version: 66.04
glider: 167
mission: 2
dive: 499
start: 8 13 109 14 55 16
data:
$ID,167
$MISSION,2
$DIVE,499
$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,-16139.066
$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,96
$R_STBD_OVSHOOT,44
$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
$GPS1,144706,2512.860,12408.454,28,1.2,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-66.2
$GPS2,145458,2512.958,12408.702,15,99.0,34,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2509.265,12357.491
$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,2183
$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,-41.75,0.000,2,0.000,0.000,141,2350,2257
$GC,65,-1.49,-121.7,3.1,-1.2,8,136,7.85,1.95,-56.20,0.000,4,0.230,0.038,2059,1008,3989
$GC,213,-0.97,-121.7,22.9,-17.8,34,220,0.62,2.05,0.00,0.000,6,0.169,0.027,2225,2390,3989
$GC,560,-1.18,-121.7,69.1,-10.6,95,566,0.17,2.08,0.00,0.000,4,0.064,0.041,2137,3748,3991
$GC,590,-1.02,-121.7,73.0,-13.3,100,597,0.28,1.98,0.00,0.000,6,0.167,0.020,2211,2340,3991
$GC,937,-1.17,-121.7,114.0,-10.2,161,943,0.12,1.90,0.00,0.000,4,0.074,0.022,2158,1004,3992
$GC,974,-1.17,-121.7,118.4,-12.7,167,980,0.00,2.00,0.00,0.000,6,0.000,0.025,2149,2381,3991
$GC,1320,-1.17,-121.7,161.4,-10.2,228,1326,0.00,2.08,0.00,0.000,4,0.000,0.041,2141,3757,3993
$GC,1351,-1.06,-121.7,164.7,-11.5,233,1358,0.22,1.95,0.00,0.000,6,0.160,0.020,2202,2352,3993
$GC,1698,-1.31,-121.7,194.0,-8.9,294,1704,0.20,1.90,0.00,0.000,4,0.058,0.022,2112,1011,3994
$GC,1774,-1.09,-121.7,203.2,-13.0,307,1780,0.30,1.95,0.00,0.000,6,0.160,0.025,2188,2352,3994
$GC,2120,-1.30,-121.7,238.6,-9.3,368,2127,0.17,2.12,0.00,0.000,4,0.061,0.040,2101,3758,3995
$GC,2181,-1.01,-121.7,245.5,-12.4,378,2187,0.40,1.98,0.00,0.000,6,0.160,0.021,2214,2338,3995
$GC,2530,-1.34,-121.7,278.4,-9.5,439,2536,0.25,1.88,0.00,0.000,4,0.058,0.023,2107,1018,3995
$GC,2555,-1.39,-121.7,281.5,-10.6,443,2561,0.00,1.92,0.00,0.000,6,0.000,0.025,2099,2334,3995
$GC,2896,-1.22,-121.7,323.1,-12.0,487,2901,0.17,2.15,0.00,0.000,4,0.166,0.039,2142,3753,3995
$GC,2974,-1.11,-121.7,332.4,-11.6,493,2981,0.17,1.98,0.00,0.000,6,0.159,0.021,2187,2346,3995
$GC,3300,-1.36,-121.7,365.6,-10.6,524,3302,0.22,0.00,0.00,0.000,6,0.060,0.000,2096,2346,3995
$GC,3618,-1.31,-121.7,402.7,-10.8,554,3621,0.00,1.90,0.00,0.000,4,0.000,0.024,2096,1013,3994
$GC,3666,-1.16,-121.7,407.7,-11.1,558,3670,0.30,1.98,0.00,0.000,6,0.160,0.026,2170,2362,3994
$GC,3992,-1.38,-121.7,438.3,-9.1,588,3994,0.20,0.00,0.00,0.000,6,0.065,0.000,2091,2364,3993
$GC,4315,-1.32,-121.7,472.3,-11.0,618,4319,0.12,1.98,0.00,0.000,4,0.166,0.024,2122,1011,3992
$GC,4399,-1.26,-121.7,482.1,-11.7,625,4405,0.00,1.95,0.00,0.000,6,0.000,0.028,2116,2330,3992
$GC,4724,-1.34,-121.7,514.2,-9.7,649,4728,0.00,1.92,0.00,0.000,4,0.000,0.025,2116,1007,3991
$GC,4752,-1.34,-121.7,517.6,-10.4,650,4756,0.00,1.95,0.00,0.000,6,0.000,0.028,2111,2321,3991
$GC,5082,-1.39,-121.7,548.4,-9.4,666,5085,0.00,2.20,0.00,0.000,4,0.000,0.045,2110,3754,3990
$GC,5121,-1.27,-121.7,552.5,-9.9,667,5127,0.00,2.03,0.00,0.000,6,0.000,0.021,2110,2319,3989
