version: 66.04
glider: 167
mission: 2
dive: 52
start: 5 30 109 15 10 54
data:
$ID,167
$MISSION,2
$DIVE,52
$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,275
$T_MISSION,330
$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,200
$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,425
$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,-4790.2529
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,25
$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
$GPS1,150400,2528.128,12317.282,36,1.0,42,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-67.1
$GPS2,151032,2528.183,12317.282,16,1.0,16,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,327.3,24797,-18.3,-12.000
$D_GRID,676
$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,-1.05,-194.7,0.0,0.0,0,54,0.00,0.00,-37.35,0.000,2,0.000,0.000,146,2436,2570
$GC,57,-1.05,-194.7,3.1,-2.3,6,116,8.52,2.08,-44.40,0.000,4,0.254,0.060,2186,3764,3989
$GC,162,-0.01,-194.7,25.2,-44.1,23,170,1.30,2.00,0.00,0.000,6,0.207,0.026,2537,2397,3990
$GC,508,-0.84,-194.7,61.7,-9.0,84,515,0.70,1.98,0.00,0.000,4,0.081,0.030,2278,1036,3991
$GC,539,-0.95,-194.7,65.1,-11.8,89,547,0.12,2.08,0.00,0.000,6,0.081,0.035,2223,2425,3991
$GC,885,-0.29,-194.7,160.7,-29.2,150,891,0.75,2.03,0.00,0.000,4,0.189,0.048,2433,3754,3992
$GC,1035,-0.80,-194.7,177.3,-6.1,176,1041,0.40,1.90,0.00,0.000,6,0.058,0.028,2272,2426,3993
$GC,1381,-0.55,-194.7,233.1,-15.4,237,1388,0.30,0.00,0.00,0.000,6,0.158,0.000,2366,2425,3994
$GC,1726,-0.83,-194.7,257.0,-8.1,298,1732,0.22,2.05,0.00,0.000,4,0.064,0.050,2261,3755,3994
$GC,1853,-0.62,-194.7,275.5,-15.6,320,1860,0.28,1.88,0.00,0.000,6,0.154,0.028,2343,2441,3994
$GC,2195,-0.83,-194.7,303.9,-6.7,376,2197,0.20,0.00,0.00,0.000,6,0.066,0.000,2261,2441,3995
$GC,2516,-0.74,-194.7,342.3,-11.2,406,2520,0.15,2.03,0.00,0.000,4,0.166,0.031,2301,1043,3995
$GC,2573,-0.85,-194.7,347.9,-8.8,411,2576,0.00,2.10,0.00,0.000,6,0.000,0.038,2301,2444,3995
$GC,2904,-0.97,-194.7,379.3,-9.0,442,2908,0.17,2.05,0.00,0.000,4,0.074,0.031,2222,1040,3995
$GC,2959,-0.80,-194.7,386.3,-13.3,446,2965,0.22,2.10,0.00,0.000,6,0.164,0.037,2283,2445,3995
$GC,3284,-0.86,-194.7,415.7,-7.4,477,3288,0.00,2.05,0.00,0.000,4,0.000,0.031,2283,1042,3994
$GC,3367,-0.96,-194.7,422.3,-8.4,484,3374,0.15,2.08,0.00,0.000,6,0.079,0.039,2222,2429,3994
$GC,3692,-0.81,-194.7,461.1,-12.8,515,3694,0.22,0.00,0.00,0.000,6,0.166,0.000,2285,2430,3993
$GC,4013,-0.92,-194.7,490.4,-9.0,545,4017,0.12,2.05,0.00,0.000,4,0.087,0.055,2233,3760,3992
$GC,4086,-0.78,-194.7,499.9,-15.1,551,4091,0.20,1.95,0.00,0.000,6,0.166,0.032,2289,2425,3992
$GC,4409,-0.91,-194.7,529.6,-8.4,567,4413,0.12,2.03,0.00,0.000,4,0.084,0.034,2239,1037,3989
$GC,4470,-0.91,-194.7,536.5,-11.4,569,4477,0.00,2.10,0.00,0.000,6,0.000,0.041,2234,2426,3989
$GC,4786,-0.83,-194.7,571.8,-11.0,585,4790,0.15,2.08,0.00,0.000,4,0.179,0.034,2274,1021,3987
$GC,4847,-0.96,-194.7,577.9,-9.4,587,4854,0.12,2.10,0.00,0.000,6,0.087,0.039,2224,2422,3986
$GC,5163,-0.88,-194.7,613.0,-10.7,603,5167,0.12,2.08,0.00,0.000,4,0.177,0.057,2247,3764,3983
$GC,5195,-0.88,-194.7,616.2,-9.6,604,5201,0.00,2.00,0.00,0.000,6,0.000,0.034,2247,2402,3983
$GC,5511,-0.88,-194.7,644.6,-9.1,620,5515,0.00,2.00,0.00,0.000,4,0.000,0.037,2248,1030,3981
$GC,5579,-0.88,-194.7,651.6,-10.7,623,5583,0.00,2.10,0.00,0.000,6,0.000,0.042,2246,2416,3981
$STATE,5826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5827,begin apogee
