version: 66.04
glider: 167
mission: 2
dive: 501
start: 8 14 109 0 46 21
data:
$ID,167
$MISSION,2
$DIVE,501
$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,-16169.898
$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,77
$R_STBD_OVSHOOT,57
$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
$GPS1,003831,2512.751,12410.108,39,1.4,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-67.8
$GPS2,004602,2512.923,12410.156,14,1.3,14,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2509.230,12358.945
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,56,0.00,0.00,-37.25,0.000,2,0.000,0.000,142,2402,2209
$GC,60,-1.49,-121.7,3.0,-1.4,7,136,7.93,2.10,-60.40,0.000,4,0.233,0.038,2061,989,3989
$GC,249,-1.00,-121.7,28.4,-18.4,41,256,0.60,2.08,0.00,0.000,6,0.172,0.027,2219,2384,3990
$GC,596,-1.18,-121.7,72.6,-12.7,102,603,0.15,2.10,0.00,0.000,4,0.070,0.042,2149,3755,3992
$GC,638,-0.95,-121.7,78.6,-15.6,109,645,0.32,1.98,0.00,0.000,6,0.163,0.021,2239,2349,3991
$GC,985,-1.25,-121.7,116.4,-9.8,170,991,0.22,1.90,0.00,0.000,4,0.058,0.022,2140,1014,3992
$GC,1089,-1.09,-121.7,129.9,-12.5,188,1095,0.20,1.95,0.00,0.000,6,0.162,0.026,2190,2346,3993
$GC,1437,-1.27,-121.7,166.1,-11.0,249,1443,0.15,2.12,0.00,0.000,4,0.067,0.041,2123,3749,3994
$GC,1479,-1.03,-121.7,171.2,-12.4,256,1486,0.30,1.95,0.00,0.000,6,0.161,0.020,2206,2347,3994
$GC,1826,-1.31,-121.7,206.2,-10.1,317,1832,0.20,0.00,0.00,0.000,6,0.061,0.000,2117,2347,3995
$GC,2172,-1.26,-121.7,247.0,-12.6,378,2178,0.00,2.15,0.00,0.000,4,0.000,0.041,2111,3748,3995
$GC,2213,-1.01,-121.7,252.5,-14.4,385,2220,0.38,1.95,0.00,0.000,6,0.160,0.021,2216,2355,3995
$GC,2559,-1.35,-121.7,287.1,-9.8,446,2565,0.28,0.00,0.00,0.000,6,0.058,0.000,2097,2355,3995
$GC,2894,-1.30,-121.7,326.0,-11.4,486,2898,0.12,1.92,0.00,0.000,4,0.165,0.023,2129,1009,3996
$GC,2933,-1.30,-121.7,330.9,-10.8,489,2939,0.00,1.98,0.00,0.000,6,0.000,0.027,2126,2349,3996
$GC,3259,-1.30,-121.7,364.5,-10.5,520,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2350,3995
$GC,3581,-1.30,-121.7,399.3,-10.9,550,3586,0.00,1.95,0.00,0.000,4,0.000,0.024,2125,1018,3995
$GC,3661,-1.25,-121.7,408.7,-10.9,557,3664,0.00,1.98,0.00,0.000,6,0.000,0.028,2124,2356,3996
$GC,3996,-1.30,-121.7,445.5,-9.9,588,4000,0.00,1.98,0.00,0.000,4,0.000,0.024,2124,988,3994
$GC,4024,-1.30,-121.7,448.9,-10.7,590,4030,0.00,2.00,0.00,0.000,6,0.000,0.028,2124,2334,3995
$GC,4351,-1.38,-121.7,477.6,-8.9,621,4355,0.00,1.92,0.00,0.000,4,0.000,0.025,2123,1011,3993
$GC,4379,-1.38,-121.7,480.6,-10.0,623,4385,0.00,1.92,0.00,0.000,6,0.000,0.028,2118,2316,3994
$GC,4704,-1.45,-121.7,512.8,-10.2,648,4708,0.12,1.90,0.00,0.000,4,0.081,0.024,2065,1012,3992
$GC,4739,-1.26,-121.7,517.0,-11.7,649,4743,0.30,1.90,0.00,0.000,6,0.163,0.028,2141,2301,3992
$GC,5061,-1.40,-121.7,548.9,-9.5,665,5065,0.15,2.25,0.00,0.000,4,0.074,0.045,2081,3761,3991
$GC,5090,-1.30,-121.7,552.2,-11.6,666,5095,0.17,2.10,0.00,0.000,6,0.171,0.021,2126,2282,3991
$GC,5407,-1.38,-121.7,584.2,-9.8,681,5411,0.00,1.83,0.00,0.000,4,0.000,0.025,2126,1011,3989
