version: 66.04
glider: 167
mission: 2
dive: 59
start: 5 31 109 16 9 50
data:
$ID,167
$MISSION,2
$DIVE,59
$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,-4915.4478
$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,69
$R_STBD_OVSHOOT,37
$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
$GPS1,160335,2539.224,12314.398,38,1.7,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-68.7
$GPS2,160926,2539.314,12314.430,14,1.1,14,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$TGT_RADIUS,2000.000
$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,156.0,63505,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,59,0.00,0.00,-42.58,0.000,2,0.000,0.000,145,2419,2735
$GC,62,-1.05,-194.7,3.5,-4.1,7,111,8.48,2.10,-34.90,0.000,4,0.255,0.044,2199,1028,3989
$GC,135,-0.25,-194.7,16.5,-31.5,19,142,0.95,2.12,0.00,0.000,6,0.193,0.035,2455,2434,3991
$GC,480,-0.48,-194.7,59.3,-9.0,80,485,0.17,0.00,0.00,0.000,6,0.068,0.000,2377,2437,3991
$GC,823,-0.41,-194.7,107.6,-12.2,141,830,0.12,2.03,0.00,0.000,4,0.162,0.047,2401,3767,3992
$GC,911,-0.56,-194.7,117.3,-9.9,156,917,0.12,1.95,0.00,0.000,6,0.078,0.025,2346,2393,3992
$GC,1255,-0.52,-194.7,166.9,-13.9,217,1262,0.12,1.92,0.00,0.000,4,0.159,0.028,2378,1043,3993
$GC,1326,-0.71,-194.7,174.7,-9.7,229,1334,0.17,2.08,0.00,0.000,6,0.069,0.034,2301,2445,3994
$GC,1673,-0.57,-194.7,225.9,-14.7,290,1679,0.17,2.03,0.00,0.000,4,0.166,0.028,2354,1046,3996
$GC,1743,-0.72,-194.7,234.1,-10.6,302,1750,0.12,2.05,0.00,0.000,6,0.077,0.035,2301,2434,3996
$GC,2087,-0.72,-194.7,276.5,-10.2,363,2093,0.00,2.00,0.00,0.000,4,0.000,0.049,2295,3753,3996
$GC,2134,-0.67,-194.7,281.6,-11.3,371,2141,0.12,1.88,0.00,0.000,6,0.157,0.028,2328,2430,3996
$GC,2477,-0.82,-194.7,311.2,-8.5,421,2481,0.15,2.05,0.00,0.000,4,0.074,0.049,2261,3763,3996
$GC,2511,-0.72,-194.7,315.2,-12.3,424,2515,0.17,1.90,0.00,0.000,6,0.157,0.027,2311,2421,3997
$GC,2841,-0.80,-194.7,351.6,-11.0,455,2845,0.00,2.05,0.00,0.000,4,0.000,0.049,2303,3754,3997
$GC,2943,-0.88,-194.7,362.2,-9.5,464,2948,0.08,1.90,0.00,0.000,6,0.071,0.028,2245,2444,3997
$GC,3274,-0.75,-194.7,400.8,-13.1,495,3278,0.20,2.00,0.00,0.000,4,0.160,0.029,2306,1041,3997
$GC,3320,-0.92,-194.7,406.2,-10.4,499,3325,0.15,2.10,0.00,0.000,6,0.077,0.035,2240,2455,3997
$GC,3645,-0.83,-194.7,445.9,-10.5,529,3650,0.12,1.98,0.00,0.000,4,0.172,0.050,2264,3767,3997
$GC,3702,-0.83,-194.7,451.1,-8.6,534,3705,0.00,1.88,0.00,0.000,6,0.000,0.028,2263,2450,3996
$GC,4034,-0.83,-194.7,482.1,-9.5,565,4038,0.00,2.03,0.00,0.000,4,0.000,0.031,2264,1043,3995
$GC,4092,-0.90,-194.7,488.0,-9.7,570,4096,0.00,2.12,0.00,0.000,6,0.000,0.037,2263,2463,3995
$GC,4417,-0.90,-194.7,517.1,-8.8,592,4420,0.00,2.08,0.00,0.000,4,0.000,0.031,2263,1046,3993
$GC,4467,-0.94,-194.7,522.5,-11.1,594,4471,0.00,2.12,0.00,0.000,6,0.000,0.038,2263,2459,3993
