version: 66.04
glider: 167
mission: 2
dive: 500
start: 8 13 109 19 50 15
data:
$ID,167
$MISSION,2
$DIVE,500
$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,-16154.962
$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,102
$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
$GPS1,194236,2512.543,12409.183,29,1.1,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.1
$GPS2,194956,2512.664,12409.334,15,1.3,15,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2508.971,12358.123
$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,2139
$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,-121.7,0.0,0.0,0,61,0.00,0.00,-42.45,0.000,2,0.000,0.000,145,2373,2313
$GC,66,-1.49,-121.7,3.2,-1.8,8,132,7.90,2.08,-53.20,0.000,4,0.232,0.037,2063,1006,3989
$GC,198,-0.97,-121.7,20.8,-20.0,31,205,0.62,2.05,0.00,0.000,6,0.169,0.026,2229,2387,3991
$GC,545,-1.17,-121.7,66.0,-11.4,92,551,0.17,2.00,0.00,0.000,4,0.066,0.022,2149,1010,3992
$GC,576,-1.11,-121.7,70.3,-14.6,97,582,0.17,1.98,0.00,0.000,6,0.165,0.025,2184,2357,3992
$GC,922,-1.22,-121.7,115.0,-11.4,158,928,0.00,2.12,0.00,0.000,4,0.000,0.042,2179,3756,3993
$GC,1021,-1.13,-121.7,126.9,-12.5,175,1026,0.00,1.98,0.00,0.000,6,0.000,0.021,2179,2332,3993
$GC,1367,-1.24,-121.7,162.7,-11.3,236,1373,0.00,1.88,0.00,0.000,4,0.000,0.024,2179,1010,3995
$GC,1419,-1.24,-121.7,169.0,-12.0,245,1426,0.00,1.98,0.00,0.000,6,0.000,0.027,2178,2356,3995
$GC,1765,-1.40,-121.7,205.6,-10.1,306,1772,0.20,1.95,0.00,0.000,4,0.064,0.022,2087,1005,3996
$GC,1807,-1.12,-121.7,210.6,-12.5,313,1814,0.35,1.95,0.00,0.000,6,0.162,0.026,2181,2336,3996
$GC,2154,-1.31,-121.7,243.9,-9.8,374,2161,0.17,2.15,0.00,0.000,4,0.068,0.041,2100,3752,3996
$GC,2181,-1.31,-121.7,246.9,-11.5,378,2187,0.00,2.00,0.00,0.000,6,0.000,0.021,2100,2313,3996
$GC,2526,-1.15,-121.7,290.9,-12.9,439,2533,0.22,2.22,0.00,0.000,4,0.163,0.039,2162,3760,3996
$GC,2592,-1.15,-121.7,298.8,-11.8,450,2598,0.00,1.98,0.00,0.000,6,0.000,0.021,2162,2337,3996
$GC,2924,-1.30,-121.7,333.0,-9.8,482,2928,0.10,1.88,0.00,0.000,4,0.085,0.023,2116,1012,3996
$GC,2954,-1.30,-121.7,336.2,-11.0,484,2960,0.00,1.98,0.00,0.000,6,0.000,0.025,2111,2357,3996
$GC,3283,-1.21,-121.7,372.6,-10.6,515,3287,0.15,2.12,0.00,0.000,4,0.171,0.040,2141,3757,3996
$GC,3387,-1.14,-121.7,383.3,-10.3,523,3394,0.12,1.95,0.00,0.000,6,0.169,0.021,2171,2367,3996
$GC,3714,-1.34,-121.7,415.3,-10.0,554,3716,0.17,0.00,0.00,0.000,6,0.069,0.000,2100,2367,3996
