version: 66.04
glider: 167
mission: 2
dive: 53
start: 5 30 109 18 42 54
data:
$ID,167
$MISSION,2
$DIVE,53
$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,-4807.4692
$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,66
$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
$GPS1,182137,2530.257,12316.954,40,1.3,40,-3.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-69.7
$GPS2,184232,2530.333,12317.013,16,1.3,16,-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,321.9,20809,-18.3,-12.000
$D_GRID,751
$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,-36.65,0.000,2,0.000,0.000,144,2432,2757
$GC,57,-1.05,-194.7,3.2,-2.3,6,106,8.60,2.12,-35.30,0.000,4,0.258,0.060,2190,3761,3989
$GC,230,0.04,-194.7,56.0,-46.5,36,237,1.30,1.95,0.00,0.000,6,0.197,0.025,2551,2406,3990
$GC,575,-0.83,-194.7,93.2,-10.3,97,582,0.75,2.10,0.00,0.000,4,0.090,0.048,2279,3768,3991
$GC,600,-1.20,-194.7,96.0,-10.6,101,607,0.32,1.92,0.00,0.000,6,0.061,0.027,2151,2417,3991
$GC,946,-0.49,-194.7,200.9,-25.0,162,953,0.77,1.98,0.00,0.000,4,0.182,0.027,2380,1028,3992
$GC,1038,-0.82,-194.7,212.1,-7.7,178,1045,0.28,2.08,0.00,0.000,6,0.056,0.035,2264,2436,3992
$GC,1382,-0.65,-194.7,264.1,-14.7,239,1390,0.20,2.03,0.00,0.000,4,0.163,0.028,2327,1037,3993
$GC,1460,-0.82,-194.7,272.4,-9.9,252,1466,0.15,2.03,0.00,0.000,6,0.071,0.035,2263,2412,3993
$GC,1803,-0.72,-194.7,316.2,-13.3,303,1807,0.17,2.05,0.00,0.000,4,0.160,0.050,2315,3758,3992
$GC,1830,-0.77,-194.7,319.7,-12.0,305,1836,0.00,1.95,0.00,0.000,6,0.000,0.028,2315,2389,3993
$GC,2156,-0.92,-194.7,348.2,-7.5,336,2161,0.17,2.08,0.00,0.000,4,0.072,0.050,2234,3750,3993
$GC,2195,-0.76,-194.7,352.5,-12.2,339,2203,0.22,1.92,0.00,0.000,6,0.155,0.028,2299,2403,3993
$GC,2520,-0.86,-194.7,378.3,-7.4,370,2523,0.00,1.98,0.00,0.000,4,0.000,0.032,2299,1029,3992
$GC,2566,-0.99,-194.7,382.0,-7.8,374,2570,0.20,2.05,0.00,0.000,6,0.068,0.037,2214,2409,3993
$GC,2891,-0.77,-194.7,427.2,-13.4,404,2895,0.25,2.00,0.00,0.000,4,0.173,0.031,2289,1046,3991
$GC,2983,-0.90,-194.7,435.4,-8.1,412,2986,0.00,2.00,0.00,0.000,6,0.000,0.037,2288,2382,3991
$GC,3314,-1.00,-194.7,461.7,-8.5,443,3318,0.17,1.98,0.00,0.000,4,0.076,0.031,2208,1032,3989
$GC,3352,-0.85,-194.7,466.8,-13.1,446,3359,0.22,2.03,0.00,0.000,6,0.167,0.038,2268,2382,3989
$GC,3678,-0.85,-194.7,500.2,-9.2,477,3682,0.00,2.12,0.00,0.000,4,0.000,0.055,2268,3768,3986
$GC,3729,-0.90,-194.7,505.4,-9.4,479,3732,0.00,2.00,0.00,0.000,6,0.000,0.030,2268,2380,3987
$GC,4056,-0.94,-194.7,533.6,-8.9,495,4059,0.00,1.95,0.00,0.000,4,0.000,0.034,2268,1030,3984
$GC,4147,-1.01,-194.7,542.2,-9.7,499,4151,0.12,2.03,0.00,0.000,6,0.087,0.039,2215,2380,3983
$GC,4481,-0.90,-194.7,582.7,-11.6,515,4482,0.15,0.00,0.00,0.000,6,0.178,0.000,2253,2381,3981
$GC,4788,-0.90,-194.7,612.1,-9.4,530,4792,0.00,2.12,0.00,0.000,4,0.000,0.057,2246,3753,3978
$GC,4883,-0.90,-194.7,621.8,-10.3,534,4887,0.00,2.00,0.00,0.000,6,0.000,0.033,2246,2388,3977
$GC,5212,-0.90,-194.7,651.6,-10.3,550,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2386,3975
$GC,5519,-0.90,-194.7,683.1,-10.1,565,5523,0.00,1.98,0.00,0.000,4,0.000,0.036,2246,1033,3973
$STATE,5557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5557,begin apogee
