version: 66.04
glider: 167
mission: 2
dive: 498
start: 8 13 109 9 57 40
data:
$ID,167
$MISSION,2
$DIVE,498
$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,-16102.844
$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,43
$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
$GPS1,094900,2512.852,12407.160,38,1.3,39,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-65.5
$GPS2,095722,2513.030,12407.419,14,4.2,33,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2509.337,12356.208
$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,2217
$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,-41.88,0.000,2,0.000,0.000,141,2394,2245
$GC,65,-1.49,-121.7,3.1,-1.9,8,137,7.90,2.15,-57.85,0.000,4,0.232,0.036,2061,972,3989
$GC,179,-0.95,-121.7,14.9,-18.0,28,186,0.65,2.12,0.00,0.000,6,0.170,0.026,2233,2398,3990
$GC,526,-1.17,-121.7,57.7,-11.3,89,532,0.17,2.08,0.00,0.000,4,0.069,0.022,2154,971,3991
$GC,573,-1.01,-121.7,64.2,-14.6,97,580,0.25,2.05,0.00,0.000,6,0.166,0.025,2213,2360,3992
$GC,919,-1.17,-121.7,106.6,-10.3,158,925,0.12,0.00,0.00,0.000,6,0.074,0.000,2160,2362,3992
$GC,1264,-1.17,-121.7,145.1,-9.9,219,1270,0.00,2.00,0.00,0.000,4,0.000,0.024,2160,974,3994
$GC,1306,-1.17,-121.7,149.5,-10.7,226,1312,0.00,2.00,0.00,0.000,6,0.000,0.025,2152,2342,3994
$GC,1651,-1.17,-121.7,188.7,-11.4,287,1657,0.00,2.12,0.00,0.000,4,0.000,0.042,2149,3747,3995
$GC,1689,-1.02,-121.7,192.9,-12.2,293,1695,0.22,2.03,0.00,0.000,6,0.154,0.019,2211,2280,3995
$GC,2038,-1.30,-121.7,226.4,-10.2,354,2044,0.20,0.00,0.00,0.000,6,0.062,0.000,2121,2279,3996
$GC,2382,-1.30,-121.7,266.9,-11.6,415,2388,0.00,2.25,0.00,0.000,4,0.000,0.039,2110,3755,3996
$GC,2402,-1.24,-121.7,269.3,-11.9,418,2408,0.15,2.05,0.00,0.000,6,0.162,0.020,2148,2278,3996
$GC,2745,-1.34,-121.7,305.3,-10.0,474,2750,0.12,1.85,0.00,0.000,4,0.075,0.023,2094,976,3996
$GC,2803,-1.11,-121.7,312.4,-12.5,479,2808,0.32,1.98,0.00,0.000,6,0.161,0.028,2183,2316,3995
$GC,3129,-1.35,-121.7,344.5,-10.5,509,3134,0.20,2.20,0.00,0.000,4,0.065,0.043,2096,3760,3995
$GC,3163,-1.14,-121.7,348.6,-12.8,511,3169,0.28,2.10,0.00,0.000,6,0.163,0.021,2171,2262,3996
$GC,3489,-1.35,-121.7,381.5,-9.4,542,3491,0.17,0.00,0.00,0.000,6,0.064,0.000,2099,2262,3995
$GC,3811,-1.30,-121.7,413.5,-10.2,572,3815,0.00,2.30,0.00,0.000,4,0.000,0.043,2098,3753,3995
$GC,3878,-1.08,-121.7,421.9,-12.8,577,3885,0.35,2.10,0.00,0.000,6,0.160,0.021,2196,2264,3995
$GC,4205,-1.40,-121.7,454.7,-10.4,608,4210,0.25,2.30,0.00,0.000,4,0.061,0.042,2085,3749,3995
$GC,4228,-1.40,-121.7,457.7,-11.9,609,4233,0.00,2.05,0.00,0.000,6,0.000,0.021,2085,2286,3994
$GC,4556,-1.31,-121.7,497.1,-11.4,640,4561,0.15,2.28,0.00,0.000,4,0.163,0.042,2124,3751,3993
$GC,4642,-1.21,-121.7,507.2,-11.4,645,4647,0.12,2.03,0.00,0.000,6,0.169,0.022,2154,2330,3992
$GC,4980,-1.38,-121.7,538.6,-9.4,661,4984,0.17,1.95,0.00,0.000,4,0.066,0.025,2078,981,3991
$GC,5054,-1.19,-121.7,547.7,-12.4,664,5059,0.32,2.03,0.00,0.000,6,0.162,0.028,2161,2339,3991
$GC,5378,-1.43,-121.7,580.5,-9.9,680,5383,0.17,2.00,0.00,0.000,4,0.072,0.025,2083,973,3989
$GC,5403,-1.43,-121.7,583.3,-11.1,681,5407,0.00,2.05,0.00,0.000,6,0.000,0.029,2081,2342,3989
