version: 66.04
glider: 167
mission: 2
dive: 58
start: 5 31 109 12 16 48
data:
$ID,167
$MISSION,2
$DIVE,58
$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,-4899.749
$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,70
$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
$GPS1,121037,2537.520,12315.473,36,1.1,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-70.1
$GPS2,121626,2537.524,12315.498,14,1.3,14,-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,312.5,7274,-18.3,-12.000
$D_GRID,915
$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,14,begin dive
$GC,16,-1.05,-194.7,0.0,0.0,0,54,0.00,0.00,-35.47,0.000,2,0.000,0.000,144,2419,2540
$GC,57,-1.05,-194.7,3.0,-2.2,6,116,8.60,2.10,-45.25,0.000,4,0.257,0.044,2201,1026,3989
$GC,308,-0.13,-194.7,76.5,-40.7,50,315,1.08,2.12,0.00,0.000,6,0.190,0.037,2496,2431,3990
$GC,655,-1.15,-194.7,103.3,-7.0,111,662,0.90,2.05,0.00,0.000,4,0.101,0.049,2178,3771,3993
$GC,764,-0.26,-194.7,131.4,-30.7,130,771,0.98,1.92,0.00,0.000,6,0.193,0.026,2452,2423,3992
$GC,1109,-0.73,-194.7,158.5,-6.1,191,1115,0.38,2.08,0.00,0.000,4,0.056,0.048,2293,3770,3993
$GC,1223,-0.33,-194.7,177.9,-21.7,211,1230,0.47,1.88,0.00,0.000,6,0.160,0.025,2433,2446,3993
$GC,1569,-1.25,-194.7,204.4,-10.2,272,1576,0.77,2.03,0.00,0.000,4,0.088,0.047,2148,3774,3995
$GC,1628,-0.54,-194.7,215.9,-25.7,282,1635,0.75,1.85,0.00,0.000,6,0.183,0.026,2365,2464,3994
$GC,1974,-0.75,-194.7,250.9,-8.6,343,1981,0.17,2.00,0.00,0.000,4,0.067,0.048,2277,3770,3995
$GC,2044,-0.60,-194.7,260.5,-13.6,355,2050,0.25,1.83,0.00,0.000,6,0.153,0.027,2350,2477,3995
$GC,2390,-0.83,-194.7,289.0,-7.9,416,2397,0.17,1.98,0.00,0.000,4,0.067,0.048,2270,3764,3996
$GC,2437,-0.69,-194.7,294.3,-12.6,424,2443,0.17,1.80,0.00,0.000,6,0.160,0.027,2319,2493,3996
$GC,2773,-0.83,-194.7,325.8,-9.1,460,2777,0.12,2.08,0.00,0.000,4,0.080,0.028,2265,1056,3996
$GC,2867,-0.78,-194.7,337.8,-13.3,468,2874,0.12,2.15,0.00,0.000,6,0.166,0.036,2294,2490,3996
$GC,3193,-0.85,-194.7,370.8,-9.3,499,3196,0.00,2.12,0.00,0.000,4,0.000,0.031,2294,1034,3996
$GC,3261,-0.95,-194.7,377.2,-9.5,505,3266,0.17,2.15,0.00,0.000,6,0.072,0.036,2221,2480,3996
$GC,3586,-0.75,-194.7,420.5,-13.3,535,3588,0.28,0.00,0.00,0.000,6,0.169,0.000,2300,2481,3996
$GC,3906,-0.89,-194.7,446.5,-8.6,565,3911,0.12,2.10,0.00,0.000,4,0.084,0.031,2250,1051,3995
$GC,3990,-0.89,-194.7,456.1,-11.3,572,3996,0.00,2.15,0.00,0.000,6,0.000,0.037,2247,2485,3995
$GC,4316,-0.83,-194.7,494.0,-11.8,603,4318,0.12,0.00,0.00,0.000,6,0.177,0.000,2279,2485,3993
$GC,4628,-0.92,-194.7,525.5,-10.4,621,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2485,3991
$GC,4935,-1.02,-194.7,554.6,-8.7,636,4937,0.17,0.00,0.00,0.000,6,0.079,0.000,2211,2486,3989
$GC,5244,-0.86,-194.7,591.1,-11.8,651,5249,0.20,2.12,0.00,0.000,4,0.174,0.033,2271,1051,3987
$GC,5278,-0.93,-194.7,594.5,-8.5,652,5282,0.00,2.15,0.00,0.000,6,0.000,0.040,2271,2471,3987
$GC,5600,-1.01,-194.7,621.4,-8.2,668,5601,0.15,0.00,0.00,0.000,6,0.084,0.000,2211,2473,3983
$GC,5909,-0.88,-194.7,655.1,-11.2,683,5910,0.17,0.00,0.00,0.000,6,0.179,0.000,2257,2473,3981
$GC,6218,-0.93,-194.7,683.7,-8.9,698,6222,0.00,2.00,0.00,0.000,4,0.000,0.060,2257,3758,3979
$GC,6264,-0.93,-194.7,688.2,-9.8,700,6267,0.00,1.88,0.00,0.000,6,0.000,0.034,2257,2486,3978
$GC,6597,-0.97,-194.7,718.0,-8.8,716,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2486,3976
$GC,6906,-1.02,-194.7,745.2,-8.9,731,6910,0.12,2.03,0.00,0.000,4,0.087,0.059,2205,3767,3974
$GC,6929,-0.94,-194.7,747.4,-9.3,732,6933,0.12,1.88,0.00,0.000,6,0.183,0.034,2235,2496,3974
$GC,7264,-0.94,-194.7,782.7,-11.2,748,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2496,3972
$STATE,7465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7465,begin apogee
