version: 66.04
glider: 167
mission: 2
dive: 2
start: 5 21 109 8 19 32
data:
$ID,167
$MISSION,2
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,167
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-1
$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,604.4765
$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,-3805.5466
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,375
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,2894
$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,0
$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
$GPS1,081443,2512.015,12258.341,13,1.1,30,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-57.1
$GPS2,081914,2512.090,12258.376,11,1.1,17,-3.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,348.6,53547,-18.2,-9.980
$D_GRID,1555
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.91,-146.0,0.0,0.0,0,133,0.00,0.00,-115.90,0.000,2,0.000,0.000,147,2090,3441
$GC,136,-0.91,-146.0,3.4,-6.9,20,152,9.62,2.05,-1.08,0.000,4,0.274,0.042,2365,689,3492
$GC,406,-0.91,-146.0,47.4,-13.5,67,413,0.00,2.05,0.00,0.000,6,0.000,0.030,2358,2113,3493
$GC,750,-0.91,-146.0,94.1,-13.4,128,757,0.00,2.05,0.00,0.000,4,0.000,0.029,2358,708,3493
$GC,797,-0.91,-146.0,100.2,-12.3,136,805,0.00,2.03,0.00,0.000,6,0.000,0.031,2349,2090,3493
$GC,1146,-0.91,-146.0,138.7,-10.5,197,1152,0.00,2.08,0.00,0.000,4,0.000,0.044,2339,3506,3493
$GC,1186,-0.91,-146.0,143.3,-10.8,204,1194,0.08,2.00,0.00,0.000,6,0.160,0.027,2363,2085,3492
$GC,1531,-0.91,-146.0,173.5,-9.0,265,1538,0.00,2.12,0.00,0.000,4,0.000,0.044,2358,3510,3492
$GC,1675,-0.91,-146.0,186.8,-7.9,290,1683,0.00,2.00,0.00,0.000,6,0.000,0.031,2358,2103,3492
$GC,2024,-0.91,-146.0,207.6,-7.1,351,2030,0.00,1.98,0.00,0.000,4,0.000,0.030,2358,709,3492
$GC,2061,-0.91,-146.0,210.4,-8.2,357,2067,0.00,2.03,0.00,0.000,6,0.000,0.032,2354,2111,3492
$GC,2402,-0.91,-146.0,234.1,-5.4,418,2411,0.00,2.10,0.00,0.000,4,0.000,0.055,2344,3509,3491
$GC,2569,-0.91,-146.0,243.6,-6.2,447,2575,0.00,1.98,0.00,0.000,6,0.000,0.028,2344,2104,3490
$GC,2914,-0.91,-146.0,262.0,-4.2,508,2922,0.00,2.15,0.00,0.000,4,0.000,0.056,2344,3509,3488
$GC,2981,-0.91,-146.0,264.8,-4.5,519,2987,0.00,1.98,0.00,0.000,6,0.000,0.028,2344,2094,3488
$GC,3325,-0.91,-146.0,285.9,-5.0,580,3333,0.00,2.00,0.00,0.000,4,0.000,0.043,2344,718,3484
$GC,3472,-0.91,-146.0,293.7,-4.8,605,3478,0.00,2.03,0.00,0.000,6,0.000,0.034,2344,2112,3485
$GC,3813,-0.91,-146.0,309.5,-5.1,649,3817,0.00,2.08,0.00,0.000,4,0.000,0.049,2344,3504,3487
$GC,3919,-0.91,-146.0,315.5,-5.5,658,3927,0.00,2.00,0.00,0.000,6,0.000,0.030,2343,2104,3483
$GC,4246,-0.91,-146.0,332.5,-5.6,689,4250,0.00,2.12,0.00,0.000,4,0.000,0.050,2344,3507,3479
$GC,4482,-0.91,-146.0,346.9,-5.4,710,4486,0.00,2.00,0.00,0.000,6,0.000,0.031,2344,2106,3480
$GC,4815,-0.91,-146.0,357.4,-2.8,741,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2098,3477
$GC,5133,-0.91,-146.0,372.9,-5.5,771,5136,0.00,2.15,0.00,0.000,4,0.000,0.051,2344,3513,3476
$GC,5351,-0.91,-146.0,384.1,-3.9,790,5357,0.00,2.05,0.00,0.000,6,0.000,0.031,2344,2097,3476
$GC,5678,-0.91,-146.0,396.8,-4.4,821,5682,0.00,2.15,0.00,0.000,4,0.000,0.052,2344,3507,3471
$GC,5873,-0.91,-146.0,408.0,-6.6,838,5882,0.00,2.05,0.00,0.000,6,0.000,0.033,2347,2107,3473
$STATE,6007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6007,begin apogee
$GC,6012,-0.20,0.0,416.1,6.0,851,6123,0.75,0.00,107.28,1.071,6,0.133,0.000,2590,2102,2894
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6126,0.91,146.0,415.8,0.0,862,6247,0.98,2.25,111.47,0.930,4,0.058,0.054,2950,3498,2297
$GC,6298,0.91,146.0,378.4,29.2,878,6307,0.00,2.08,0.00,0.000,6,0.000,0.029,2963,2107,2293
$GC,6626,0.91,146.0,293.9,23.7,911,6632,0.00,2.17,0.00,0.000,4,0.000,0.052,2964,3507,2289
$GC,6887,0.91,146.0,225.8,25.8,957,6893,0.00,2.03,0.00,0.000,6,0.000,0.030,2972,2094,2286
$GC,7231,0.91,146.0,154.5,18.1,1018,7240,0.00,2.20,0.00,0.000,4,0.000,0.051,2974,3510,2284
$GC,7495,0.91,146.0,98.6,19.3,1064,7504,0.00,2.05,0.00,0.000,6,0.000,0.030,2983,2097,2282
$GC,7842,0.91,146.0,37.7,16.7,1125,7850,0.00,2.17,0.00,0.000,4,0.000,0.048,2984,3506,2282
$STATE,8046,end climb,SURFACE_DEPTH_REACHED
$STATE,8046,begin surface coast
$FINISH,0.8,1.000067
$STATE,8060,end surface coast,CONTROL_FINISHED_OK
$STATE,8061,begin surface
$SM_CCo,8079,335.33,0.644,0,0,429,604.66
$SM_GC,1.45,0.00,0.00,335.33,0.000,0.000,0.644,148,2114,429,-7.86,0.40,604.66
$IRIDIUM_FIX,2503.20,12259.14,150898,080820
$TT8_MAMPS,0.028379
$HUMID,1520
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,27.20
$XPDR_PINGS,221
$24V_AH,24.5,4.522
$10V_AH,10.9,1.649
$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,18.975,66.200,218.750,335.325,0.000,0.000,0.000,0.000,57.500,0.000,0.000,17.927,1782.059,2404.946,673.518,3451.504,176.587,0.000,1631.955,0.000,3465.274,0.000,16.055,0.000
$DEVICE_MAMPS,273.819,55.991,1070.732,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.862,858.398,2685.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60017,1163
$CAP_FILE_SIZE,131340,0
$CFSIZE,260165632,225001472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210509,104101,2514.594,12259.008,38,1.5,38,-3.7