version: 66.04
glider: 167
mission: 2
dive: 54
start: 5 30 109 21 54 42
data:
$ID,167
$MISSION,2
$DIVE,54
$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,-2
$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,-4838.5605
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,214810,2531.754,12317.015,14,1.6,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.6
$GPS2,215405,2531.765,12317.042,15,1.3,30,-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,305.9,18242,-18.3,-12.000
$D_GRID,715
$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,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,48,0.00,0.00,-31.58,0.000,2,0.000,0.000,145,2425,2586
$GC,51,-1.05,-194.7,3.1,-1.8,5,107,8.48,2.15,-42.25,0.000,4,0.255,0.061,2187,3767,3989
$GC,181,0.04,-194.7,36.9,-45.1,27,188,1.35,1.98,0.00,0.000,6,0.209,0.026,2552,2399,3991
$GC,526,-0.90,-194.7,70.1,-10.9,88,533,0.82,2.12,0.00,0.000,4,0.091,0.048,2255,3773,3992
$GC,591,-0.37,-194.7,81.0,-23.1,99,598,0.57,1.92,0.00,0.000,6,0.174,0.027,2421,2427,3991
$GC,935,-0.72,-194.7,119.1,-8.0,160,942,0.28,2.05,0.00,0.000,4,0.057,0.048,2296,3761,3993
$GC,1004,-0.48,-194.7,130.0,-17.8,172,1011,0.30,1.90,0.00,0.000,6,0.153,0.027,2384,2426,3993
$GC,1349,-0.71,-194.7,163.6,-7.5,233,1355,0.17,0.00,0.00,0.000,6,0.067,0.000,2302,2426,3995
$GC,1693,-0.60,-194.7,208.0,-13.1,294,1701,0.17,2.05,0.00,0.000,4,0.160,0.048,2344,3762,3996
$GC,1741,-0.73,-194.7,213.2,-9.8,302,1749,0.10,1.90,0.00,0.000,6,0.087,0.027,2297,2425,3996
$GC,2088,-0.66,-194.7,259.6,-15.1,363,2095,0.12,1.98,0.00,0.000,4,0.162,0.029,2330,1043,3996
$GC,2192,-0.81,-194.7,271.8,-11.3,381,2198,0.15,2.08,0.00,0.000,6,0.073,0.035,2266,2444,3997
$GC,2530,-0.70,-194.7,316.8,-11.4,429,2534,0.17,2.00,0.00,0.000,4,0.163,0.049,2316,3764,3997
$GC,2599,-0.84,-194.7,323.5,-8.3,435,2603,0.12,1.88,0.00,0.000,6,0.080,0.028,2261,2443,3997
$GC,2929,-0.76,-194.7,368.6,-13.7,466,2933,0.15,2.03,0.00,0.000,4,0.161,0.031,2301,1043,3997
$GC,2974,-0.89,-194.7,373.5,-10.4,470,2979,0.12,2.10,0.00,0.000,6,0.081,0.036,2249,2449,3997
$GC,3299,-0.81,-194.7,413.8,-12.1,500,3303,0.12,2.00,0.00,0.000,4,0.167,0.051,2275,3764,3997
$GC,3371,-0.81,-194.7,421.5,-10.5,506,3378,0.00,1.88,0.00,0.000,6,0.000,0.028,2275,2447,3997
$GC,3696,-0.81,-194.7,452.1,-9.8,537,3699,0.00,2.03,0.00,0.000,4,0.000,0.032,2275,1043,3997
$GC,3757,-0.86,-194.7,458.8,-10.9,542,3764,0.00,2.12,0.00,0.000,6,0.000,0.038,2275,2460,3996
$GC,4082,-0.93,-194.7,490.3,-10.0,573,4086,0.00,2.00,0.00,0.000,4,0.000,0.054,2275,3769,3995
$GC,4110,-0.99,-194.7,493.1,-10.5,575,4117,0.15,1.90,0.00,0.000,6,0.081,0.029,2213,2442,3995
$GC,4439,-0.82,-194.7,535.3,-12.2,594,4441,0.22,0.00,0.00,0.000,6,0.160,0.000,2278,2442,3994
$GC,4747,-0.94,-194.7,563.6,-10.3,609,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2442,3992
$GC,5056,-1.06,-194.7,592.1,-7.9,624,5061,0.17,2.08,0.00,0.000,4,0.077,0.057,2201,3768,3990
$GC,5134,-0.86,-194.7,601.0,-12.4,627,5141,0.22,1.90,0.00,0.000,6,0.169,0.032,2263,2467,3989
$GC,5451,-0.93,-194.7,624.5,-6.8,643,5454,0.00,2.10,0.00,0.000,4,0.000,0.035,2263,1027,3987
$GC,5535,-1.03,-194.7,631.0,-7.8,646,5543,0.15,2.15,0.00,0.000,6,0.081,0.040,2202,2452,3986
$GC,5850,-0.88,-194.7,668.1,-13.0,662,5852,0.20,0.00,0.00,0.000,6,0.183,0.000,2256,2453,3984
$STATE,6095,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6095,begin apogee