$GC,7471,-0.22,0.0,816.3,15.8,758,7561,0.75,0.00,86.62,1.309,6,0.161,0.000,2467,2494,3532
$STATE,7561,end apogee,CONTROL_FINISHED_OK
$STATE,7561,begin climb
$GC,7564,1.05,194.7,819.5,0.0,762,7730,1.15,2.22,154.85,1.266,4,0.064,0.038,2886,1134,2736
$GC,7928,0.47,194.7,762.1,26.5,778,7936,0.70,2.17,0.00,0.000,6,0.200,0.044,2699,2507,2731
$GC,8244,0.47,194.7,722.6,12.8,794,8247,0.00,1.98,0.00,0.000,4,0.000,0.055,2700,3764,2730
$GC,8267,0.52,236.7,720.3,10.3,795,8309,0.00,1.85,33.28,1.200,6,0.000,0.033,2704,2526,2566
$GC,8618,0.52,236.7,673.4,14.1,812,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2526,2562
$GC,8928,0.52,236.7,633.3,12.5,827,8931,0.00,1.98,0.00,0.000,4,0.000,0.058,2704,3768,2560
$GC,9006,0.48,257.3,623.4,11.1,830,9027,0.00,1.88,16.42,1.132,6,0.000,0.034,2705,2518,2482
$GC,9352,0.53,262.6,586.8,11.8,847,9362,0.00,2.12,5.38,0.903,4,0.000,0.039,2704,1106,2461
$GC,9407,0.68,277.0,580.0,11.4,849,9427,0.17,2.20,13.45,1.088,6,0.078,0.041,2771,2525,2401
$GC,9745,0.54,277.0,526.8,16.1,866,9749,0.17,1.95,0.00,0.000,4,0.187,0.056,2722,3768,2398
$GC,9778,0.48,277.0,521.3,14.6,867,9781,0.00,1.90,0.00,0.000,6,0.000,0.033,2722,2507,2398
$GC,10103,0.48,277.0,481.0,12.3,890,10107,0.00,2.00,0.00,0.000,4,0.000,0.057,2722,3767,2396
$GC,10187,0.39,277.0,470.2,12.9,897,10193,0.20,1.85,0.00,0.000,6,0.183,0.034,2670,2525,2395
$GC,10512,0.76,396.3,444.2,7.1,928,10611,0.30,2.30,93.22,1.052,4,0.070,0.038,2797,1112,1915
$GC,10702,0.76,396.3,416.2,15.9,945,10706,0.00,2.25,0.00,0.000,6,0.000,0.040,2797,2529,1908
$GC,11028,0.72,396.3,357.5,17.8,975,11032,0.00,1.95,0.00,0.000,4,0.000,0.056,2797,3763,1903
$GC,11085,0.61,396.3,345.9,20.6,980,11090,0.22,1.88,0.00,0.000,6,0.179,0.033,2743,2516,1902
$GC,11416,0.77,396.3,299.7,12.8,1011,11423,0.15,2.12,0.00,0.000,4,0.081,0.038,2802,1097,1901
$GC,11555,0.83,396.3,280.0,15.4,1035,11561,0.00,2.15,0.00,0.000,6,0.000,0.039,2802,2500,1901
$GC,11899,0.83,396.3,224.1,14.5,1096,11905,0.00,2.10,0.00,0.000,4,0.000,0.036,2802,1106,1900
$GC,11935,0.91,396.3,219.2,13.6,1102,11943,0.10,2.12,0.00,0.000,6,0.095,0.038,2842,2504,1900
$GC,12281,0.83,396.3,161.4,15.7,1163,12287,0.00,1.92,0.00,0.000,4,0.000,0.053,2842,3758,1899
$GC,12351,0.69,396.3,149.2,17.2,1175,12357,0.30,1.85,0.00,0.000,6,0.171,0.029,2764,2480,1899
$GC,12697,1.05,457.6,115.6,9.5,1236,12750,0.28,2.05,45.83,0.742,4,0.063,0.051,2883,3761,1664
$GC,12925,0.91,457.6,71.4,18.9,1276,12931,0.20,1.83,0.00,0.000,6,0.175,0.028,2837,2513,1659
$GC,13269,1.06,457.6,29.0,12.7,1337,13276,0.15,2.05,0.00,0.000,4,0.074,0.033,2900,1118,1659
$GC,13305,1.06,457.6,24.1,13.8,1343,13311,0.00,2.15,0.00,0.000,6,0.000,0.036,2900,2545,1659
$STATE,13433,end climb,SURFACE_DEPTH_REACHED
$STATE,13433,begin surface coast
$FINISH,1.6,1.008319
$STATE,13453,end surface coast,CONTROL_FINISHED_OK
$STATE,13453,begin surface
$SM_CCo,13531,0.00,0.000,0,0,1658,459.69
$SM_GC,2.33,7.35,0.00,0.00,0.060,0.000,0.000,145,2419,1658,-7.49,-0.23,459.69
$IRIDIUM_FIX,2529.44,12313.56,250898,080804
$TT8_MAMPS,0.028379
$HUMID,1556
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.7,63.9
$24V_AH,24.1,14.009
$10V_AH,10.8,8.922
$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,28.800,101.400,449.050,0.000,0.000,31.340,32.609,166.798,6.250,0.000,0.000,14.259,2394.891,8178.157,542.978,2274.828,486.696,0.000,1705.575,0.000,2227.899,0.000,43.999,0.000
$DEVICE_MAMPS,256.945,59.826,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,923.892,961.381,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72645,1369
$CAP_FILE_SIZE,142775,0
$CFSIZE,260165632,220340224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 64.6,1
$GPS,310509,160335,2539.224,12314.398,38,1.7,42,-3.8