$GC,5736,-1.31,-121.7,624.2,-11.9,697,5741,0.15,2.17,0.00,0.000,4,0.169,0.043,2111,3757,3987
$GC,5858,-1.19,-121.7,638.0,-11.2,702,5863,0.20,2.05,0.00,0.000,6,0.161,0.023,2164,2324,3986
$GC,6175,-1.43,-121.7,667.3,-8.5,717,6179,0.20,1.95,0.00,0.000,4,0.068,0.025,2079,981,3984
$GC,6222,-1.28,-121.7,671.9,-10.6,719,6227,0.22,2.08,0.00,0.000,6,0.163,0.029,2132,2362,3984
$GC,6553,-1.44,-121.7,701.3,-9.2,735,6555,0.15,0.00,0.00,0.000,6,0.078,0.000,2073,2362,3981
$GC,6860,-1.38,-121.7,733.7,-10.5,750,6864,0.00,2.05,0.00,0.000,4,0.000,0.026,2073,971,3979
$GC,6929,-1.21,-121.7,742.2,-12.4,753,6934,0.30,2.10,0.00,0.000,6,0.165,0.032,2152,2357,3978
$GC,7259,-1.42,-121.7,773.3,-9.4,769,7263,0.17,2.05,0.00,0.000,4,0.074,0.025,2078,969,3976
$GC,7327,-1.27,-121.7,781.2,-11.7,772,7332,0.22,2.05,0.00,0.000,6,0.166,0.031,2131,2329,3975
$GC,7651,-1.43,-121.7,813.6,-10.2,788,7655,0.15,2.00,0.00,0.000,4,0.081,0.025,2073,981,3974
$GC,7692,-1.27,-121.7,818.6,-11.8,789,7698,0.25,2.03,0.00,0.000,6,0.168,0.032,2138,2314,3973
$GC,8012,-1.45,-121.7,851.7,-10.0,805,8013,0.17,0.00,0.00,0.000,6,0.072,0.000,2070,2316,3971
$GC,8319,-1.40,-121.7,885.7,-11.1,820,8323,0.00,2.25,0.00,0.000,4,0.000,0.048,2061,3757,3970
$GC,8364,-1.10,-121.7,891.6,-13.6,822,8369,0.45,2.15,0.00,0.000,6,0.176,0.023,2183,2262,3969
$GC,8689,-1.46,-121.7,920.4,-8.8,838,8694,0.28,2.35,0.00,0.000,4,0.067,0.049,2071,3753,3968
$GC,8734,-1.20,-121.7,926.2,-13.5,840,8739,0.32,2.12,0.00,0.000,6,0.170,0.023,2159,2278,3967
$GC,9058,-1.47,-121.7,957.4,-9.6,856,9062,0.22,1.90,0.00,0.000,4,0.068,0.027,2068,983,3966
$GC,9087,-1.40,-121.7,960.9,-12.6,857,9091,0.00,2.00,0.00,0.000,6,0.000,0.034,2067,2295,3966
$STATE,9143,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9143,begin apogee
$GC,9151,-0.27,0.0,968.7,13.1,860,9255,1.38,0.00,94.90,1.377,6,0.173,0.000,2454,2370,3531
$STATE,9256,end apogee,CONTROL_FINISHED_OK
$STATE,9256,begin climb
$GC,9259,1.49,121.7,975.9,0.0,865,9371,1.60,2.25,104.38,1.361,4,0.062,0.029,3034,962,3034
$GC,9417,0.87,209.5,980.9,6.7,872,9498,0.82,2.20,74.30,1.340,6,0.214,0.033,2829,2377,2677
$GC,9822,0.85,275.1,947.7,8.3,892,9884,0.00,2.28,54.97,1.327,4,0.000,0.051,2829,3757,2409
$GC,9972,0.73,291.6,932.0,11.9,898,9992,0.17,2.05,15.35,1.232,6,0.192,0.022,2787,2376,2343
$GC,10307,0.98,338.1,900.1,9.7,914,10353,0.17,2.28,40.00,1.303,4,0.078,0.049,2861,3751,2152
$GC,10446,0.83,338.1,880.1,15.6,920,10450,0.20,1.95,0.00,0.000,6,0.186,0.024,2818,2447,2148
$GC,10774,0.93,338.1,837.2,13.2,936,10778,0.00,2.20,0.00,0.000,4,0.000,0.030,2828,980,2145
$GC,10844,1.04,338.1,827.8,13.7,939,10849,0.15,2.22,0.00,0.000,6,0.080,0.033,2884,2429,2144
$GC,11173,0.93,338.1,777.2,15.7,955,11177,0.15,2.08,0.00,0.000,4,0.180,0.049,2847,3751,2144
$GC,11273,0.84,338.1,761.7,15.9,959,11280,0.15,1.90,0.00,0.000,6,0.192,0.025,2819,2441,2143
$GC,11591,1.09,369.9,725.1,10.8,975,11625,0.20,2.28,26.77,1.224,4,0.074,0.030,2911,985,2023
$GC,11768,1.00,369.9,700.9,13.7,983,11773,0.17,2.40,0.00,0.000,6,0.183,0.034,2868,2528,2020
$GC,12096,1.02,383.0,660.9,12.1,999,12117,0.00,2.42,11.93,1.121,4,0.000,0.030,2869,985,1968
$GC,12141,1.02,386.1,655.2,12.8,1001,12150,0.00,2.35,4.28,0.805,6,0.000,0.031,2868,2502,1957