$GC,5439,-1.33,-121.7,582.5,-9.6,683,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2319,3987
$GC,5747,-1.39,-121.7,611.9,-9.6,698,5751,0.00,1.88,0.00,0.000,4,0.000,0.025,2111,1012,3985
$GC,5787,-1.39,-121.7,616.0,-10.5,699,5793,0.00,1.98,0.00,0.000,6,0.000,0.030,2110,2333,3985
$GC,6105,-1.46,-121.7,649.0,-10.9,715,6107,0.10,0.00,0.00,0.000,6,0.094,0.000,2068,2334,3982
$GC,6413,-1.38,-121.7,684.6,-11.5,730,6417,0.12,1.95,0.00,0.000,4,0.168,0.025,2099,1009,3980
$GC,6505,-1.29,-121.7,694.7,-10.5,734,6509,0.12,1.95,0.00,0.000,6,0.179,0.030,2128,2306,3979
$GC,6841,-1.43,-121.7,725.9,-8.9,750,6843,0.12,0.00,0.00,0.000,6,0.087,0.000,2081,2307,3977
$GC,7147,-1.43,-121.7,755.6,-9.8,765,7150,0.00,1.90,0.00,0.000,4,0.000,0.026,2081,1013,3975
$GC,7210,-1.28,-121.7,762.2,-10.8,767,7217,0.22,1.92,0.00,0.000,6,0.163,0.031,2133,2300,3974
$GC,7527,-1.45,-121.7,792.1,-9.3,783,7532,0.17,1.90,0.00,0.000,4,0.075,0.025,2066,1014,3972
$GC,7556,-1.34,-121.7,795.4,-12.5,784,7561,0.20,1.92,0.00,0.000,6,0.168,0.031,2110,2294,3972
$GC,7887,-1.43,-121.7,829.9,-10.6,800,7891,0.00,1.90,0.00,0.000,4,0.000,0.027,2110,1024,3970
$GC,7921,-1.43,-121.7,834.1,-11.3,801,7924,0.00,1.88,0.00,0.000,6,0.000,0.032,2110,2265,3970
$GC,8244,-1.51,-121.7,867.6,-10.1,817,8249,0.15,1.85,0.00,0.000,4,0.080,0.027,2052,1018,3968
$GC,8273,-1.37,-121.7,871.1,-12.5,818,8277,0.22,1.85,0.00,0.000,6,0.176,0.031,2102,2246,3968
$GC,8604,-1.44,-121.7,905.9,-10.4,834,8608,0.00,2.38,0.00,0.000,4,0.000,0.049,2098,3763,3966
$GC,8627,-1.44,-121.7,909.0,-11.1,835,8631,0.00,2.22,0.00,0.000,6,0.000,0.024,2098,2226,3966
$GC,8955,-1.49,-121.7,942.8,-10.1,851,8958,0.00,1.75,0.00,0.000,4,0.000,0.028,2097,1016,3965
$GC,8990,-1.44,-121.7,946.6,-10.6,852,8994,0.00,1.80,0.00,0.000,6,0.000,0.033,2098,2212,3964
$STATE,9143,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9143,begin apogee
$GC,9151,-0.27,0.0,963.1,10.2,860,9254,1.23,0.00,94.50,1.372,6,0.160,0.000,2454,2370,3532
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9258,1.49,121.7,969.5,0.0,865,9368,1.60,0.00,104.30,1.355,6,0.064,0.000,3021,2371,3035
$GC,9673,0.84,177.6,949.3,9.0,885,9728,0.75,2.20,47.03,1.328,4,0.212,0.029,2829,1010,2807
$GC,9813,0.78,221.6,936.5,9.9,891,9858,0.12,2.08,38.03,1.305,6,0.183,0.032,2801,2353,2627
$GC,10180,0.83,256.8,898.0,10.5,909,10223,0.00,2.10,31.40,1.225,4,0.000,0.028,2802,1006,2484
$GC,10375,0.93,276.1,876.0,11.7,917,10402,0.12,2.15,17.45,1.241,6,0.082,0.031,2850,2406,2405
$GC,10715,0.84,280.2,832.0,12.8,934,10725,0.12,2.15,4.60,0.900,4,0.179,0.051,2821,3757,2389
$GC,10806,0.77,288.7,819.7,12.4,938,10820,0.15,1.95,9.30,1.138,6,0.186,0.025,2792,2432,2355
$GC,11141,1.00,326.6,784.8,10.3,954,11183,0.20,2.20,32.78,1.259,4,0.074,0.049,2875,3751,2199
$GC,11282,0.81,326.6,763.8,15.8,960,11286,0.30,1.88,0.00,0.000,6,0.180,0.025,2805,2476,2195
$GC,11610,1.10,366.4,727.6,10.2,976,11653,0.22,2.10,34.42,1.226,4,0.071,0.051,2896,3750,2037
$GC,11760,0.91,366.4,703.6,15.2,982,11766,0.25,1.77,0.00,0.000,6,0.186,0.025,2841,2537,2032