$GC,5565,-0.22,0.0,687.0,10.0,566,5653,0.68,0.00,85.05,1.198,6,0.153,0.000,2463,2512,3532
$STATE,5654,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5656,1.05,194.7,690.7,0.0,571,5817,1.20,2.22,151.73,1.157,4,0.059,0.035,2904,1112,2738
$GC,5901,0.47,194.7,671.7,19.6,582,5908,0.77,2.22,0.00,0.000,6,0.202,0.041,2699,2514,2734
$GC,6217,0.53,242.0,639.0,10.0,598,6258,0.00,0.00,37.28,1.119,6,0.000,0.000,2699,2514,2544
$GC,6566,0.64,292.8,601.4,9.9,615,6614,0.15,2.10,40.17,1.111,4,0.083,0.060,2754,3758,2337
$GC,6726,0.48,292.8,575.2,19.2,622,6731,0.15,1.90,0.00,0.000,6,0.182,0.031,2705,2523,2333
$GC,7052,0.58,292.8,530.6,12.2,638,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2521,2330
$GC,7363,0.69,298.4,492.8,11.8,655,7376,0.17,2.12,4.53,0.778,4,0.080,0.039,2776,1110,2314
$GC,7471,0.65,298.4,475.9,15.4,664,7478,0.00,2.15,0.00,0.000,6,0.000,0.041,2776,2510,2313
$GC,7798,0.54,298.4,423.8,16.4,695,7802,0.17,1.95,0.00,0.000,4,0.184,0.057,2725,3764,2312
$GC,7944,0.54,298.4,402.4,14.2,708,7948,0.00,1.85,0.00,0.000,6,0.000,0.035,2728,2517,2311
$GC,8277,0.64,315.3,362.1,11.3,739,8299,0.00,2.05,13.90,0.944,4,0.000,0.057,2728,3767,2245
$GC,8356,0.64,315.3,351.8,13.7,746,8359,0.00,1.88,0.00,0.000,6,0.000,0.033,2732,2511,2244
$GC,8688,0.74,315.3,312.7,12.9,777,8690,0.15,0.00,0.00,0.000,6,0.082,0.000,2790,2509,2242
$GC,9017,0.67,315.3,260.6,15.5,829,9024,0.12,1.98,0.00,0.000,4,0.189,0.055,2760,3769,2242
$GC,9086,0.61,315.3,250.2,14.5,841,9092,0.00,1.85,0.00,0.000,6,0.000,0.032,2762,2502,2242
$GC,9430,0.69,338.7,209.9,11.0,902,9453,0.00,0.00,18.27,0.825,6,0.000,0.000,2762,2501,2152
$GC,9792,0.86,400.6,166.6,9.4,966,9845,0.17,2.10,48.42,0.790,4,0.076,0.053,2837,3765,1896
$GC,9915,0.70,400.6,149.1,16.8,987,9923,0.25,1.88,0.00,0.000,6,0.170,0.031,2774,2524,1892
$GC,10262,0.93,403.8,102.6,11.9,1048,10269,0.17,2.12,0.00,0.000,4,0.074,0.035,2856,1087,1889
$GC,10314,0.93,404.9,96.2,12.0,1057,10320,0.00,2.17,0.00,0.000,6,0.000,0.037,2856,2521,1889
$GC,10658,0.93,404.9,49.2,14.0,1118,10664,0.00,1.90,0.00,0.000,4,0.000,0.053,2856,3762,1889
$GC,10917,0.93,404.9,12.4,12.4,1164,10923,0.00,1.77,0.00,0.000,6,0.000,0.029,2858,2533,1889
$STATE,10994,end climb,SURFACE_DEPTH_REACHED
$STATE,10995,begin surface coast
$FINISH,1.6,1.010020
$STATE,11018,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11036,15.30,0.612,0,0,1798,425.10
$SM_GC,2.87,0.00,0.00,15.30,0.000,0.000,0.612,145,2425,1798,-7.50,-0.06,425.10
$IRIDIUM_FIX,2519.89,12316.24,240898,181800
$TT8_MAMPS,0.029146
$HUMID,1566
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.9,34.8
$24V_AH,24.3,13.247
$10V_AH,10.8,8.538
$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,25.450,89.025,399.350,15.300,0.000,151.280,312.513,411.730,5.500,0.000,0.000,16.588,2068.035,6622.668,517.763,1987.365,1111.279,0.000,1519.007,0.000,1939.376,0.000,41.682,0.000
$DEVICE_MAMPS,258.479,59.826,1198.054,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.846,821.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63271,1182
$CAP_FILE_SIZE,129754,0
$CFSIZE,260165632,220725248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217, 79.0,1
$GPS,300509,214810,2531.754,12317.015,14,1.6,28,-3.8