$GC,5446,-1.38,-121.7,588.3,-10.1,682,5452,0.00,1.88,0.00,0.000,6,0.000,0.028,2124,2276,3989
$GC,5764,-1.49,-121.7,619.1,-10.0,698,5769,0.17,1.83,0.00,0.000,4,0.071,0.024,2054,1018,3986
$GC,5793,-1.33,-121.7,622.8,-12.4,699,5797,0.22,1.88,0.00,0.000,6,0.172,0.030,2111,2278,3986
$GC,6123,-1.40,-121.7,657.4,-10.7,715,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2278,3984
$GC,6430,-1.49,-121.7,687.8,-9.4,730,6434,0.12,1.85,0.00,0.000,4,0.081,0.024,2061,1014,3982
$GC,6508,-1.28,-121.7,696.2,-11.2,733,6513,0.28,1.85,0.00,0.000,6,0.166,0.031,2132,2251,3981
$GC,6832,-1.43,-121.7,723.7,-8.5,749,6837,0.15,2.35,0.00,0.000,4,0.080,0.046,2071,3764,3979
$GC,6899,-1.19,-121.7,731.6,-12.2,752,6904,0.32,2.17,0.00,0.000,6,0.169,0.022,2160,2244,3979
$GC,7225,-1.46,-121.7,760.4,-9.3,768,7229,0.20,1.77,0.00,0.000,4,0.069,0.026,2077,1021,3976
$GC,7281,-1.31,-121.7,767.4,-12.4,770,7285,0.12,1.85,0.00,0.000,6,0.165,0.030,2117,2239,3976
$GC,7607,-1.44,-121.7,800.5,-9.8,786,7612,0.12,2.38,0.00,0.000,4,0.082,0.048,2069,3757,3974
$GC,7658,-1.19,-121.7,807.2,-12.6,788,7663,0.32,2.17,0.00,0.000,6,0.169,0.023,2157,2248,3973
$GC,7976,-1.46,-121.7,833.2,-7.6,803,7980,0.20,1.80,0.00,0.000,4,0.071,0.026,2073,1014,3972
$GC,8026,-1.29,-121.7,838.3,-10.0,805,8031,0.20,1.85,0.00,0.000,6,0.172,0.032,2123,2241,3972
$GC,8358,-1.42,-121.7,865.8,-8.6,821,8362,0.00,2.38,0.00,0.000,4,0.000,0.049,2123,3757,3970
$GC,8375,-1.51,-121.7,867.7,-8.8,821,8381,0.17,2.22,0.00,0.000,6,0.080,0.024,2059,2218,3970
$GC,8694,-1.32,-121.7,903.9,-11.9,837,8699,0.17,2.45,0.00,0.000,4,0.173,0.047,2100,3760,3968
$GC,8808,-1.17,-121.7,917.6,-11.6,842,8812,0.25,2.20,0.00,0.000,6,0.167,0.025,2167,2241,3967
$STATE,9131,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9132,begin apogee
$GC,9139,-0.27,0.0,948.2,9.2,858,9243,0.93,0.00,94.85,1.364,6,0.141,0.000,2450,2376,3532
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9243,begin climb
$GC,9248,1.49,121.7,954.9,0.0,863,9360,1.60,2.30,104.12,1.345,4,0.064,0.046,3019,3763,3034
$GC,9616,0.69,179.5,940.1,8.9,879,9672,1.02,2.03,48.58,1.318,6,0.220,0.023,2773,2378,2799
$GC,9995,0.79,267.4,914.1,6.7,898,10077,0.00,2.25,73.60,1.318,4,0.000,0.031,2776,988,2440
$GC,10180,1.05,325.9,897.7,8.8,906,10237,0.30,2.20,50.05,1.289,6,0.067,0.031,2887,2418,2202
$GC,10566,0.91,325.9,843.4,14.4,925,10570,0.17,2.10,0.00,0.000,4,0.183,0.049,2837,3755,2193
$GC,10622,0.84,325.9,834.8,15.3,927,10626,0.12,1.95,0.00,0.000,6,0.195,0.023,2817,2421,2193
$GC,10944,0.93,328.9,794.1,12.8,943,10948,0.00,2.10,0.00,0.000,4,0.000,0.048,2817,3762,2191
$GC,11068,0.93,328.9,776.9,13.1,948,11072,0.00,1.88,0.00,0.000,6,0.000,0.025,2824,2469,2190
$GC,11391,1.05,347.0,737.7,11.7,964,11413,0.17,2.12,17.45,1.200,4,0.078,0.050,2899,3753,2117
$GC,11488,0.81,347.0,722.5,14.9,968,11493,0.38,1.83,0.00,0.000,6,0.188,0.024,2809,2502,2114
$GC,11816,1.17,390.3,688.3,9.9,984,11859,0.28,2.10,37.83,1.206,4,0.069,0.048,2919,3751,1939
