version: 66.04
glider: 167
mission: 2
dive: 56
start: 5 31 109 5 2 47
data:
$ID,167
$MISSION,2
$DIVE,56
$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,-4871.022
$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,72
$R_STBD_OVSHOOT,39
$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
$GPS1,045637,2534.335,12315.905,37,1.1,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-68.1
$GPS2,050225,2534.351,12315.918,10,1.4,16,-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,324.5,13151,-18.3,-12.000
$D_GRID,848
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.05,-194.7,0.0,0.0,0,58,0.00,0.00,-39.85,0.000,2,0.000,0.000,144,2493,2653
$GC,61,-1.05,-194.7,3.3,-2.7,7,116,8.50,2.03,-39.95,0.000,4,0.255,0.061,2184,3755,3989
$GC,220,0.03,-194.7,47.2,-41.7,34,227,1.30,1.92,0.00,0.000,6,0.193,0.026,2548,2418,3990
$GC,564,-0.82,-194.7,82.7,-8.7,95,571,0.75,2.00,0.00,0.000,4,0.090,0.028,2278,1029,3991
$GC,601,-0.76,-194.7,86.6,-11.7,101,608,0.00,2.10,0.00,0.000,6,0.000,0.035,2275,2436,3991
$GC,946,-0.38,-194.7,173.6,-17.0,162,953,0.45,2.00,0.00,0.000,4,0.164,0.047,2406,3755,3993
$GC,1108,-0.75,-194.7,186.4,-7.2,190,1115,0.28,1.90,0.00,0.000,6,0.057,0.027,2290,2414,3993
$GC,1455,-0.61,-194.7,238.2,-11.6,251,1461,0.17,2.08,0.00,0.000,4,0.152,0.048,2344,3764,3994
$GC,1497,-0.72,-194.7,242.4,-9.0,258,1503,0.00,1.88,0.00,0.000,6,0.000,0.027,2344,2440,3994
$GC,1841,-0.92,-194.7,273.6,-7.0,319,1847,0.22,0.00,0.00,0.000,6,0.063,0.000,2242,2439,3995
$GC,2177,-0.72,-194.7,318.5,-13.0,367,2179,0.25,0.00,0.00,0.000,6,0.159,0.000,2314,2439,3996
$GC,2497,-0.89,-194.7,345.1,-8.2,397,2499,0.17,0.00,0.00,0.000,6,0.071,0.000,2242,2439,3996
$GC,2813,-0.73,-194.7,386.5,-14.1,427,2817,0.20,2.00,0.00,0.000,4,0.161,0.030,2304,1060,3996
$GC,2886,-0.89,-194.7,393.8,-9.4,433,2894,0.12,2.08,0.00,0.000,6,0.081,0.036,2249,2442,3996
$GC,3211,-0.83,-194.7,431.0,-11.9,464,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2443,3995
$GC,3531,-0.83,-194.7,466.6,-11.6,494,3535,0.00,2.05,0.00,0.000,4,0.000,0.032,2249,1043,3994
$GC,3559,-0.83,-194.7,470.1,-11.4,496,3565,0.00,2.10,0.00,0.000,6,0.000,0.037,2247,2448,3993
$GC,3894,-0.83,-194.7,507.4,-11.4,525,3898,0.00,2.00,0.00,0.000,4,0.000,0.054,2247,3756,3992
$GC,4012,-0.83,-194.7,520.6,-10.6,530,4015,0.00,1.85,0.00,0.000,6,0.000,0.031,2247,2473,3992
$GC,4339,-0.83,-194.7,551.9,-9.2,546,4343,0.00,2.08,0.00,0.000,4,0.000,0.035,2247,1033,3990
$GC,4490,-0.83,-194.7,567.3,-11.2,552,4496,0.00,2.15,0.00,0.000,6,0.000,0.039,2246,2459,3989
$GC,4806,-0.83,-194.7,599.7,-9.6,568,4813,0.00,2.00,0.00,0.000,4,0.000,0.057,2247,3758,3986
$GC,4835,-0.83,-194.7,602.4,-8.5,569,4840,0.10,1.90,0.00,0.000,6,0.163,0.032,2272,2459,3986
$GC,5165,-0.94,-194.7,626.4,-7.3,585,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2458,3983
$GC,5472,-1.07,-194.7,652.6,-9.3,600,5474,0.20,0.00,0.00,0.000,6,0.073,0.000,2195,2459,3981
$GC,5781,-0.89,-194.7,696.4,-13.9,615,5783,0.22,0.00,0.00,0.000,6,0.176,0.000,2256,2458,3978
$GC,6094,-0.94,-194.7,726.8,-10.2,630,6097,0.00,2.05,0.00,0.000,4,0.000,0.061,2256,3755,3976
$GC,6162,-1.01,-194.7,733.0,-8.6,633,6166,0.12,1.92,0.00,0.000,6,0.089,0.034,2208,2445,3975
$GC,6496,-1.58,-194.7,751.8,0.1,649,6501,0.45,2.08,0.00,0.000,4,0.077,0.057,2037,3769,3974
$STATE,6533,end dive,NO_VERTICAL_VELOCITY
$STATE,6533,begin apogee
$GC,6541,-0.22,0.0,751.8,0.0,651,6635,1.33,0.00,86.18,1.262,6,0.128,0.000,2474,2502,3531
$STATE,6636,end apogee,CONTROL_FINISHED_OK