$GC,6101,-0.22,0.0,694.1,9.8,674,6192,0.68,0.00,87.10,1.204,6,0.152,0.000,2467,2503,3532
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6192,begin climb
$GC,6195,1.05,194.7,697.1,0.0,678,6355,1.12,2.10,151.55,1.163,4,0.056,0.056,2882,3765,2737
$GC,6519,0.33,194.7,658.6,22.8,693,6525,0.88,1.92,0.00,0.000,6,0.213,0.032,2655,2520,2732
$GC,6846,0.57,280.2,628.4,8.5,709,6919,0.22,2.25,66.78,1.131,4,0.077,0.038,2745,1095,2387
$GC,6941,0.57,280.2,617.0,13.2,713,6947,0.00,2.28,0.00,0.000,6,0.000,0.040,2746,2520,2385
$GC,7257,0.51,280.2,574.8,13.9,729,7259,0.12,0.00,0.00,0.000,6,0.179,0.000,2716,2522,2380
$GC,7566,0.58,285.4,537.4,11.8,744,7575,0.00,2.00,3.90,0.711,4,0.000,0.059,2716,3764,2368
$GC,7638,0.58,285.4,528.0,13.1,747,7642,0.00,1.90,0.00,0.000,6,0.000,0.035,2719,2495,2368
$GC,7957,0.66,305.1,491.8,11.2,765,7981,0.12,2.03,16.73,1.040,4,0.091,0.058,2768,3759,2287
$GC,8061,0.49,305.1,474.8,17.4,774,8065,0.25,1.88,0.00,0.000,6,0.183,0.034,2709,2510,2285
$GC,8391,0.73,379.2,439.5,8.9,805,8458,0.20,2.20,58.17,1.032,4,0.078,0.037,2797,1098,1984
$GC,8575,0.73,379.2,411.5,16.2,821,8582,0.00,2.20,0.00,0.000,6,0.000,0.039,2797,2509,1978
$GC,8902,0.66,379.2,349.5,19.3,852,8906,0.15,1.95,0.00,0.000,4,0.180,0.054,2759,3757,1974
$GC,8969,0.66,379.2,337.6,15.9,858,8973,0.00,1.88,0.00,0.000,6,0.000,0.031,2759,2504,1973
$GC,9298,0.76,379.2,293.4,12.4,893,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2503,1971
$GC,9640,0.87,379.2,247.0,13.2,954,9647,0.17,0.00,0.00,0.000,6,0.079,0.000,2833,2502,1970
$GC,9986,0.77,379.2,186.7,16.6,1015,9992,0.15,1.98,0.00,0.000,4,0.171,0.053,2794,3769,1970
$GC,10049,0.77,379.2,176.8,14.3,1026,10056,0.00,1.88,0.00,0.000,6,0.000,0.031,2801,2483,1970
$GC,10395,0.85,379.2,129.8,12.6,1087,10400,0.00,2.00,0.00,0.000,4,0.000,0.053,2801,3766,1970
$GC,10474,0.91,379.2,118.7,13.4,1101,10481,0.10,1.83,0.00,0.000,6,0.095,0.030,2843,2513,1970
$GC,10818,0.91,379.2,79.4,12.1,1162,10825,0.00,1.95,0.00,0.000,4,0.000,0.052,2843,3769,1971
$GC,10985,0.91,379.2,58.3,12.9,1191,10991,0.00,1.80,0.00,0.000,6,0.000,0.028,2848,2507,1972
$GC,11329,0.97,379.2,22.2,13.5,1252,11335,0.00,2.00,0.00,0.000,4,0.000,0.033,2856,1121,1973
$GC,11433,1.10,389.0,10.1,11.6,1270,11448,0.12,2.10,7.53,0.556,6,0.086,0.036,2909,2534,1945
$STATE,11480,end climb,SURFACE_DEPTH_REACHED
$STATE,11480,begin surface coast
$FINISH,1.6,1.015950
$STATE,11498,end surface coast,CONTROL_FINISHED_OK
$STATE,11498,begin surface
$SM_CCo,11516,25.17,0.621,0,0,1798,425.10
$SM_GC,2.15,0.00,0.00,25.17,0.000,0.000,0.621,145,2424,1798,-7.50,-0.11,425.10
$IRIDIUM_FIX,2519.89,12318.24,240898,181859
$TT8_MAMPS,0.029146
$HUMID,1537
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.2,117.6
$24V_AH,24.3,13.389
$10V_AH,10.8,8.613
$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,25.975,88.550,391.750,25.175,0.000,31.440,31.288,158.943,4.750,0.000,0.000,30.462,2244.789,6541.758,532.235,2137.508,456.633,0.000,1603.709,0.000,2080.358,0.000,36.986,0.000
$DEVICE_MAMPS,254.644,113.516,1204.190,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,862.918,942.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66145,1281
$CAP_FILE_SIZE,129898,0
$CFSIZE,260165632,220651520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 84.1,1
$GPS,310509,010807,2532.937,12316.837,27,1.2,27,-3.8