$GC,12077,1.04,393.1,667.5,11.1,998,12108,0.12,2.38,23.05,1.172,4,0.085,0.029,2898,1010,1928
$GC,12147,1.04,393.1,657.8,13.1,1001,12151,0.00,2.35,0.00,0.000,6,0.000,0.032,2897,2519,1925
$GC,12470,0.98,393.1,612.1,14.3,1017,12472,0.15,0.00,0.00,0.000,6,0.187,0.000,2860,2520,1922
$GC,12778,1.21,412.7,573.5,11.6,1032,12801,0.17,2.03,17.30,1.105,4,0.076,0.051,2934,3763,1849
$GC,12889,1.02,412.7,557.3,14.9,1036,12896,0.25,1.83,0.00,0.000,6,0.186,0.026,2876,2537,1846
$GC,13206,1.26,440.2,521.2,11.1,1052,13236,0.17,2.00,24.45,1.087,4,0.079,0.051,2950,3744,1737
$GC,13259,1.05,440.2,513.4,16.5,1054,13264,0.30,1.92,0.00,0.000,6,0.185,0.025,2882,2443,1734
$GC,13586,1.34,455.7,473.2,11.9,1079,13608,0.22,2.17,14.52,1.017,4,0.071,0.030,2985,1007,1673
$GC,13708,1.17,455.7,454.1,16.1,1089,13714,0.25,2.10,0.00,0.000,6,0.186,0.031,2922,2382,1670
$GC,14033,1.30,463.1,412.9,12.5,1120,14046,0.12,2.15,7.07,0.882,4,0.080,0.030,2980,1008,1643
$GC,14087,1.14,463.1,404.7,15.4,1124,14094,0.25,2.20,0.00,0.000,6,0.183,0.032,2916,2444,1641
$GC,14413,1.40,471.0,362.8,12.5,1155,14426,0.20,2.25,7.90,0.872,4,0.068,0.029,3009,1003,1611
$GC,14497,1.19,471.0,350.5,16.0,1162,14501,0.30,2.10,0.00,0.000,6,0.186,0.032,2932,2373,1609
$GC,14822,1.34,477.5,308.4,12.6,1192,14835,0.12,2.12,6.78,0.802,4,0.078,0.028,2986,998,1585
$GC,14887,1.23,477.5,299.3,14.6,1197,14894,0.17,2.20,0.00,0.000,6,0.182,0.031,2943,2446,1583
$GC,15234,1.41,502.4,257.2,11.3,1258,15263,0.15,2.25,22.92,0.872,4,0.074,0.028,3011,999,1481
$GC,15376,1.27,502.4,236.9,15.3,1283,15383,0.22,2.10,0.00,0.000,6,0.176,0.031,2954,2378,1479
$GC,15722,1.51,502.4,186.2,14.1,1344,15728,0.20,0.00,0.00,0.000,6,0.064,0.000,3036,2378,1478
$GC,16067,1.34,502.4,129.9,14.8,1405,16074,0.17,2.05,0.00,0.000,4,0.175,0.026,2993,1002,1477
$GC,16179,1.38,530.9,117.0,11.0,1424,16214,0.00,1.98,24.40,0.748,6,0.000,0.028,2994,2325,1366
$GC,16555,1.64,556.4,72.3,11.2,1490,16583,0.17,2.00,21.95,0.694,4,0.070,0.025,3084,994,1262
$GC,16613,1.51,556.4,63.7,15.1,1500,16620,0.20,2.08,0.00,0.000,6,0.186,0.029,3034,2367,1261
$GC,16960,1.59,560.6,16.7,12.7,1561,16966,0.00,0.00,4.57,0.484,6,0.000,0.000,3034,2368,1246
$STATE,17066,end climb,SURFACE_DEPTH_REACHED
$STATE,17066,begin surface coast
$FINISH,1.9,1.021743
$STATE,17093,end surface coast,CONTROL_FINISHED_OK
$STATE,17093,begin surface
$SM_CCo,17173,0.00,0.000,0,0,1244,561.25
$SM_GC,2.74,7.85,0.00,0.00,0.059,0.000,0.000,144,2373,1244,-7.49,-0.28,561.25
$IRIDIUM_FIX,2505.59,12407.82,071198,101040
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.2,87.418
$10V_AH,10.6,46.369
$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,30.125,141.800,588.725,0.000,0.000,28.624,34.047,212.198,8.250,0.000,0.000,35.594,2605.767,10738.845,694.307,2786.284,797.680,0.000,2143.777,0.000,2709.673,0.000,55.086,0.000
$DEVICE_MAMPS,230.100,59.826,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.263,1096.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85162,1584
$CAP_FILE_SIZE,186369,0
$CFSIZE,260165632,185663488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130809,194236,2512.543,12409.183,29,1.1,30,-3.8