version: 66.04
glider: 167
mission: 2
dive: 502
start: 8 14 109 5 39 16
data:
$ID,167
$MISSION,2
$DIVE,502
$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,-16203.475
$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,86
$R_STBD_OVSHOOT,42
$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
$GPS1,053054,2512.807,12410.472,37,2.0,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-68.3
$GPS2,053858,2512.907,12410.562,12,5.3,31,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2509.214,12359.352
$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,2193
$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,13,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,55,0.00,0.00,-36.55,0.000,2,0.000,0.000,144,2353,2231
$GC,60,-1.49,-121.7,3.2,-1.9,7,136,7.85,2.00,-60.60,0.000,4,0.230,0.038,2060,992,3989
$GC,143,-0.82,-121.7,8.9,-17.8,22,150,0.80,2.10,0.00,0.000,6,0.174,0.027,2273,2400,3989
$GC,490,-1.12,-121.7,53.3,-10.9,83,497,0.22,2.08,0.00,0.000,4,0.061,0.043,2175,3751,3992
$GC,526,-0.95,-121.7,58.0,-13.6,89,533,0.22,1.92,0.00,0.000,6,0.163,0.021,2235,2382,3992
$GC,873,-1.21,-121.7,97.5,-10.2,150,880,0.20,2.10,0.00,0.000,4,0.060,0.041,2137,3746,3992
$GC,893,-1.30,-121.7,100.0,-11.6,153,899,0.00,1.88,0.00,0.000,6,0.000,0.021,2137,2389,3992
$GC,1239,-1.18,-121.7,143.3,-11.3,214,1245,0.00,2.10,0.00,0.000,4,0.000,0.041,2137,3757,3993
$GC,1277,-0.98,-121.7,147.8,-12.9,220,1283,0.32,1.85,0.00,0.000,6,0.161,0.021,2227,2430,3994
$GC,1624,-1.28,-121.7,180.7,-9.5,281,1630,0.25,2.03,0.00,0.000,4,0.060,0.022,2120,1011,3995
$GC,1684,-1.04,-121.7,188.0,-13.4,291,1690,0.35,2.08,0.00,0.000,6,0.163,0.025,2207,2429,3995
$GC,2031,-1.33,-121.7,222.6,-9.2,352,2037,0.22,2.05,0.00,0.000,4,0.060,0.022,2110,1009,3995
$GC,2073,-1.15,-121.7,227.2,-11.1,359,2080,0.25,2.05,0.00,0.000,6,0.162,0.025,2169,2409,3995
$GC,2420,-1.32,-121.7,261.0,-10.1,420,2426,0.15,2.03,0.00,0.000,4,0.071,0.041,2100,3757,3996
$GC,2451,-1.15,-121.7,265.0,-13.3,425,2458,0.28,1.92,0.00,0.000,6,0.168,0.020,2174,2368,3996
$GC,2801,-1.35,-121.7,304.8,-11.1,483,2805,0.20,1.92,0.00,0.000,4,0.064,0.022,2088,1018,3996
$GC,2831,-1.26,-121.7,308.6,-13.3,485,2838,0.20,2.03,0.00,0.000,6,0.168,0.025,2137,2397,3996
$GC,3157,-1.34,-121.7,344.1,-10.2,516,3161,0.00,2.05,0.00,0.000,4,0.000,0.041,2128,3754,3995
$GC,3204,-1.21,-121.7,349.0,-10.5,520,3208,0.00,1.92,0.00,0.000,6,0.000,0.021,2128,2369,3996
$GC,3537,-1.27,-121.7,381.8,-9.8,551,3540,0.00,1.90,0.00,0.000,4,0.000,0.024,2128,1030,3995
$GC,3560,-1.27,-121.7,384.4,-10.3,553,3564,0.00,2.03,0.00,0.000,6,0.000,0.028,2124,2398,3996
$GC,3891,-1.27,-121.7,419.3,-11.0,584,3895,0.00,1.98,0.00,0.000,4,0.000,0.023,2124,1029,3995
$GC,3939,-1.22,-121.7,424.2,-10.6,588,3945,0.12,2.00,0.00,0.000,6,0.166,0.028,2151,2383,3995
$GC,4272,-1.38,-121.7,456.9,-10.0,619,4274,0.15,0.00,0.00,0.000,6,0.074,0.000,2093,2384,3994
$GC,4592,-1.38,-121.7,489.4,-9.6,649,4595,0.00,1.98,0.00,0.000,4,0.000,0.024,2093,1023,3993
$GC,4638,-1.22,-121.7,494.2,-9.8,653,4643,0.22,1.98,0.00,0.000,6,0.164,0.026,2145,2357,3993
$GC,4965,-1.37,-121.7,523.5,-9.9,672,4970,0.12,2.15,0.00,0.000,4,0.081,0.044,2093,3757,3992