$GC,4034,-1.34,-121.7,450.4,-11.1,584,4038,0.00,1.95,0.00,0.000,4,0.000,0.025,2100,1007,3996
$GC,4074,-1.19,-121.7,455.4,-11.6,587,4081,0.22,2.03,0.00,0.000,6,0.165,0.028,2158,2378,3996
$GC,4400,-1.38,-121.7,485.3,-8.9,618,4404,0.17,1.98,0.00,0.000,4,0.072,0.022,2089,1017,3995
$GC,4436,-1.24,-121.7,488.9,-10.5,621,4440,0.22,2.00,0.00,0.000,6,0.164,0.028,2145,2362,3995
$GC,4764,-1.40,-121.7,520.8,-9.9,642,4769,0.15,2.12,0.00,0.000,4,0.076,0.044,2085,3746,3993
$GC,4775,-1.49,-121.7,522.3,-9.9,642,4781,0.00,1.98,0.00,0.000,6,0.000,0.021,2085,2337,3993
$GC,5093,-1.49,-121.7,555.6,-9.3,658,5097,0.00,2.20,0.00,0.000,4,0.000,0.044,2084,3756,3992
$GC,5121,-1.33,-121.7,558.7,-10.3,659,5126,0.12,1.98,0.00,0.000,6,0.176,0.022,2114,2365,3992
$GC,5453,-1.38,-121.7,586.7,-8.4,675,5457,0.00,1.98,0.00,0.000,4,0.000,0.025,2114,992,3990
$GC,5526,-1.32,-121.7,593.5,-8.8,678,5530,0.00,2.00,0.00,0.000,6,0.000,0.028,2111,2335,3990
$GC,5854,-1.37,-121.7,621.8,-9.4,694,5858,0.00,2.20,0.00,0.000,4,0.000,0.047,2111,3760,3988
$GC,5879,-1.37,-121.7,624.4,-10.8,695,5884,0.00,2.08,0.00,0.000,6,0.000,0.023,2111,2304,3987
$GC,6212,-1.44,-121.7,660.7,-10.1,711,6216,0.00,1.88,0.00,0.000,4,0.000,0.026,2111,1002,3986
$GC,6274,-1.38,-121.7,667.3,-10.8,713,6282,0.00,1.98,0.00,0.000,6,0.000,0.030,2111,2320,3985
$GC,6592,-1.44,-121.7,695.9,-8.8,729,6596,0.00,1.95,0.00,0.000,4,0.000,0.025,2110,1009,3982
$GC,6621,-1.44,-121.7,698.7,-9.6,730,6624,0.00,1.92,0.00,0.000,6,0.000,0.030,2110,2294,3982
$GC,6950,-1.52,-121.7,729.6,-10.0,746,6954,0.15,2.28,0.00,0.000,4,0.079,0.046,2043,3757,3980
$GC,6989,-1.19,-121.7,734.6,-13.8,747,6995,0.43,2.10,0.00,0.000,6,0.171,0.023,2161,2292,3979
$GC,7305,-1.46,-121.7,764.7,-9.4,763,7310,0.22,1.88,0.00,0.000,4,0.069,0.025,2067,1001,3978
$GC,7324,-1.54,-121.7,766.7,-9.8,763,7330,0.00,1.95,0.00,0.000,6,0.000,0.031,2059,2302,3977
$GC,7641,-1.34,-121.7,807.1,-13.0,779,7646,0.17,2.28,0.00,0.000,4,0.176,0.046,2101,3760,3975
$GC,7878,-1.20,-121.7,838.0,-12.9,789,7884,0.20,2.10,0.00,0.000,6,0.167,0.025,2153,2308,3973
$GC,8195,-1.43,-121.7,870.8,-10.2,805,8199,0.17,1.90,0.00,0.000,4,0.074,0.026,2080,1007,3972
$GC,8247,-1.29,-121.7,876.9,-11.9,807,8251,0.20,1.92,0.00,0.000,6,0.167,0.031,2125,2287,3971
$GC,8577,-1.45,-121.7,909.5,-9.7,823,8581,0.15,2.30,0.00,0.000,4,0.081,0.049,2068,3751,3970
$GC,8662,-1.18,-121.7,920.2,-13.5,826,8669,0.35,2.10,0.00,0.000,6,0.170,0.024,2163,2296,3970
