version: 66.04
glider: 167
mission: 2
dive: 3
start: 5 21 109 10 51 26
data:
$ID,167
$MISSION,2
$DIVE,3
$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,330
$T_MISSION,396
$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,2
$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,-3821.2124
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,104101,2514.594,12259.008,38,1.5,38,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.2
$GPS2,105107,2514.718,12259.053,10,1.5,14,-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,345.8,49201,-18.2,-10.000
$D_GRID,1507
$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,14,begin dive
$GC,16,-0.91,-146.0,0.0,0.0,0,129,0.00,0.00,-110.57,0.000,2,0.000,0.000,148,2114,3277
$GC,132,-0.91,-146.0,3.2,-4.7,13,158,9.75,2.12,-5.18,0.000,4,0.278,0.044,2364,679,3493
$GC,391,-0.91,-146.0,45.7,-13.1,56,400,0.00,2.10,0.00,0.000,6,0.000,0.030,2357,2101,3494
$GC,746,-0.91,-146.0,92.4,-13.2,117,754,0.00,2.10,0.00,0.000,4,0.000,0.035,2357,677,3494
$GC,820,-0.91,-146.0,102.2,-13.2,129,829,0.00,2.10,0.00,0.000,6,0.000,0.031,2344,2105,3494
$GC,1174,-0.91,-146.0,142.1,-10.6,190,1183,0.00,2.10,0.00,0.000,4,0.000,0.045,2341,3510,3495
$GC,1198,-0.91,-146.0,144.2,-9.9,193,1207,0.08,2.05,0.00,0.000,6,0.154,0.026,2366,2055,3495
$GC,1553,-0.91,-146.0,174.1,-4.9,254,1562,0.00,2.20,0.00,0.000,4,0.000,0.044,2358,3501,3496
$GC,1753,-0.91,-146.0,187.6,-8.0,288,1762,0.00,1.98,0.00,0.000,6,0.000,0.026,2358,2100,3495
$GC,2110,-0.91,-146.0,210.9,-5.1,349,2116,0.00,2.10,0.00,0.000,4,0.000,0.045,2358,3503,3495
$GC,2263,-0.91,-146.0,220.2,-7.4,375,2269,0.00,1.95,0.00,0.000,6,0.000,0.027,2359,2099,3495
$GC,2616,-0.91,-146.0,239.4,-3.6,436,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2098,3496
$GC,2971,-0.91,-146.0,258.8,-4.8,497,2977,0.00,2.12,0.00,0.000,4,0.000,0.048,2358,3511,3495
$GC,3113,-0.91,-146.0,265.8,-4.6,521,3119,0.00,2.00,0.00,0.000,6,0.000,0.028,2358,2092,3494
$GC,3465,-0.91,-146.0,283.3,-5.4,582,3473,0.00,2.15,0.00,0.000,4,0.000,0.048,2357,3500,3493
$GC,3511,-0.91,-146.0,285.4,-4.8,589,3517,0.00,1.98,0.00,0.000,6,0.000,0.028,2358,2097,3493
$GC,3860,-0.91,-146.0,297.3,-2.6,650,3868,0.00,2.15,0.00,0.000,4,0.000,0.048,2358,3501,3491
$GC,4127,-0.91,-146.0,306.7,-4.5,681,4131,0.00,2.00,0.00,0.000,6,0.000,0.029,2358,2090,3490
$GC,4457,-0.91,-146.0,323.0,-4.9,712,4461,0.00,2.15,0.00,0.000,4,0.000,0.050,2358,3509,3488
$GC,4706,-0.91,-146.0,335.5,-5.4,734,4710,0.00,2.00,0.00,0.000,6,0.000,0.031,2358,2102,3487
$GC,5040,-0.91,-146.0,353.4,-4.4,765,5043,0.00,2.12,0.00,0.000,4,0.000,0.050,2358,3499,3485
$GC,5123,-0.91,-146.0,357.3,-4.3,772,5133,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,2095,3489
$GC,5450,-0.91,-146.0,373.3,-5.5,803,5454,0.00,2.12,0.00,0.000,4,0.000,0.051,2358,3503,3483
$GC,5582,-0.91,-146.0,379.2,-3.4,814,5590,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,2106,3483
$GC,5910,-0.91,-146.0,387.2,-3.1,845,5914,0.00,2.12,0.00,0.000,4,0.000,0.051,2358,3506,3481
$GC,6027,-0.91,-146.0,392.5,-4.6,855,6034,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,2082,3481
$GC,6352,-0.91,-146.0,408.9,-4.9,886,6356,0.00,2.17,0.00,0.000,4,0.000,0.051,2358,3506,3477
$GC,6547,-0.91,-146.0,416.5,-3.8,903,6551,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,2095,3479
$GC,6877,-0.91,-146.0,428.3,-4.4,934,6880,0.00,2.15,0.00,0.000,4,0.000,0.052,2359,3500,3477
$GC,6959,-0.91,-146.0,431.5,-4.3,941,6963,0.00,2.00,0.00,0.000,6,0.000,0.031,2358,2097,3477
$GC,7290,-0.91,-146.0,442.7,-3.8,972,7294,0.00,2.15,0.00,0.000,4,0.000,0.053,2358,3498,3476
$GC,7373,-0.91,-146.0,445.5,-3.7,979,7376,0.00,2.03,0.00,0.000,6,0.000,0.031,2358,2088,3475
$GC,7704,-0.91,-146.0,458.3,-5.0,1010,7708,0.00,2.17,0.00,0.000,4,0.000,0.052,2358,3507,3474