$GC,4987,-1.37,-121.7,526.3,-10.4,673,4991,0.00,1.98,0.00,0.000,6,0.000,0.022,2093,2351,3993
$GC,5316,-1.37,-121.7,562.3,-10.7,689,5320,0.00,1.90,0.00,0.000,4,0.000,0.025,2094,1021,3991
$GC,5402,-1.24,-121.7,572.1,-11.7,692,5409,0.22,1.95,0.00,0.000,6,0.163,0.028,2146,2339,3990
$GC,5723,-1.40,-121.7,602.3,-8.9,708,5727,0.15,1.92,0.00,0.000,4,0.077,0.024,2087,1021,3989
$GC,5769,-1.29,-121.7,607.0,-10.1,710,5773,0.17,1.92,0.00,0.000,6,0.169,0.028,2130,2313,3988
$GC,6104,-1.42,-121.7,636.7,-8.8,726,6109,0.12,1.88,0.00,0.000,4,0.083,0.024,2081,1018,3986
$GC,6152,-1.28,-121.7,642.0,-10.6,728,6156,0.15,1.90,0.00,0.000,6,0.160,0.030,2135,2269,3986
$GC,6487,-1.44,-121.7,674.5,-9.8,744,6493,0.15,1.83,0.00,0.000,4,0.076,0.024,2076,1021,3983
$GC,6517,-1.36,-121.7,678.2,-12.2,745,6521,0.15,1.85,0.00,0.000,6,0.173,0.030,2108,2260,3983
$GC,6848,-1.44,-121.7,713.3,-10.5,761,6851,0.00,1.83,0.00,0.000,4,0.000,0.026,2109,1014,3981
$GC,6871,-1.44,-121.7,716.2,-10.7,762,6875,0.00,1.85,0.00,0.000,6,0.000,0.030,2104,2251,3981
$GC,7206,-1.50,-121.7,750.0,-9.8,778,7211,0.12,1.80,0.00,0.000,4,0.083,0.025,2054,1026,3979
$GC,7230,-1.41,-121.7,752.7,-10.6,779,7234,0.15,1.80,0.00,0.000,6,0.178,0.031,2091,2226,3978
$GC,7565,-1.41,-121.7,787.0,-10.1,795,7569,0.00,2.38,0.00,0.000,4,0.000,0.045,2084,3762,3976
$GC,7673,-1.21,-121.7,799.8,-12.1,800,7681,0.25,2.20,0.00,0.000,6,0.168,0.022,2151,2229,3975
$GC,8013,-1.45,-121.7,831.5,-9.3,816,8017,0.20,1.75,0.00,0.000,4,0.073,0.026,2070,1022,3973
$GC,8052,-1.27,-121.7,836.5,-12.4,817,8059,0.25,1.80,0.00,0.000,6,0.167,0.032,2137,2216,3973
$GC,8370,-1.46,-121.7,867.7,-9.5,833,8375,0.17,2.40,0.00,0.000,4,0.074,0.048,2057,3746,3971
$GC,8410,-1.15,-121.7,872.7,-13.2,835,8415,0.43,2.20,0.00,0.000,6,0.175,0.023,2173,2221,3971
$GC,8741,-1.46,-121.7,902.9,-9.0,851,8745,0.25,1.75,0.00,0.000,4,0.068,0.027,2070,1018,3969
$GC,8788,-1.28,-121.7,908.6,-12.3,853,8792,0.17,1.80,0.00,0.000,6,0.164,0.034,2131,2184,3969
$GC,9123,-1.35,-121.7,944.2,-10.7,869,9127,0.00,2.28,0.00,0.000,3,0.000,0.048,2124,3648,3967
$STATE,9128,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9128,begin apogee
$GC,9138,-0.27,0.0,945.2,10.7,869,9242,1.12,0.00,95.03,1.361,6,0.168,0.000,2451,2374,3532
$STATE,9244,end apogee,CONTROL_FINISHED_OK
$STATE,9244,begin climb
$GC,9247,1.49,121.7,953.4,0.0,874,9359,1.60,2.17,104.03,1.342,4,0.064,0.029,3029,1013,3034
$GC,9616,0.88,202.6,945.8,7.2,890,9689,0.77,2.08,67.25,1.327,6,0.212,0.033,2832,2370,2706
$GC,10013,0.82,263.5,912.5,8.7,910,10070,0.00,2.25,51.45,1.311,4,0.000,0.048,2832,3744,2456
$GC,10177,0.67,279.9,893.1,11.9,916,10197,0.28,1.95,14.75,1.213,6,0.186,0.022,2761,2436,2391
$GC,10518,1.03,323.7,860.6,9.9,933,10561,0.30,2.20,37.78,1.282,4,0.067,0.048,2882,3744,2211
$GC,10669,0.80,323.7,836.2,17.0,939,10675,0.30,2.05,0.00,0.000,6,0.187,0.024,2808,2360,2207
$GC,10987,0.99,340.5,797.3,11.8,955,11009,0.15,2.25,15.15,1.202,4,0.082,0.048,2865,3754,2141
$GC,11131,0.85,340.5,774.6,16.4,961,11136,0.20,2.00,0.00,0.000,6,0.183,0.023,2824,2398,2139
$GC,11461,1.00,358.9,733.2,11.7,977,11483,0.12,2.22,16.35,1.189,4,0.086,0.049,2872,3746,2068
$GC,11552,0.85,358.9,719.4,15.7,981,11557,0.22,1.95,0.00,0.000,6,0.183,0.024,2824,2428,2066
