version: 66.04
glider: 167
mission: 2
dive: 5
start: 5 21 109 20 22 5
data:
$ID,167
$MISSION,2
$DIVE,5
$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,175
$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,-3853.0466
$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,71
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,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
$GPS1,201532,2519.913,12300.146,39,2.0,47,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-59.7
$GPS2,202144,2519.927,12300.182,14,2.0,14,-3.7
$SPEED_LIMITS,0.173,0.279
$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,304.0,40875,-16.8,-10.000
$D_GRID,1443
$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,-0.88,-170.3,0.0,0.0,0,105,0.00,0.00,-88.90,0.000,2,0.000,0.000,148,2093,3103
$GC,108,-0.88,-170.3,3.3,-3.6,10,152,9.80,2.10,-22.25,0.000,4,0.281,0.047,2306,708,3989
$GC,264,-0.88,-170.3,38.8,-27.2,34,273,0.00,2.15,0.00,0.000,6,0.000,0.035,2299,2106,3990
$GC,619,-0.88,-170.3,123.4,-21.1,95,629,0.00,2.15,0.00,0.000,4,0.000,0.048,2288,3505,3990
$GC,775,-0.88,-170.3,154.5,-19.6,121,783,0.00,2.05,0.00,0.000,6,0.000,0.028,2288,2097,3990
$GC,1126,-0.88,-170.3,210.2,-14.7,182,1135,0.00,2.17,0.00,0.000,4,0.000,0.048,2277,3500,3991
$GC,1238,-0.88,-170.3,228.1,-16.4,201,1245,0.15,2.00,0.00,0.000,6,0.163,0.028,2317,2098,3991
$GC,1580,-0.88,-170.3,261.9,-9.7,262,1589,0.00,2.17,0.00,0.000,4,0.000,0.048,2315,3503,3992
$GC,1840,-0.88,-170.3,285.6,-8.0,308,1848,0.00,2.03,0.00,0.000,6,0.000,0.028,2315,2102,3992
$GC,2175,-0.88,-170.3,315.9,-10.1,354,2179,0.00,2.15,0.00,0.000,4,0.000,0.050,2315,3514,3992
$GC,2288,-0.88,-170.3,326.2,-8.3,364,2292,0.00,2.03,0.00,0.000,6,0.000,0.029,2315,2091,3992
$GC,2622,-0.88,-170.3,350.8,-8.0,395,2626,0.00,2.17,0.00,0.000,4,0.000,0.050,2315,3511,3992
$GC,2774,-0.88,-170.3,364.7,-9.2,408,2782,0.00,2.05,0.00,0.000,6,0.000,0.030,2315,2099,3991
$GC,3101,-0.88,-170.3,390.3,-6.3,439,3105,0.00,2.15,0.00,0.000,4,0.000,0.051,2315,3503,3990
$GC,3291,-0.88,-170.3,402.8,-7.2,456,3295,0.00,2.03,0.00,0.000,6,0.000,0.031,2315,2091,3989
$GC,3624,-0.88,-170.3,428.9,-7.1,487,3628,0.00,2.17,0.00,0.000,4,0.000,0.052,2314,3507,3987
$GC,3863,-0.88,-170.3,447.4,-8.1,508,3869,0.00,2.05,0.00,0.000,6,0.000,0.031,2315,2101,3986
$GC,4190,-0.88,-170.3,469.0,-6.7,539,4194,0.00,2.17,0.00,0.000,4,0.000,0.054,2315,3513,3983
$GC,4380,-0.88,-170.3,482.8,-7.3,556,4384,0.00,2.05,0.00,0.000,6,0.000,0.034,2315,2096,3982
$GC,4709,-0.88,-170.3,504.6,-6.9,584,4713,0.00,2.17,0.00,0.000,4,0.000,0.055,2315,3508,3981
$GC,4878,-0.88,-170.3,515.2,-6.1,591,4882,0.00,2.05,0.00,0.000,6,0.000,0.033,2314,2090,3979
$GC,5201,-0.88,-170.3,532.3,-5.3,607,5205,0.00,2.20,0.00,0.000,4,0.000,0.055,2314,3511,3977
$GC,5386,-0.88,-170.3,543.3,-6.5,615,5389,0.00,2.05,0.00,0.000,6,0.000,0.034,2315,2095,3975