$GC,8979,-1.47,-121.7,948.7,-9.0,842,8983,0.22,2.33,0.00,0.000,4,0.071,0.049,2069,3754,3968
$GC,9025,-1.20,-121.7,954.2,-13.4,844,9029,0.32,2.10,0.00,0.000,6,0.171,0.024,2157,2306,3967
$STATE,9142,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9142,begin apogee
$GC,9150,-0.27,0.0,966.1,9.3,850,9253,0.98,0.00,95.18,1.378,6,0.143,0.000,2455,2352,3532
$STATE,9254,end apogee,CONTROL_FINISHED_OK
$STATE,9254,begin climb
$GC,9257,1.49,121.7,972.9,0.0,855,9369,1.62,2.17,104.18,1.361,4,0.067,0.029,3034,988,3035
$GC,9489,0.88,202.4,971.9,7.3,865,9565,0.80,2.15,67.70,1.342,6,0.215,0.032,2833,2380,2706
$GC,9887,0.82,263.7,939.1,8.7,885,9944,0.00,2.25,51.45,1.326,4,0.000,0.049,2833,3751,2456
$GC,9991,0.67,281.1,927.8,11.8,889,10013,0.30,2.05,16.10,1.234,6,0.186,0.024,2764,2378,2386
$GC,10326,1.02,341.3,898.5,8.7,905,10384,0.28,2.22,51.67,1.313,4,0.067,0.031,2885,993,2139
$GC,10504,0.95,341.3,873.7,13.8,912,10509,0.15,2.25,0.00,0.000,6,0.186,0.033,2849,2440,2133
$GC,10825,0.95,345.3,831.6,12.8,928,10829,0.00,2.08,0.00,0.000,4,0.000,0.051,2849,3760,2130
$GC,10865,0.87,345.3,825.9,14.9,929,10871,0.00,1.92,0.00,0.000,6,0.000,0.025,2857,2449,2130
$GC,11183,0.88,349.7,785.5,12.7,945,11196,0.00,2.28,7.05,1.072,4,0.000,0.031,2863,975,2106
$GC,11214,0.88,349.7,780.8,13.4,946,11219,0.15,2.28,0.00,0.000,6,0.181,0.033,2826,2454,2105
$GC,11531,1.04,375.0,744.1,11.2,961,11561,0.15,2.10,23.08,1.228,4,0.077,0.051,2884,3740,2002
$GC,11649,0.90,375.0,726.4,15.9,966,11653,0.22,1.88,0.00,0.000,6,0.188,0.025,2835,2463,1998
$GC,11976,1.07,392.6,686.3,11.8,982,11999,0.15,2.08,16.02,1.167,4,0.078,0.048,2892,3750,1930
$GC,12040,0.92,392.6,676.7,16.9,984,12047,0.22,1.85,0.00,0.000,6,0.186,0.025,2844,2488,1928
$GC,12357,1.16,419.0,639.9,11.2,1000,12387,0.17,2.08,23.95,1.164,4,0.077,0.051,2917,3741,1822
$GC,12493,1.01,419.0,619.1,15.6,1006,12498,0.17,1.77,0.00,0.000,6,0.179,0.026,2874,2560,1818
$GC,12827,1.21,430.5,576.2,12.2,1022,12842,0.17,1.92,10.50,1.049,4,0.079,0.050,2947,3757,1776
$GC,12856,1.05,430.5,571.7,15.7,1022,12860,0.28,1.90,0.00,0.000,6,0.195,0.025,2887,2460,1775
$GC,13178,1.25,443.9,530.1,12.1,1038,13200,0.17,2.25,12.93,1.048,4,0.078,0.030,2970,995,1721
$GC,13324,1.10,443.9,508.1,15.8,1044,13329,0.25,2.38,0.00,0.000,6,0.186,0.034,2906,2530,1719
$GC,13648,1.30,452.3,467.6,12.4,1071,13664,0.17,1.95,8.62,0.954,4,0.078,0.050,2974,3745,1687
$GC,13733,1.03,452.3,454.1,16.7,1078,13740,0.40,1.92,0.00,0.000,6,0.187,0.025,2874,2438,1685