$GC,11887,1.10,388.2,682.2,10.9,997,11919,0.17,2.22,25.88,1.190,4,0.077,0.031,2906,976,1948
$GC,12027,1.04,388.2,662.0,14.1,1003,12031,0.00,2.40,0.00,0.000,6,0.000,0.033,2906,2519,1944
$GC,12349,0.94,388.2,612.6,15.8,1019,12353,0.17,1.92,0.00,0.000,4,0.186,0.050,2854,3754,1942
$GC,12394,0.94,388.2,605.6,14.7,1021,12397,0.00,1.80,0.00,0.000,6,0.000,0.025,2859,2513,1941
$GC,12729,1.18,395.4,560.7,12.5,1037,12738,0.17,0.00,6.65,0.957,6,0.078,0.000,2926,2512,1920
$GC,13036,1.19,401.5,520.1,12.6,1052,13049,0.00,2.05,7.00,0.949,4,0.000,0.051,2925,3756,1894
$GC,13110,1.01,401.5,510.3,13.1,1055,13114,0.25,1.77,0.00,0.000,6,0.181,0.025,2869,2532,1893
$GC,13437,1.29,447.4,476.5,9.8,1081,13483,0.22,2.03,40.47,1.066,4,0.073,0.051,2961,3748,1707
$GC,13507,1.12,447.4,467.2,14.6,1087,13514,0.25,1.92,0.00,0.000,6,0.188,0.024,2908,2449,1705
$GC,13833,1.35,464.5,427.9,11.8,1118,13856,0.20,2.22,15.02,0.979,4,0.075,0.030,2998,978,1637
$GC,13955,1.16,464.5,409.5,16.4,1128,13962,0.30,2.22,0.00,0.000,6,0.187,0.032,2921,2424,1633
$GC,14281,1.37,476.3,367.9,12.2,1159,14297,0.17,2.20,10.57,0.907,4,0.071,0.029,2997,978,1589
$GC,14381,1.22,476.3,354.1,13.7,1167,14386,0.22,2.30,0.00,0.000,6,0.189,0.032,2942,2470,1587
$GC,14708,1.31,480.5,311.9,12.7,1197,14720,0.00,2.28,4.80,0.703,4,0.000,0.028,2950,970,1573
$GC,14836,1.41,497.0,295.9,11.9,1210,14859,0.15,2.20,16.08,0.884,6,0.083,0.032,3006,2417,1505
$GC,15201,1.27,497.0,238.1,15.5,1274,15208,0.17,2.17,0.00,0.000,4,0.186,0.028,2966,971,1501
$GC,15250,1.27,497.0,230.3,15.6,1282,15256,0.00,2.17,0.00,0.000,6,0.000,0.029,2966,2413,1501
$GC,15594,1.30,520.4,183.0,11.4,1343,15622,0.00,2.20,20.83,0.798,4,0.000,0.030,2972,967,1409
$GC,15718,1.40,525.8,168.2,12.7,1364,15730,0.00,2.25,5.97,0.651,6,0.000,0.028,2972,2453,1387
$GC,16072,1.65,535.5,122.6,12.3,1426,16090,0.25,2.28,9.32,0.686,4,0.064,0.028,3090,972,1348
$GC,16195,1.43,535.5,104.6,13.6,1447,16202,0.30,2.10,0.00,0.000,6,0.193,0.029,3012,2372,1347
$GC,16542,1.63,550.4,58.9,12.0,1508,16565,0.15,2.12,13.90,0.660,4,0.071,0.025,3083,972,1287
$GC,16647,1.52,550.4,43.8,14.3,1526,16654,0.20,2.00,0.00,0.000,6,0.183,0.027,3032,2314,1286
$STATE,16990,end climb,SURFACE_DEPTH_REACHED
$STATE,16990,begin surface coast
$FINISH,1.8,0.997076
$STATE,17022,end surface coast,CONTROL_FINISHED_OK
$STATE,17022,begin surface
$SM_CCo,17102,0.00,0.000,0,0,1284,551.43
$SM_GC,2.75,7.72,0.00,0.00,0.051,0.000,0.000,140,2408,1284,-7.50,0.71,551.43
$IRIDIUM_FIX,2505.59,12411.13,081198,000002
$TT8_MAMPS,0.029913
$HUMID,1738
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,22.7,88.055
$10V_AH,10.6,46.666
$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,31.450,162.950,578.275,0.000,0.000,31.462,41.062,209.978,8.000,0.000,0.000,32.948,2654.977,10520.624,679.527,2879.407,831.055,0.000,2178.319,0.000,2799.512,0.000,51.129,0.000
$DEVICE_MAMPS,230.100,81.302,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.908,1111.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85321,1592
$CAP_FILE_SIZE,192358,0
$CFSIZE,260165632,185384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140809,102537,2512.997,12410.384,41,0.9,42,-3.8