$GC,7967,-0.91,-146.0,470.1,-3.4,1033,7971,0.00,2.03,0.00,0.000,6,0.000,0.033,2358,2103,3473
$GC,8297,-0.91,-146.0,480.6,-4.3,1064,8301,0.00,2.15,0.00,0.000,4,0.000,0.054,2358,3501,3473
$GC,8411,-0.91,-146.0,485.9,-4.4,1074,8415,0.00,2.03,0.00,0.000,6,0.000,0.034,2358,2100,3469
$GC,8756,-0.91,-146.0,500.8,-3.6,1105,8759,0.00,2.15,0.00,0.000,4,0.000,0.054,2358,3496,3471
$GC,8948,-0.91,-146.0,506.9,-3.0,1113,8952,0.00,2.03,0.00,0.000,6,0.000,0.033,2358,2096,3470
$GC,9273,-0.91,-146.0,519.9,-5.0,1129,9276,0.00,2.17,0.00,0.000,4,0.000,0.054,2358,3507,3468
$GC,9531,-0.91,-146.0,532.9,-5.0,1140,9535,0.00,2.05,0.00,0.000,6,0.000,0.034,2358,2095,3468
$GC,9853,-0.91,-146.0,543.5,-2.3,1156,9856,0.00,2.17,0.00,0.000,4,0.000,0.056,2358,3500,3467
$GC,10089,-0.91,-146.0,548.7,-2.9,1166,10093,0.00,2.03,0.00,0.000,6,0.000,0.035,2358,2105,3464
$GC,10412,-0.91,-146.0,562.9,-5.0,1182,10416,0.00,2.17,0.00,0.000,4,0.000,0.057,2358,3508,3466
$GC,10671,-0.91,-146.0,573.2,-3.2,1193,10675,0.00,2.08,0.00,0.000,6,0.000,0.036,2358,2087,3465
$GC,10996,-0.91,-146.0,581.7,-2.9,1209,10999,0.00,2.20,0.00,0.000,4,0.000,0.057,2358,3504,3464
$GC,11251,-0.91,-146.0,590.6,-4.4,1220,11255,0.00,2.08,0.00,0.000,6,0.000,0.035,2358,2085,3462
$GC,11579,-0.91,-146.0,604.5,-4.3,1236,11583,0.00,2.20,0.00,0.000,4,0.000,0.058,2358,3506,3462
$GC,11821,-0.91,-146.0,615.0,-3.9,1246,11830,0.00,2.10,0.00,0.000,6,0.000,0.037,2358,2095,3461
$STATE,11887,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11887,begin apogee
$GC,11892,-0.20,0.0,617.5,3.8,1250,12010,0.73,0.00,111.57,1.345,6,0.129,0.000,2594,2094,2893
$STATE,12010,end apogee,CONTROL_FINISHED_OK
$STATE,12010,begin climb
$GC,12013,0.91,146.0,616.2,0.0,1256,12141,1.00,2.38,120.22,1.308,4,0.067,0.059,2950,3503,2298
$GC,12239,0.91,146.0,563.4,29.1,1266,12243,0.00,2.12,0.00,0.000,6,0.000,0.034,2959,2098,2291
$GC,12566,0.91,146.0,471.4,28.3,1286,12570,0.00,2.22,0.00,0.000,4,0.000,0.058,2960,3496,2287
$GC,12828,0.91,146.0,396.1,27.8,1309,12832,0.00,2.08,0.00,0.000,6,0.000,0.035,2969,2083,2285
$GC,13159,0.91,146.0,312.4,25.6,1340,13162,0.00,2.22,0.00,0.000,4,0.000,0.055,2971,3501,2283
$GC,13337,0.91,146.0,260.7,28.1,1367,13343,0.00,2.05,0.00,0.000,6,0.000,0.034,2979,2092,2282
$GC,13690,0.91,146.0,179.1,21.6,1428,13699,0.00,2.08,0.00,0.000,4,0.000,0.042,2988,709,2281
$GC,13758,0.91,146.0,165.9,18.6,1439,13765,0.10,2.10,0.00,0.000,6,0.203,0.039,2959,2094,2280
$GC,14113,0.91,146.0,105.0,16.7,1500,14123,0.00,2.17,0.00,0.000,4,0.000,0.053,2962,3503,2280
$GC,14384,0.91,146.0,58.8,17.0,1546,14392,0.00,2.05,0.00,0.000,6,0.000,0.031,2969,2099,2280
$GC,14739,0.91,146.0,7.9,12.9,1607,14745,0.00,2.17,0.00,0.000,4,0.000,0.049,2970,3494,2282
$STATE,14775,end climb,SURFACE_DEPTH_REACHED
$STATE,14775,begin surface coast
$FINISH,1.0,1.010035
$STATE,14793,end surface coast,CONTROL_FINISHED_OK
$STATE,14794,begin surface
$SM_CCo,14813,340.10,0.651,0,0,430,604.66
$SM_GC,1.59,0.00,0.00,340.10,0.000,0.000,0.651,145,2103,430,-7.87,0.08,604.66
$IRIDIUM_FIX,2503.20,12259.14,150898,101040
$TT8_MAMPS,0.031447
$HUMID,1524
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,27.00
$XPDR_PINGS,63
$24V_AH,24.0,4.697
$10V_AH,10.8,1.901
$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,19.325,121.825,231.800,340.100,0.000,50.813,71.482,293.057,20.000,0.000,0.000,15.038,2849.428,5759.653,710.303,5683.167,757.325,0.000,2230.308,0.000,5684.111,0.000,29.401,0.000
$DEVICE_MAMPS,278.421,59.059,1344.551,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.827,1090.941,4029.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85103,1616
$CAP_FILE_SIZE,196768,0
$CFSIZE,260165632,224849920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.312, 40.8,1
$GPS,210509,150507,2517.662,12300.573,31,1.5,31,-3.7