version: 66.04
glider: 167
mission: 2
dive: 4
start: 5 21 109 15 11 30
data:
$ID,167
$MISSION,2
$DIVE,4
$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,-3836.8323
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2600
$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,51
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,375
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3300
$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
$GPS1,150507,2517.662,12300.573,31,1.5,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-58.6
$GPS2,151108,2517.773,12300.643,14,1.9,14,-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,295.4,44834,-18.2,-10.000
$D_GRID,1352
$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,12,begin dive
$GC,15,-0.91,-146.0,0.0,0.0,0,118,0.00,0.00,-100.88,0.000,2,0.000,0.000,148,2104,3023
$GC,121,-0.91,-146.0,3.3,-4.0,12,158,9.60,2.15,-21.95,0.000,4,0.278,0.047,2298,692,3898
$GC,333,-0.91,-146.0,50.8,-22.6,46,342,0.00,2.12,0.00,0.000,6,0.000,0.035,2290,2100,3900
$GC,688,-0.91,-146.0,124.9,-18.3,107,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2101,3901
$GC,1041,-0.91,-146.0,181.5,-13.9,168,1050,0.00,2.12,0.00,0.000,4,0.000,0.048,2279,3499,3902
$GC,1127,-0.91,-146.0,194.0,-14.3,182,1136,0.00,2.05,0.00,0.000,6,0.000,0.028,2279,2071,3905
$GC,1480,-0.91,-146.0,239.7,-10.1,243,1486,0.00,2.17,0.00,0.000,4,0.000,0.048,2274,3503,3902
$GC,1527,-0.91,-146.0,245.5,-12.4,251,1534,0.12,2.00,0.00,0.000,6,0.160,0.028,2308,2089,3899
$GC,1870,-0.91,-146.0,275.9,-8.2,312,1879,0.00,2.17,0.00,0.000,4,0.000,0.048,2302,3499,3903
$GC,1949,-0.91,-146.0,282.7,-9.4,325,1956,0.00,2.00,0.00,0.000,6,0.000,0.028,2302,2087,3903
$GC,2287,-0.91,-146.0,315.6,-9.7,371,2290,0.00,2.15,0.00,0.000,4,0.000,0.049,2302,3499,3903
$GC,2347,-0.91,-146.0,321.6,-9.2,376,2356,0.00,2.03,0.00,0.000,6,0.000,0.028,2302,2099,3902
$GC,2675,-0.91,-146.0,348.6,-8.8,407,2679,0.00,2.15,0.00,0.000,4,0.000,0.050,2302,3512,3901
$GC,2798,-0.91,-146.0,360.4,-10.1,418,2802,0.00,2.00,0.00,0.000,6,0.000,0.030,2302,2102,3901
$GC,3130,-0.91,-146.0,389.4,-8.1,449,3134,0.00,2.15,0.00,0.000,4,0.000,0.051,2302,3507,3898
$GC,3187,-0.91,-146.0,394.0,-8.0,454,3191,0.00,2.03,0.00,0.000,6,0.000,0.030,2298,2090,3897
$GC,3520,-0.91,-146.0,421.7,-8.5,485,3524,0.00,2.15,0.00,0.000,4,0.000,0.051,2302,3500,3899
$GC,3678,-0.91,-146.0,434.1,-8.0,499,3682,0.00,2.03,0.00,0.000,6,0.000,0.031,2302,2087,3894
$GC,4009,-0.91,-146.0,458.6,-7.5,530,4013,0.00,2.17,0.00,0.000,4,0.000,0.052,2302,3506,3892
$GC,4059,-0.91,-146.0,462.8,-8.6,534,4067,0.00,2.05,0.00,0.000,6,0.000,0.031,2300,2097,3892
$GC,4386,-0.91,-146.0,488.6,-7.0,565,4390,0.00,2.15,0.00,0.000,4,0.000,0.054,2302,3500,3891
$GC,4489,-0.91,-146.0,495.3,-5.9,574,4493,0.00,2.00,0.00,0.000,6,0.000,0.031,2302,2106,3890
$GC,4825,-0.91,-146.0,515.9,-6.7,594,4828,0.00,2.15,0.00,0.000,4,0.000,0.054,2301,3502,3888
$GC,4972,-0.91,-146.0,527.1,-7.4,600,4976,0.00,2.03,0.00,0.000,6,0.000,0.033,2301,2097,3887