$GC,11955,0.97,390.3,666.8,16.1,990,11959,0.28,1.92,0.00,0.000,6,0.182,0.024,2857,2463,1934
$GC,12288,1.14,401.8,623.3,12.2,1006,12303,0.15,2.05,10.07,1.066,4,0.082,0.048,2913,3751,1894
$GC,12392,0.96,401.8,607.4,15.4,1009,12398,0.25,1.83,0.00,0.000,6,0.183,0.023,2857,2492,1892
$GC,12708,1.16,425.6,570.3,11.3,1025,12733,0.17,0.00,21.58,1.116,6,0.079,0.000,2929,2489,1797
$GC,13066,1.07,425.6,515.3,15.6,1042,13070,0.15,2.25,0.00,0.000,4,0.179,0.031,2901,986,1792
$GC,13093,1.07,425.6,510.3,14.8,1043,13097,0.00,2.38,0.00,0.000,6,0.000,0.032,2900,2530,1791
$GC,13427,1.24,427.1,465.9,12.9,1070,13431,0.12,2.35,0.00,0.000,4,0.084,0.029,2956,978,1790
$GC,13467,1.14,427.1,459.7,13.2,1073,13472,0.17,2.33,0.00,0.000,6,0.187,0.032,2914,2493,1790
$GC,13793,1.29,441.2,418.4,12.0,1103,13815,0.15,2.03,14.00,0.988,4,0.080,0.050,2972,3753,1732
$GC,13909,1.04,441.2,401.1,15.3,1113,13913,0.38,1.92,0.00,0.000,6,0.185,0.023,2881,2445,1730
$GC,14240,1.38,474.3,364.3,10.7,1144,14276,0.28,2.15,28.75,0.969,4,0.065,0.049,2992,3750,1598
$GC,14352,1.14,474.3,346.8,18.3,1154,14357,0.32,2.05,0.00,0.000,6,0.185,0.024,2918,2375,1593
$GC,14678,1.41,484.0,304.6,12.3,1184,14694,0.20,2.25,9.20,0.838,4,0.070,0.049,2998,3757,1557
$GC,14736,1.17,484.0,295.7,17.7,1191,14742,0.32,2.17,0.00,0.000,6,0.184,0.024,2923,2290,1556
$GC,15083,1.44,493.7,251.2,12.4,1252,15100,0.20,2.00,9.65,0.800,4,0.072,0.031,3015,971,1518
$GC,15190,1.29,493.7,235.4,14.1,1270,15197,0.20,2.15,0.00,0.000,6,0.184,0.031,2966,2382,1517
$GC,15536,1.29,493.7,187.6,13.8,1331,15542,0.00,2.12,0.00,0.000,4,0.000,0.029,2973,961,1516
$GC,15617,1.29,493.7,176.6,14.7,1345,15623,0.00,2.25,0.00,0.000,6,0.000,0.029,2973,2451,1516
$GC,15963,1.48,519.1,129.9,11.2,1406,15992,0.12,2.30,22.70,0.751,4,0.081,0.028,3032,968,1414
$GC,16125,1.42,519.1,108.8,13.4,1434,16131,0.00,2.30,0.00,0.000,6,0.000,0.030,3033,2480,1412
$GC,16471,1.43,522.4,58.1,12.8,1495,16483,0.00,2.30,3.72,0.456,4,0.000,0.027,3041,967,1401
$GC,16529,1.45,543.8,50.0,11.5,1505,16557,0.00,2.25,19.45,0.669,6,0.000,0.028,3040,2465,1313
$STATE,16887,end climb,SURFACE_DEPTH_REACHED
$STATE,16887,begin surface coast
$FINISH,1.9,1.000889
$STATE,16917,end surface coast,CONTROL_FINISHED_OK
$STATE,16917,begin surface
$SM_CCo,16998,0.00,0.000,0,0,1308,545.30
$SM_GC,2.74,7.85,0.00,0.00,0.058,0.000,0.000,144,2353,1308,-7.49,-0.85,545.30
$IRIDIUM_FIX,2503.20,12411.13,071198,191909
$TT8_MAMPS,0.029146
$HUMID,1733
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.2,87.843
$10V_AH,10.6,46.566
$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,30.950,149.250,565.600,0.000,0.000,27.570,29.818,217.376,7.750,0.000,0.000,14.307,2606.252,10563.199,658.596,2813.235,787.154,0.000,2124.336,0.000,2751.368,0.000,51.099,0.000
$DEVICE_MAMPS,233.168,61.360,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.620,1093.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85251,1574
$CAP_FILE_SIZE,184845,0
$CFSIZE,260165632,185483264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140809,053054,2512.807,12410.472,37,2.0,38,-3.8