$GC,14060,1.40,472.1,415.7,11.6,1109,14083,0.30,2.17,17.98,0.995,4,0.064,0.049,2997,3758,1606
$GC,14153,1.11,472.1,400.2,18.7,1117,14158,0.38,2.05,0.00,0.000,6,0.188,0.024,2909,2389,1603
$GC,14480,1.41,484.0,359.3,12.2,1147,14496,0.22,2.15,10.57,0.901,4,0.068,0.047,3001,3750,1560
$GC,14508,1.41,484.0,354.9,15.2,1149,14512,0.00,2.05,0.00,0.000,6,0.000,0.024,3010,2369,1560
$GC,14840,1.22,484.0,301.2,15.7,1180,14844,0.25,2.08,0.00,0.000,4,0.184,0.028,2950,970,1558
$GC,14913,1.23,489.5,290.8,12.6,1191,14926,0.00,2.12,6.57,0.777,6,0.000,0.030,2949,2375,1536
$GC,15268,1.33,490.0,242.7,13.0,1253,15274,0.00,2.10,0.00,0.000,4,0.000,0.030,2953,974,1534
$GC,15315,1.39,490.0,235.9,13.8,1261,15322,0.12,2.22,0.00,0.000,6,0.084,0.030,3000,2444,1534
$GC,15662,1.29,490.0,185.7,13.9,1322,15668,0.15,2.03,0.00,0.000,4,0.188,0.046,2963,3752,1534
$GC,15688,1.21,490.0,182.2,13.6,1326,15695,0.15,1.95,0.00,0.000,6,0.183,0.023,2931,2407,1534
$GC,16037,1.53,501.2,141.0,12.2,1387,16055,0.25,2.12,11.85,0.735,4,0.067,0.026,3045,969,1487
$GC,16155,1.39,505.1,122.9,12.8,1407,16168,0.20,2.17,4.68,0.569,6,0.180,0.031,2995,2409,1472
$GC,16510,1.56,516.2,80.1,12.2,1469,16527,0.15,2.15,11.20,0.671,4,0.079,0.027,3064,971,1426
$GC,16651,1.48,534.4,62.1,11.7,1493,16674,0.17,2.20,16.17,0.670,6,0.183,0.028,3021,2437,1353
$GC,17017,1.69,553.9,16.9,11.6,1557,17041,0.17,2.25,17.33,0.623,4,0.065,0.025,3109,970,1272
$STATE,17112,end climb,SURFACE_DEPTH_REACHED
$STATE,17112,begin surface coast
$FINISH,1.9,1.000813
$STATE,17137,end surface coast,CONTROL_FINISHED_OK
$STATE,17137,begin surface
$SM_CCo,17219,0.00,0.000,0,0,1269,555.11
$SM_GC,2.78,7.97,0.00,0.00,0.053,0.000,0.000,142,2401,1269,-7.50,0.51,555.11
$IRIDIUM_FIX,2505.59,12407.82,071198,141439
$TT8_MAMPS,0.028379
$HUMID,1732
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,3
$24V_AH,23.2,87.633
$10V_AH,10.6,46.468
$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,31.200,173.425,584.775,0.000,0.000,30.171,32.877,202.031,8.500,0.000,0.000,15.267,2635.711,10670.367,697.708,2826.488,808.932,0.000,2190.825,0.000,2766.242,0.000,52.761,0.000
$DEVICE_MAMPS,231.634,101.244,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1064.352,1099.589,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85348,1578
$CAP_FILE_SIZE,194285,0
$CFSIZE,260165632,185565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140809,003831,2512.751,12410.108,39,1.4,40,-3.8