$GC,5720,-0.88,-170.3,564.7,-5.8,631,5724,0.00,2.20,0.00,0.000,4,0.000,0.057,2314,3513,3973
$GC,5927,-0.88,-170.3,578.3,-6.8,640,5931,0.00,2.05,0.00,0.000,6,0.000,0.035,2315,2103,3972
$GC,6255,-0.88,-170.3,597.6,-5.2,656,6258,0.00,2.17,0.00,0.000,4,0.000,0.057,2314,3505,3970
$GC,6512,-0.88,-170.3,611.0,-5.4,667,6516,0.00,2.05,0.00,0.000,6,0.000,0.035,2314,2102,3969
$GC,6835,-0.88,-170.3,630.7,-6.5,683,6839,0.00,2.17,0.00,0.000,4,0.000,0.058,2315,3502,3967
$GC,7093,-0.88,-170.3,646.4,-5.5,694,7097,0.00,2.08,0.00,0.000,6,0.000,0.036,2314,2083,3966
$GC,7415,-0.88,-170.3,662.9,-5.1,710,7418,0.00,2.22,0.00,0.000,4,0.000,0.058,2315,3516,3964
$GC,7627,-0.88,-170.3,674.3,-5.5,719,7631,0.00,2.08,0.00,0.000,6,0.000,0.038,2315,2107,3964
$GC,7951,-0.88,-170.3,693.5,-6.5,735,7954,0.00,2.17,0.00,0.000,4,0.000,0.058,2309,3503,3962
$GC,8202,-0.88,-170.3,710.9,-6.4,746,8206,0.00,2.08,0.00,0.000,6,0.000,0.036,2314,2091,3961
$GC,8529,-0.88,-170.3,730.5,-5.6,762,8533,0.00,2.20,0.00,0.000,4,0.000,0.059,2315,3503,3960
$GC,8747,-0.88,-170.3,741.7,-5.1,771,8755,0.00,2.08,0.00,0.000,6,0.000,0.037,2314,2088,3959
$GC,9065,-0.88,-170.3,755.5,-4.1,787,9069,0.00,2.20,0.00,0.000,4,0.000,0.059,2314,3503,3956
$GC,9301,-0.88,-170.3,767.8,-6.1,797,9305,0.00,2.08,0.00,0.000,6,0.000,0.037,2315,2090,3957
$GC,9625,-0.88,-170.3,791.4,-8.2,813,9628,0.00,2.20,0.00,0.000,4,0.000,0.059,2314,3502,3956
$GC,9877,-0.88,-170.3,809.8,-7.0,824,9880,0.00,2.08,0.00,0.000,6,0.000,0.037,2314,2093,3955
$GC,10207,-0.88,-170.3,828.5,-5.5,840,10210,0.00,2.22,0.00,0.000,4,0.000,0.061,2315,3513,3955
$GC,10465,-0.88,-170.3,842.6,-6.0,851,10469,0.00,2.10,0.00,0.000,6,0.000,0.039,2315,2094,3954
$GC,10789,-0.88,-170.3,859.6,-5.4,867,10792,0.00,2.20,0.00,0.000,4,0.000,0.060,2315,3502,3953
$GC,11048,-0.88,-170.3,874.1,-5.2,878,11052,0.00,2.08,0.00,0.000,6,0.000,0.038,2315,2097,3952
$GC,11369,-0.88,-170.3,891.2,-5.4,894,11373,0.00,2.20,0.00,0.000,4,0.000,0.061,2315,3502,3952
$GC,11628,-0.88,-170.3,905.4,-5.4,905,11632,0.00,2.08,0.00,0.000,6,0.000,0.038,2315,2097,3951
$STATE,11884,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11884,begin apogee
$GC,11890,-0.20,0.0,918.4,5.0,918,11977,0.68,0.00,84.57,1.458,6,0.135,0.000,2530,2092,3532
$STATE,11978,end apogee,CONTROL_FINISHED_OK
$STATE,11978,begin climb
$GC,11981,0.88,170.3,921.1,0.0,922,12137,1.00,2.42,146.15,1.540,4,0.069,0.058,2884,3509,2836
$GC,12211,0.88,170.3,906.6,21.7,932,12215,0.00,2.20,0.00,0.000,6,0.000,0.035,2893,2100,2832
$GC,12537,0.88,170.3,844.7,18.8,948,12541,0.00,2.25,0.00,0.000,4,0.000,0.059,2894,3500,2830
$GC,12700,0.88,170.3,813.0,21.5,955,12704,0.00,2.12,0.00,0.000,6,0.000,0.038,2901,2094,2826
$GC,13034,0.88,170.3,750.1,18.2,971,13038,0.00,2.25,0.00,0.000,4,0.000,0.058,2905,3508,2828
$GC,13226,0.88,170.3,710.4,21.0,979,13230,0.00,2.12,0.00,0.000,6,0.000,0.038,2914,2092,2828