$GC,5293,-0.91,-146.0,549.6,-6.7,616,5297,0.00,2.17,0.00,0.000,4,0.000,0.055,2303,3505,3885
$GC,5439,-0.91,-146.0,559.6,-7.0,622,5443,0.00,2.03,0.00,0.000,6,0.000,0.033,2301,2102,3884
$GC,5761,-0.91,-146.0,582.8,-7.4,638,5765,0.00,2.15,0.00,0.000,4,0.000,0.057,2301,3490,3882
$GC,5878,-0.91,-146.0,592.2,-8.0,643,5882,0.00,2.03,0.00,0.000,6,0.000,0.035,2301,2100,3881
$GC,6207,-0.91,-146.0,617.7,-7.8,659,6211,0.00,2.17,0.00,0.000,4,0.000,0.058,2301,3499,3879
$GC,6367,-0.91,-146.0,628.9,-6.5,666,6371,0.00,2.05,0.00,0.000,6,0.000,0.035,2302,2089,3878
$GC,6700,-0.91,-146.0,649.4,-6.5,682,6704,0.00,2.20,0.00,0.000,4,0.000,0.058,2300,3503,3876
$GC,6846,-0.91,-146.0,659.8,-7.1,688,6850,0.00,2.03,0.00,0.000,6,0.000,0.036,2301,2106,3875
$GC,7167,-0.91,-146.0,684.6,-8.1,704,7170,0.00,2.17,0.00,0.000,4,0.000,0.059,2301,3503,3877
$GC,7371,-0.91,-146.0,701.6,-8.7,713,7375,0.00,2.08,0.00,0.000,6,0.000,0.036,2301,2086,3869
$GC,7708,-0.91,-146.0,728.6,-8.0,729,7712,0.00,2.20,0.00,0.000,4,0.000,0.060,2301,3499,3870
$GC,7836,-0.91,-146.0,738.2,-6.4,734,7845,0.00,2.08,0.00,0.000,6,0.000,0.038,2301,2099,3869
$GC,8152,-0.91,-146.0,758.9,-7.0,750,8156,0.00,2.17,0.00,0.000,4,0.000,0.060,2301,3492,3868
$GC,8334,-0.91,-146.0,772.9,-7.7,758,8338,0.00,2.05,0.00,0.000,6,0.000,0.036,2301,2090,3867
$GC,8669,-0.91,-146.0,798.0,-6.6,774,8672,0.00,2.20,0.00,0.000,4,0.000,0.060,2301,3497,3866
$GC,8752,-0.91,-146.0,802.9,-5.9,777,8760,0.00,2.05,0.00,0.000,6,0.000,0.036,2301,2089,3866
$GC,9071,-0.91,-146.0,821.6,-5.3,793,9074,0.00,2.20,0.00,0.000,4,0.000,0.061,2301,3498,3864
$GC,9245,-0.91,-146.0,832.3,-5.8,800,9254,0.00,2.08,0.00,0.000,6,0.000,0.038,2301,2110,3864
$GC,9561,-0.91,-146.0,850.4,-5.7,816,9565,0.00,2.15,0.00,0.000,4,0.000,0.061,2301,3493,3863
$GC,9774,-0.91,-146.0,861.9,-5.5,825,9778,0.00,2.05,0.00,0.000,6,0.000,0.039,2301,2103,3862
$GC,10098,-0.91,-146.0,877.4,-4.4,841,10101,0.00,2.20,0.00,0.000,4,0.000,0.062,2301,3503,3861
$GC,10288,-0.91,-146.0,885.5,-4.6,849,10292,0.00,2.08,0.00,0.000,6,0.000,0.038,2301,2097,3861
$GC,10614,-0.91,-146.0,901.7,-5.4,865,10617,0.00,2.20,0.00,0.000,4,0.000,0.062,2301,3497,3860
$GC,10811,-0.91,-146.0,912.8,-5.2,873,10818,0.00,2.08,0.00,0.000,6,0.000,0.039,2301,2096,3858
$GC,11129,-0.91,-146.0,929.1,-5.3,889,11133,0.00,2.20,0.00,0.000,4,0.000,0.062,2301,3497,3859
$GC,11359,-0.91,-146.0,941.2,-5.1,899,11363,0.00,2.08,0.00,0.000,6,0.000,0.039,2301,2100,3858
$GC,11695,-0.91,-146.0,958.2,-4.9,915,11699,0.00,2.20,0.00,0.000,4,0.000,0.062,2301,3499,3857
$GC,11860,-0.91,-146.0,967.3,-5.3,922,11863,0.00,2.08,0.00,0.000,6,0.000,0.039,2301,2095,3857
$STATE,11895,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11895,begin apogee
$GC,11900,-0.20,0.0,969.5,5.7,924,12022,0.73,0.00,115.80,1.611,6,0.141,0.000,2531,2090,3300
$STATE,12022,end apogee,CONTROL_FINISHED_OK
$STATE,12022,begin climb
$GC,12025,0.91,146.0,973.1,0.0,930,12158,1.02,2.33,123.25,1.456,4,0.072,0.046,2898,708,2704
