1.90,0.00,0.000,4,0.083,0.024,2083,1009,3986
$GC,5900,-1.26,-121.7,628.1,-11.6,701,5905,0.15,1.92,0.00,0.000,6,0.150,0.028,2137,2280,3985
$GC,6232,-1.41,-121.7,659.9,-9.4,717,6236,0.15,1.85,0.00,0.000,4,0.073,0.024,2078,1015,3982
$GC,6266,-1.30,-121.7,664.0,-10.8,718,6270,0.20,1.88,0.00,0.000,6,0.165,0.028,2124,2274,3982
$GC,6589,-1.45,-121.7,695.4,-9.7,734,6594,0.15,2.30,0.00,0.000,4,0.075,0.044,2057,3760,3979
$GC,6645,-1.16,-121.7,702.4,-13.0,736,6652,0.40,2.15,0.00,0.000,6,0.170,0.021,2168,2249,3979
$GC,6963,-1.39,-121.7,730.2,-8.3,752,6967,0.20,1.80,0.00,0.000,4,0.069,0.026,2086,1009,3977
$GC,6997,-1.27,-121.7,734.1,-11.2,753,7001,0.17,1.88,0.00,0.000,6,0.167,0.031,2130,2259,3977
$GC,7320,-1.43,-121.7,764.7,-9.6,769,7322,0.15,0.00,0.00,0.000,6,0.078,0.000,2072,2261,3975
$GC,7628,-1.36,-121.7,797.8,-10.7,784,7632,0.12,2.33,0.00,0.000,4,0.170,0.047,2098,3750,3972
$GC,7695,-1.22,-121.7,805.1,-11.2,787,7700,0.20,2.17,0.00,0.000,6,0.170,0.022,2149,2238,3972
$GC,8021,-1.46,-121.7,833.6,-8.8,803,8025,0.17,1.77,0.00,0.000,4,0.072,0.026,2074,1016,3970
$GC,8060,-1.30,-121.7,838.5,-11.9,804,8067,0.20,1.83,0.00,0.000,6,0.166,0.032,2123,2226,3970
$GC,8378,-1.45,-121.7,869.9,-9.9,820,8383,0.12,2.40,0.00,0.000,4,0.084,0.048,2070,3760,3968
$GC,8419,-1.20,-121.7,874.8,-13.2,822,8427,0.30,2.25,0.00,0.000,6,0.170,0.023,2152,2204,3968
$GC,8759,-1.44,-121.7,906.0,-8.9,838,8764,0.20,2.47,0.00,0.000,4,0.071,0.048,2070,3761,3966
$GC,8793,-1.21,-121.7,910.2,-12.8,839,8800,0.30,2.22,0.00,0.000,6,0.173,0.024,2150,2224,3966
$GC,9110,-1.45,-121.7,939.9,-9.2,855,9114,0.17,2.42,0.00,0.000,4,0.074,0.048,2071,3747,3965
$STATE,9124,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9124,begin apogee
$GC,9135,-0.27,0.0,941.8,9.5,856,9238,1.38,0.00,94.32,1.361,6,0.177,0.000,2454,2362,3532
$STATE,9240,end apogee,CONTROL_FINISHED_OK
$STATE,9240,begin climb
$GC,9243,1.49,121.7,948.5,0.0,861,9355,1.58,2.33,104.20,1.344,4,0.059,0.045,3021,3755,3035
$GC,9508,0.70,186.0,942.1,8.4,874,9571,1.02,2.03,53.85,1.319,6,0.217,0.021,2773,2378,2773
$GC,9881,0.78,256.7,913.4,8.0,892,9947,0.00,2.30,59.38,1.313,4,0.000,0.050,2773,3737,2484
$GC,10050,0.82,289.8,895.9,10.7,899,10086,0.10,2.00,29.30,1.272,6,0.095,0.023,2813,2397,2349
$GC,10411,0.85,308.9,853.8,11.7,917,10433,0.00,2.25,16.55,1.228,4,0.000,0.049,2813,3755,2272
$GC,10502,0.85,310.9,841.5,12.9,921,10506,0.00,1.98,0.00,0.000,6,0.000,0.023,2815,2430,2270
$GC,10836,0.94,342.0,804.6,10.8,937,10870,0.00,2.17,28.90,1.256,4,0.000,0.049,2815,3741,2136
$GC,10946,0.95,351.8,791.1,12.3,942,10960,0.00,1.92,9.68,1.121,6,0.000,0.025,2820,2442,2097
$GC,11280,1.06,356.4,751.6,12.7,958,11289,0.17,0.00,4.95,0.918,6,0.074,0.000,2889,2442,2078
$GC,11612,0.97,356.4,702.2,14.3,974,11616,0.12,2.08,0.00,0.000,4,0.186,0.049,2859,3746,2077
$GC,11662,0.89,356.4,694.9,14.0,976,11666,0.15,1.88,0.00,0.000,6,0.185,0.023,2831,2449,2076
$GC,11984,1.14,385.1,658.8,11.0,992,12015,0.20,2.12,25.55,1.183,4,0.072,0.049,2914,3759,1961