$GC,5833,-0.22,0.0,676.5,11.1,635,5922,0.73,0.00,86.38,1.183,6,0.155,0.000,2471,2519,3532
$STATE,5923,end apogee,CONTROL_FINISHED_OK
$STATE,5923,begin climb
$GC,5926,1.05,194.7,679.4,0.0,639,6085,1.12,2.28,151.95,1.144,4,0.055,0.037,2888,1105,2737
$GC,6118,0.51,194.7,671.7,17.4,649,6123,0.68,2.25,0.00,0.000,6,0.200,0.041,2713,2504,2734
$GC,6440,0.54,270.8,637.0,8.9,665,6504,0.00,2.28,59.12,1.117,4,0.000,0.036,2719,1111,2427
$GC,6633,0.61,270.8,614.7,12.7,673,6640,0.00,2.17,0.00,0.000,6,0.000,0.041,2719,2493,2422
$GC,6948,0.61,270.8,574.2,12.8,689,6952,0.00,2.03,0.00,0.000,4,0.000,0.061,2719,3766,2419
$GC,7101,0.55,270.8,553.0,14.8,695,7107,0.00,1.90,0.00,0.000,6,0.000,0.033,2719,2492,2418
$GC,7416,0.55,270.8,512.8,13.1,711,7420,0.00,2.05,0.00,0.000,4,0.000,0.038,2719,1110,2416
$GC,7533,0.64,273.7,499.3,11.9,716,7539,0.00,2.12,0.00,0.000,6,0.000,0.041,2719,2499,2416
$GC,7860,0.66,287.9,463.9,11.4,747,7882,0.12,2.05,12.85,1.002,4,0.087,0.060,2769,3761,2357
$GC,7950,0.46,287.9,449.5,17.4,755,7954,0.30,1.90,0.00,0.000,6,0.182,0.035,2691,2505,2355
$GC,8280,0.70,338.2,414.8,9.9,786,8326,0.20,2.22,39.70,1.015,4,0.078,0.039,2775,1103,2152
$GC,8387,0.70,338.2,400.0,13.9,795,8394,0.00,2.22,0.00,0.000,6,0.000,0.041,2775,2515,2148
$GC,8716,0.65,338.2,349.9,14.7,826,8720,0.00,2.17,0.00,0.000,4,0.000,0.038,2775,1092,2145
$GC,8795,0.65,338.2,338.2,14.3,833,8799,0.00,2.17,0.00,0.000,6,0.000,0.042,2775,2494,2144
$GC,9125,0.65,338.2,283.0,16.2,872,9130,0.00,2.00,0.00,0.000,4,0.000,0.060,2775,3768,2143
$GC,9199,0.55,338.2,270.8,16.5,885,9206,0.22,1.90,0.00,0.000,6,0.174,0.032,2719,2477,2142
$GC,9545,0.82,375.7,233.2,10.4,946,9580,0.22,2.05,28.25,0.854,4,0.069,0.053,2813,3759,1999
$GC,9598,0.68,375.7,225.1,17.1,955,9605,0.20,1.88,0.00,0.000,6,0.177,0.031,2769,2503,1996
$GC,9943,0.77,375.7,178.5,14.6,1016,9949,0.00,1.98,0.00,0.000,4,0.000,0.054,2769,3758,1994
$GC,10028,0.85,375.7,166.0,15.0,1031,10035,0.12,1.83,0.00,0.000,6,0.088,0.031,2821,2515,1993
$GC,10372,0.85,375.7,119.1,13.0,1092,10378,0.00,2.08,0.00,0.000,4,0.000,0.035,2828,1103,1993
$GC,10430,0.93,375.7,110.7,15.3,1102,10436,0.00,2.17,0.00,0.000,6,0.000,0.038,2828,2542,1993
$GC,10773,0.93,375.7,63.1,13.3,1163,10779,0.00,1.88,0.00,0.000,4,0.000,0.054,2828,3765,1993
$GC,11032,0.93,383.2,31.0,11.7,1209,11045,0.00,1.75,6.75,0.565,6,0.000,0.028,2828,2540,1969
$STATE,11290,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,1.6,0.998454
$STATE,11320,end surface coast,CONTROL_FINISHED_OK
$STATE,11320,begin surface
$SM_CCo,11337,29.45,0.625,0,0,1798,425.10
$SM_GC,2.50,0.00,0.00,29.45,0.000,0.000,0.625,144,2432,1798,-7.50,0.14,425.10
$IRIDIUM_FIX,2515.12,12316.93,240898,101021
$TT8_MAMPS,0.029146
$HUMID,1552
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,54.3
$24V_AH,24.3,13.077
$10V_AH,10.8,8.459
$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,25.650,98.400,385.000,29.450,0.000,30.980,31.527,198.673,5.250,0.000,0.000,16.465,2204.072,6388.609,546.450,2125.712,488.069,0.000,1613.325,0.000,2076.412,0.000,41.798,0.000
$DEVICE_MAMPS,253.877,80.535,1183.481,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.521,885.755,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66365,1260
$CAP_FILE_SIZE,130390,0
$CFSIZE,260165632,220794880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 48.6,1
$GPS,300509,182137,2530.257,12316.954,40,1.3,40,-3.8