$GC,13549,0.88,170.3,649.2,19.7,995,13554,0.12,2.22,0.00,0.000,4,0.259,0.054,2890,3508,2828
$GC,13636,0.88,170.3,631.9,20.9,999,13640,0.00,2.10,0.00,0.000,6,0.000,0.037,2898,2099,2827
$GC,13971,0.88,170.3,575.4,15.6,1015,13974,0.00,2.22,0.00,0.000,4,0.000,0.056,2899,3514,2827
$GC,14026,0.88,170.3,565.4,17.5,1017,14030,0.00,2.12,0.00,0.000,6,0.000,0.036,2908,2087,2826
$GC,14350,0.88,170.3,511.7,17.2,1033,14354,0.00,2.08,0.00,0.000,4,0.000,0.044,2918,701,2827
$GC,14456,0.88,170.3,493.4,15.8,1038,14466,0.10,2.15,0.00,0.000,6,0.240,0.041,2893,2104,2826
$GC,14784,0.88,170.3,442.9,16.1,1069,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2105,2826
$GC,15101,0.88,170.3,397.9,12.0,1099,15105,0.00,2.12,0.00,0.000,4,0.000,0.044,2901,696,2825
$GC,15321,0.88,170.3,370.5,11.3,1118,15329,0.00,2.15,0.00,0.000,6,0.000,0.042,2901,2096,2826
$GC,15648,0.88,170.3,331.7,12.2,1149,15652,0.00,2.15,0.00,0.000,4,0.000,0.056,2901,3505,2825
$GC,15911,0.88,170.3,295.0,14.3,1175,15917,0.00,2.08,0.00,0.000,6,0.000,0.035,2911,2089,2825
$GC,16263,0.88,170.3,253.7,12.8,1236,16270,0.00,2.22,0.00,0.000,4,0.000,0.054,2911,3502,2825
$GC,16333,0.88,170.3,244.8,12.4,1248,16343,0.10,2.08,0.00,0.000,6,0.238,0.034,2894,2107,2825
$GC,16691,0.98,251.2,214.8,6.8,1309,16755,0.00,2.33,59.05,0.883,4,0.000,0.052,2894,3510,2506
$GC,17017,0.98,251.2,166.1,15.3,1363,17026,0.00,2.15,0.00,0.000,6,0.000,0.033,2903,2091,2502
$GC,17372,0.98,251.2,123.6,10.0,1424,17382,0.00,2.25,0.00,0.000,4,0.000,0.053,2904,3509,2501
$GC,17574,0.98,251.2,100.6,12.8,1458,17582,0.00,2.10,0.00,0.000,6,0.000,0.032,2913,2097,2501
$GC,17929,1.10,343.2,63.4,6.4,1519,18005,0.12,2.28,68.88,0.706,4,0.099,0.049,2958,3509,2131
$GC,18267,1.10,343.2,8.9,18.5,1573,18276,0.00,2.12,0.00,0.000,6,0.000,0.031,2967,2095,2125
$STATE,18294,end climb,SURFACE_DEPTH_REACHED
$STATE,18294,begin surface coast
$FINISH,1.3,1.006441
$STATE,18307,end surface coast,CONTROL_FINISHED_OK
$STATE,18307,begin surface
$SM_CCo,18324,192.52,0.633,0,0,1069,604.66
$SM_GC,1.92,0.00,0.00,192.52,0.000,0.000,0.633,148,2089,1069,-7.66,-0.31,604.66
$IRIDIUM_FIX,2510.35,12251.13,150898,151551
$TT8_MAMPS,0.032214
$HUMID,1454
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,27.60
$XPDR_PINGS,6
$24V_AH,23.5,5.055
$10V_AH,10.6,2.391
$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,19.800,145.600,358.650,192.525,0.000,27.290,33.632,183.198,8.750,0.000,0.000,15.587,2890.158,8915.693,635.898,5849.409,587.798,0.000,2351.258,0.000,5828.104,0.000,52.456,0.000
$DEVICE_MAMPS,281.489,61.360,1540.136,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.887,1020.834,3766.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85368,1579
$CAP_FILE_SIZE,210856,0
$CFSIZE,260165632,224657408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180, 32.3,1
$GPS,220509,013201,2522.748,12300.054,42,1.7,43,-3.7