$GC,12102,0.93,385.1,640.6,15.7,997,12106,0.28,1.85,0.00,0.000,6,0.181,0.025,2852,2501,1956
$GC,12425,1.18,391.2,598.8,12.6,1013,12436,0.17,2.00,5.78,0.929,4,0.074,0.050,2925,3751,1937
$GC,12504,0.95,391.2,585.4,17.3,1016,12510,0.30,1.73,0.00,0.000,6,0.182,0.025,2852,2559,1936
$GC,12822,1.21,403.2,545.8,12.2,1032,12843,0.20,1.98,12.35,1.061,4,0.072,0.050,2934,3758,1887
$GC,12867,1.01,403.2,538.4,17.0,1034,12872,0.28,1.88,0.00,0.000,6,0.185,0.024,2869,2478,1885
$GC,13192,1.25,421.4,497.5,11.7,1050,13215,0.20,2.10,16.90,1.055,4,0.074,0.048,2951,3751,1812
$GC,13295,1.04,421.4,482.0,15.5,1059,13300,0.30,1.98,0.00,0.000,6,0.183,0.023,2882,2412,1808
$GC,13621,1.31,460.1,447.1,10.3,1089,13664,0.20,2.22,33.72,1.039,4,0.073,0.029,2973,982,1654
$GC,13779,1.18,460.1,424.5,14.6,1103,13784,0.20,2.33,0.00,0.000,6,0.184,0.030,2923,2485,1650
$GC,14105,1.35,460.1,378.9,14.2,1133,14109,0.17,1.98,0.00,0.000,4,0.071,0.048,2991,3749,1646
$GC,14213,1.10,460.1,360.1,17.5,1142,14219,0.38,1.95,0.00,0.000,6,0.184,0.022,2901,2403,1646
$GC,14538,1.43,495.1,322.1,10.5,1173,14574,0.25,2.17,29.23,0.936,4,0.066,0.029,3012,990,1512
$GC,14698,1.28,495.1,299.1,14.5,1187,14705,0.22,2.12,0.00,0.000,6,0.181,0.031,2956,2377,1508
$GC,15044,1.44,495.1,252.3,13.9,1248,15051,0.15,2.17,0.00,0.000,4,0.070,0.048,3013,3762,1505
$GC,15114,1.19,495.1,240.6,16.6,1260,15121,0.35,2.08,0.00,0.000,6,0.179,0.023,2929,2351,1506
$GC,15463,1.46,518.5,197.4,11.4,1321,15492,0.20,2.28,20.05,0.811,4,0.071,0.047,3014,3755,1418
$GC,15535,1.29,518.5,186.8,15.9,1333,15542,0.22,2.05,0.00,0.000,6,0.174,0.022,2966,2367,1416
$GC,15881,1.51,518.5,139.3,13.5,1394,15888,0.17,2.08,0.00,0.000,4,0.073,0.028,3045,959,1415
$GC,16002,1.37,518.5,120.1,15.0,1415,16009,0.22,2.05,0.00,0.000,6,0.173,0.029,2987,2325,1415
$GC,16348,1.70,551.2,80.8,10.7,1476,16382,0.25,2.05,27.45,0.708,4,0.061,0.027,3101,963,1286
$GC,16461,1.52,551.2,65.2,16.3,1495,16467,0.25,2.05,0.00,0.000,6,0.188,0.028,3035,2324,1283
$GC,16807,1.72,572.8,21.3,11.5,1556,16836,0.17,2.08,19.62,0.630,4,0.063,0.028,3121,967,1195
$STATE,16932,end climb,SURFACE_DEPTH_REACHED
$STATE,16932,begin surface coast
$FINISH,1.9,1.008803
$STATE,16949,end surface coast,CONTROL_FINISHED_OK
$STATE,16950,begin surface
$SM_CCo,17033,0.00,0.000,0,0,1191,574.25
$SM_GC,2.70,8.07,0.00,0.00,0.057,0.000,0.000,141,2394,1191,-7.49,0.31,574.25
$IRIDIUM_FIX,2500.82,12406.49,071198,000057
$TT8_MAMPS,0.029146
$HUMID,1725
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,23.0,86.988
$10V_AH,10.6,46.171
$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,34.100,167.875,591.775,0.000,0.000,30.154,35.060,219.409,8.000,0.000,0.000,13.180,2629.234,10527.766,717.876,2801.358,793.945,0.000,2189.298,0.000,2737.960,0.000,53.424,0.000
$DEVICE_MAMPS,229.333,49.855,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.741,1097.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85254,1581
$CAP_FILE_SIZE,193465,0
$CFSIZE,260165632,185847808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130809,094900,2512.852,12407.160,38,1.3,39,-3.8