$GC,12475,1.17,393.3,614.0,12.5,1017,12489,0.15,2.00,7.80,1.023,4,0.078,0.051,2926,3744,1928
$GC,12574,0.97,393.3,597.9,15.2,1021,12578,0.30,1.75,0.00,0.000,6,0.183,0.023,2854,2538,1926
$GC,12897,1.21,405.5,558.5,12.2,1037,12918,0.20,2.00,12.02,1.067,4,0.074,0.050,2937,3750,1878
$GC,12936,1.01,405.5,552.3,16.1,1038,12942,0.28,1.88,0.00,0.000,6,0.183,0.023,2874,2461,1877
$GC,13252,1.25,418.0,512.8,12.1,1054,13274,0.20,2.30,12.05,1.032,4,0.074,0.029,2966,971,1826
$GC,13380,1.09,418.0,493.6,15.3,1061,13385,0.28,2.22,0.00,0.000,6,0.188,0.034,2895,2430,1824
$GC,13711,1.25,437.0,452.2,11.7,1092,13734,0.15,2.28,17.15,1.022,4,0.081,0.031,2959,979,1750
$GC,13796,1.14,437.0,440.3,14.3,1099,13803,0.20,2.33,0.00,0.000,6,0.186,0.033,2909,2483,1747
$GC,14122,1.32,437.0,398.0,13.2,1130,14127,0.17,2.28,0.00,0.000,4,0.075,0.029,2980,982,1746
$GC,14157,1.23,437.0,393.1,14.5,1132,14163,0.15,2.22,0.00,0.000,6,0.190,0.031,2944,2443,1745
$GC,14482,1.23,437.1,348.0,13.0,1163,14486,0.00,2.17,0.00,0.000,4,0.000,0.028,2953,976,1744
$GC,14611,1.23,437.1,330.9,13.1,1174,14617,0.00,2.30,0.00,0.000,6,0.000,0.031,2953,2486,1744
$GC,14944,1.17,437.4,285.0,13.0,1214,14950,0.12,2.28,0.00,0.000,4,0.186,0.028,2932,968,1743
$GC,14974,1.17,439.7,280.9,12.9,1219,14980,0.00,2.28,0.00,0.000,6,0.000,0.030,2932,2467,1744
$GC,15320,1.36,467.3,239.5,11.1,1280,15354,0.15,2.28,25.98,0.866,4,0.075,0.030,3002,982,1625
$GC,15443,1.21,467.3,223.0,14.3,1301,15450,0.25,2.17,0.00,0.000,6,0.179,0.030,2938,2411,1623
$GC,15790,1.43,493.1,181.8,11.2,1362,15819,0.17,2.10,22.40,0.802,4,0.065,0.047,3013,3749,1520
$GC,15879,1.25,493.1,167.8,16.4,1377,15886,0.28,2.00,0.00,0.000,6,0.179,0.022,2951,2393,1518
$GC,16229,1.50,514.4,127.6,11.5,1438,16253,0.17,2.22,18.58,0.741,4,0.070,0.046,3026,3757,1434
$GC,16342,1.38,514.4,110.8,15.5,1457,16349,0.17,2.05,0.00,0.000,6,0.176,0.021,2992,2356,1432
$GC,16689,1.69,551.3,72.8,10.4,1518,16728,0.22,2.22,30.88,0.690,4,0.064,0.046,3089,3749,1284
$GC,16741,1.55,551.3,65.9,14.6,1527,16748,0.20,2.15,0.00,0.000,6,0.189,0.021,3048,2291,1283
$GC,17088,1.64,570.3,19.9,11.7,1588,17110,0.00,2.30,16.83,0.614,4,0.000,0.042,3048,3751,1206
$STATE,17210,end climb,SURFACE_DEPTH_REACHED
$STATE,17210,begin surface coast
$FINISH,1.8,1.001878
$STATE,17218,end surface coast,CONTROL_FINISHED_OK
$STATE,17218,begin surface
$SM_CCo,17300,0.00,0.000,0,0,1202,571.55
$SM_GC,2.68,7.90,0.00,0.00,0.058,0.000,0.000,141,2350,1202,-7.50,-0.93,571.55
$IRIDIUM_FIX,2505.59,12350.65,071198,050528
$TT8_MAMPS,0.029146
$HUMID,1714
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,23.2,87.204
$10V_AH,10.6,46.272
$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,32.700,166.100,590.550,0.000,0.000,30.079,40.618,233.111,8.250,0.000,0.000,34.152,2662.860,10684.810,702.320,2888.040,842.786,0.000,2202.687,0.000,2802.855,0.000,52.752,0.000
$DEVICE_MAMPS,231.634,90.506,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.799,1120.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85311,1611
$CAP_FILE_SIZE,194611,0
$CFSIZE,260165632,185749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130809,144706,2512.860,12408.454,28,1.2,29,-3.8