$GC,12310,0.91,146.0,932.5,20.5,942,12320,0.00,2.20,0.00,0.000,6,0.000,0.044,2898,2088,2698
$GC,12626,0.91,146.0,868.3,20.4,958,12630,0.00,2.25,0.00,0.000,4,0.000,0.059,2898,3509,2696
$GC,12883,0.91,146.0,812.5,22.1,969,12887,0.00,2.10,0.00,0.000,6,0.000,0.037,2907,2100,2694
$GC,13207,0.91,146.0,745.8,20.4,985,13211,0.00,2.25,0.00,0.000,4,0.000,0.060,2909,3514,2693
$GC,13389,0.91,146.0,704.2,24.1,993,13393,0.00,2.10,0.00,0.000,6,0.000,0.038,2917,2102,2692
$GC,13724,0.91,146.0,636.6,19.1,1009,13727,0.00,2.22,0.00,0.000,4,0.000,0.058,2918,3510,2692
$GC,13981,0.91,146.0,582.3,20.3,1020,13986,0.15,2.10,0.00,0.000,6,0.252,0.038,2896,2093,2692
$GC,14302,0.91,146.0,518.1,19.8,1036,14306,0.00,2.22,0.00,0.000,4,0.000,0.058,2896,3507,2692
$GC,14562,0.91,146.0,462.0,21.2,1055,14566,0.00,2.08,0.00,0.000,6,0.000,0.036,2905,2096,2691
$GC,14894,0.91,146.0,404.4,16.2,1086,14897,0.00,2.22,0.00,0.000,4,0.000,0.058,2906,3511,2691
$GC,14962,0.91,146.0,391.8,18.1,1092,14966,0.00,2.08,0.00,0.000,6,0.000,0.038,2914,2098,2688
$GC,15294,0.91,146.0,337.2,15.3,1123,15298,0.00,2.22,0.00,0.000,4,0.000,0.057,2915,3517,2690
$GC,15408,0.91,146.0,318.2,15.5,1133,15413,0.12,2.08,0.00,0.000,6,0.246,0.037,2899,2107,2690
$GC,15747,0.91,146.0,271.9,12.2,1181,15755,0.00,2.20,0.00,0.000,4,0.000,0.056,2899,3517,2690
$GC,16009,0.91,146.0,239.1,11.3,1227,16016,0.00,2.08,0.00,0.000,6,0.000,0.035,2908,2092,2690
$GC,16353,1.01,226.8,203.2,6.3,1288,16420,0.00,2.33,59.72,0.872,4,0.000,0.053,2909,3506,2373
$GC,16682,1.01,226.8,152.3,17.0,1342,16691,0.00,2.12,0.00,0.000,6,0.000,0.031,2918,2093,2368
$GC,17038,1.01,226.8,97.0,11.3,1403,17044,0.00,2.22,0.00,0.000,4,0.000,0.051,2919,3503,2368
$GC,17305,1.01,226.8,66.5,10.7,1449,17315,0.00,2.08,0.00,0.000,6,0.000,0.031,2927,2085,2369
$GC,17661,1.01,226.8,24.4,11.6,1510,17669,0.00,2.22,0.00,0.000,4,0.000,0.049,2927,3513,2371
$STATE,17836,end climb,SURFACE_DEPTH_REACHED
$STATE,17836,begin surface coast
$FINISH,1.1,1.003784
$STATE,17860,end surface coast,CONTROL_FINISHED_OK
$STATE,17860,begin surface
$SM_CCo,17879,279.58,0.631,0,0,834,604.66
$SM_GC,1.87,0.00,0.00,279.58,0.000,0.000,0.631,148,2092,834,-7.66,-0.23,604.66
$IRIDIUM_FIX,2505.59,12257.14,150898,101035
$TT8_MAMPS,0.032981
$HUMID,1446
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,28.70
$XPDR_PINGS,7
$24V_AH,23.6,4.879
$10V_AH,10.7,2.144
$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,19.300,153.200,298.775,279.575,0.000,25.673,42.413,170.205,9.500,0.000,0.000,14.993,2836.467,8712.244,697.338,5681.769,585.840,0.000,2340.360,0.000,5663.271,0.000,54.212,0.000
$DEVICE_MAMPS,278.421,62.127,1611.467,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.124,1012.910,3740.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82176,1544
$CAP_FILE_SIZE,208974,0
$CFSIZE,260165632,224751616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$CURRENT,0.182, 37.5,1
$GPS,210509,201532,2519.913,12300.146,39,2.0,47,-3.7