$STATE,6636,begin climb
$GC,6638,1.05,194.7,751.6,0.0,656,6801,1.17,2.22,153.07,1.217,4,0.088,0.036,2886,1106,2737
$GC,6943,0.52,194.7,721.7,18.6,670,6948,0.62,2.22,0.00,0.000,6,0.198,0.042,2719,2515,2733
$GC,7270,0.44,213.2,684.2,11.2,686,7292,0.12,2.00,15.30,1.121,4,0.193,0.058,2689,3765,2661
$GC,7326,0.39,222.1,678.1,11.6,688,7341,0.00,1.90,8.45,1.019,6,0.000,0.032,2693,2505,2628
$GC,7670,0.47,248.8,642.3,10.9,705,7697,0.00,2.05,21.77,1.142,4,0.000,0.058,2693,3757,2516
$GC,7777,0.51,278.5,630.2,10.8,710,7806,0.00,1.88,24.65,1.130,6,0.000,0.034,2694,2523,2397
$GC,8131,0.66,306.4,594.2,10.8,727,8157,0.17,0.00,23.27,1.119,6,0.084,0.000,2766,2523,2282
$GC,8461,0.58,306.4,546.5,15.9,743,8466,0.12,2.15,0.00,0.000,4,0.186,0.037,2745,1097,2276
$GC,8546,0.66,306.4,534.2,14.2,747,8550,0.00,2.22,0.00,0.000,6,0.000,0.041,2745,2529,2275
$GC,8864,0.66,306.4,488.2,13.3,766,8868,0.00,1.92,0.00,0.000,4,0.000,0.058,2745,3758,2273
$GC,8923,0.59,306.4,480.0,14.9,771,8926,0.00,1.83,0.00,0.000,6,0.000,0.034,2750,2532,2273
$GC,9255,0.59,306.4,433.8,13.3,802,9258,0.00,1.95,0.00,0.000,4,0.000,0.057,2750,3764,2272
$GC,9334,0.51,306.4,422.0,14.8,809,9338,0.17,1.83,0.00,0.000,6,0.182,0.035,2712,2531,2271
$GC,9664,0.68,347.1,386.3,10.3,840,9701,0.15,2.20,31.20,1.007,4,0.087,0.037,2775,1112,2115
$GC,9842,0.73,347.1,360.4,14.8,856,9846,0.00,2.20,0.00,0.000,6,0.000,0.041,2775,2526,2111
$GC,10173,0.73,347.1,313.6,14.4,887,10177,0.00,1.92,0.00,0.000,4,0.000,0.057,2775,3759,2109
$GC,10297,0.65,347.1,293.4,16.4,901,10305,0.00,1.83,0.00,0.000,6,0.000,0.035,2775,2534,2108
$GC,10642,0.65,347.1,244.8,15.8,962,10648,0.00,1.95,0.00,0.000,4,0.000,0.057,2775,3765,2107
$GC,10682,0.65,347.1,238.6,15.5,969,10689,0.00,1.80,0.00,0.000,6,0.000,0.032,2775,2542,2107
$GC,11028,0.73,347.9,197.2,12.0,1030,11034,0.00,1.92,0.00,0.000,4,0.000,0.056,2775,3770,2107
$GC,11068,0.73,347.9,191.7,13.7,1037,11075,0.00,1.80,0.00,0.000,6,0.000,0.031,2775,2538,2107
$GC,11415,0.89,379.4,153.0,10.7,1098,11445,0.17,0.00,24.60,0.779,6,0.078,0.000,2854,2535,1983
$GC,11784,0.90,387.0,98.0,11.7,1163,11796,0.00,2.17,6.95,0.630,4,0.000,0.036,2858,1112,1953
$GC,11843,0.99,418.4,91.2,10.7,1173,11874,0.00,2.17,25.60,0.707,6,0.000,0.037,2857,2544,1825
$GC,12214,1.05,418.4,42.3,14.0,1238,12220,0.00,1.88,0.00,0.000,4,0.000,0.053,2858,3759,1820
$GC,12321,1.05,418.4,26.5,14.4,1257,12328,0.00,1.77,0.00,0.000,6,0.000,0.029,2858,2541,1820
$STATE,12511,end climb,SURFACE_DEPTH_REACHED
$STATE,12512,begin surface coast
$FINISH,1.5,1.007135
$STATE,12541,end surface coast,CONTROL_FINISHED_OK
$STATE,12541,begin surface
$SM_CCo,12558,3.17,0.363,0,0,1798,425.10
$SM_GC,3.44,0.00,0.00,3.17,0.000,0.000,0.363,145,2417,1798,-7.50,-0.28,425.10
$IRIDIUM_FIX,2522.28,12317.55,250898,010146
$TT8_MAMPS,0.029146
$HUMID,1560
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,24.2,13.692
$10V_AH,10.8,8.767
$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,24.775,91.950,421.050,3.175,0.000,30.056,32.162,164.572,6.250,0.000,0.000,16.082,2273.603,7423.430,514.217,2230.064,467.432,0.000,1645.155,0.000,2176.352,0.000,44.999,0.000
$DEVICE_MAMPS,254.644,61.360,1262.482,362.791,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,874.609,905.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69404,1296
$CAP_FILE_SIZE,134527,0
$CFSIZE,260165632,220499968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 64.6,1
$GPS,310509,083325,2536.375,12315.700,40,1.0,40,-3.8