version: 66.04
glider: 167
mission: 1
dive: 2
start: 1 28 109 21 8 52
data:
$ID,167
$MISSION,1
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$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,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,615
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2305.1748
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2691
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3392
$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,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.577106
$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,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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,0.0042613237
$SEABIRD_T_H,0.000318543
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,210408,4806.147,-12222.110,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.8
$GPS2,210801,4806.088,-12222.065,12,1.7,17,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.218
$KALMAN_X,205.7,205.7,205.7,334.2,368.5
$KALMAN_Y,-311.4,-311.4,-311.4,-507.0,-557.8
$MHEAD_RNG_PITCHd_Wd,128.8,2408,-17.5,-10.000
$D_GRID,107
$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,-0.88,-146.6,0.0,0.0,0,104,0.00,0.00,-86.80,0.000,2,0.000,0.000,128,1693,2544
$GC,108,-0.88,-146.6,3.2,-6.9,15,163,9.80,2.22,-39.40,0.000,4,0.281,0.067,2400,288,3964
$GC,416,-0.88,-146.6,51.1,-17.4,69,422,0.00,2.15,0.00,0.000,6,0.000,0.045,2392,1704,3964
$GC,557,-0.88,-146.6,74.9,-17.0,94,563,0.00,2.15,0.00,0.000,4,0.000,0.050,2392,293,3963
$GC,696,-0.88,-146.6,99.5,-18.4,118,702,0.00,2.12,0.00,0.000,6,0.000,0.044,2385,1703,3964
$STATE,740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,740,begin apogee
$GC,745,-0.20,0.0,107.2,16.1,126,851,0.77,0.00,100.28,0.728,6,0.173,0.000,2616,1703,3392
$STATE,852,end apogee,CONTROL_FINISHED_OK
$STATE,852,begin climb
$GC,855,0.88,146.6,112.5,0.0,145,967,1.08,0.00,107.85,0.700,6,0.120,0.000,2963,1703,2794
$GC,1102,0.88,146.6,90.2,10.5,189,1108,0.00,2.22,0.00,0.000,4,0.000,0.055,2963,3103,2793
$GC,1187,0.88,146.6,80.1,11.9,204,1194,0.00,2.15,0.00,0.000,6,0.000,0.041,2963,1705,2793
$GC,1329,0.88,146.6,65.2,10.2,229,1335,0.00,2.20,0.00,0.000,4,0.000,0.054,2964,3104,2793
$GC,1416,0.88,146.6,55.3,11.4,244,1422,0.00,2.12,0.00,0.000,6,0.000,0.038,2963,1696,2793
$GC,1558,0.88,146.6,40.6,10.2,269,1564,0.00,2.20,0.00,0.000,4,0.000,0.054,2963,3105,2793
$GC,1637,0.88,146.6,32.2,10.2,283,1644,0.00,2.15,0.00,0.000,6,0.000,0.039,2963,1703,2792
$GC,1712,0.89,157.8,25.2,9.5,296,1731,0.00,2.25,9.73,0.590,4,0.000,0.053,2963,3113,2748
$GC,1743,0.89,157.8,22.1,10.2,301,1750,0.00,2.17,0.00,0.000,6,0.000,0.038,2963,1696,2748
$GC,1819,0.94,193.6,15.1,8.4,314,1855,0.00,2.28,26.77,0.625,4,0.000,0.053,2963,3108,2601
$GC,1867,1.01,253.5,11.4,7.2,322,1921,0.12,2.17,44.08,0.630,6,0.071,0.038,3018,1704,2357
$GC,1993,1.14,361.0,4.5,5.1,343,2075,0.12,0.00,78.00,0.621,6,0.083,0.000,3070,1704,1920
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,1.3,1.041638
$STATE,2232,end surface coast,CONTROL_FINISHED_OK
$STATE,2232,begin surface
$SM_CCo,2249,190.30,0.613,0,0,884,615.21
$SM_GC,1.29,0.00,0.00,190.30,0.000,0.000,0.613,132,1701,884,-8.00,0.03,615.21
$IRIDIUM_FIX,4748.51,-12219.12,240498,212136
$TT8_MAMPS,0.029146
$HUMID,1428
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,39.2
$24V_AH,24.5,0.750
$10V_AH,10.7,0.357
$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,20.325,30.575,366.700,190.300,0.000,0.000,0.000,0.000,1.000,0.000,0.000,17.106,530.285,621.620,588.682,711.136,63.619,30.181,1005.575,0.000,701.881,0.000,9.920,0.000
$DEVICE_MAMPS,280.722,67.496,727.883,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.000,285.283,481.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22343,385
$CAP_FILE_SIZE,70329,0
$CFSIZE,260165632,258396160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280109,215043,4805.851,-12221.763,27,2.0,34,18.3