$GC,4795,-0.94,-194.7,558.1,-11.3,610,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2459,3991
$GC,5103,-0.94,-194.7,590.1,-11.5,625,5107,0.00,2.08,0.00,0.000,4,0.000,0.032,2263,1047,3987
$GC,5204,-1.01,-194.7,599.1,-8.2,629,5208,0.12,2.15,0.00,0.000,6,0.088,0.041,2214,2467,3987
$GC,5520,-0.89,-194.7,639.4,-14.4,644,5524,0.15,2.10,0.00,0.000,4,0.173,0.033,2253,1047,3984
$GC,5563,-0.89,-194.7,645.3,-12.5,646,5567,0.00,2.12,0.00,0.000,6,0.000,0.040,2253,2449,3984
$GC,5893,-0.89,-194.7,675.9,-11.2,662,5897,0.00,2.08,0.00,0.000,4,0.000,0.035,2253,1049,3981
$GC,5948,-0.89,-194.7,684.2,-14.3,664,5952,0.00,2.12,0.00,0.000,6,0.000,0.040,2249,2449,3981
$GC,6270,-0.89,-194.7,721.8,-11.0,680,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2449,3978
$STATE,6577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6577,begin apogee
$GC,6583,-0.22,0.0,753.9,11.1,695,6673,0.73,0.00,86.82,1.259,6,0.156,0.000,2472,2518,3532
$STATE,6674,end apogee,CONTROL_FINISHED_OK
$STATE,6674,begin climb
$GC,6676,1.05,194.7,757.2,0.0,699,6841,1.12,2.15,153.55,1.219,4,0.062,0.059,2880,3761,2736
$GC,6965,0.32,194.7,730.6,18.5,712,6970,0.90,1.90,0.00,0.000,6,0.216,0.031,2653,2521,2733
$GC,7281,0.58,295.6,708.1,7.8,727,7367,0.20,2.15,79.90,1.187,4,0.081,0.056,2733,3766,2325
$GC,7426,0.48,295.6,687.3,17.1,733,7430,0.12,1.95,0.00,0.000,6,0.189,0.032,2705,2502,2320
$GC,7746,0.55,295.6,638.8,16.9,749,7750,0.00,2.03,0.00,0.000,4,0.000,0.054,2705,3766,2317
$GC,7841,0.55,295.6,620.9,19.2,753,7845,0.00,1.85,0.00,0.000,6,0.000,0.034,2707,2541,2316
$GC,8168,0.63,295.6,570.2,13.6,769,8173,0.12,2.17,0.00,0.000,4,0.091,0.038,2760,1087,2315
$GC,8186,0.63,295.6,567.7,13.8,770,8190,0.00,2.22,0.00,0.000,6,0.000,0.041,2759,2532,2314
$GC,8513,0.53,295.6,519.0,14.7,786,8517,0.15,1.92,0.00,0.000,4,0.189,0.056,2722,3770,2313
$GC,8595,0.53,295.6,506.4,14.7,789,8603,0.00,1.85,0.00,0.000,6,0.000,0.032,2728,2538,2313
$GC,8921,0.53,295.6,464.5,12.0,818,8925,0.00,1.98,0.00,0.000,4,0.000,0.058,2727,3794,2311
$GC,9016,0.53,295.6,451.2,13.8,826,9022,0.00,1.85,0.00,0.000,6,0.000,0.033,2733,2565,2311
$GC,9342,0.53,295.6,408.7,12.6,857,9346,0.00,1.90,0.00,0.000,4,0.000,0.058,2733,3765,2310
$GC,9524,0.53,295.6,384.5,12.8,873,9528,0.00,1.75,0.00,0.000,6,0.000,0.034,2733,2574,2309
$GC,9857,0.60,314.0,345.1,11.2,904,9875,0.00,0.00,12.95,0.940,6,0.000,0.000,2733,2572,2250
$GC,10195,0.70,321.5,305.4,11.7,936,10208,0.12,1.95,6.80,0.812,4,0.086,0.057,2781,3765,2221
$GC,10265,0.56,321.5,294.4,16.6,945,10272,0.22,1.77,0.00,0.000,6,0.177,0.034,2727,2564,2220
$GC,10613,0.72,331.4,257.5,11.6,1006,10630,0.15,1.92,9.43,0.823,4,0.079,0.056,2786,3751,2179
$GC,10654,0.62,331.4,251.3,15.9,1013,10661,0.17,1.75,0.00,0.000,6,0.181,0.031,2745,2565,2178
$GC,11000,0.80,372.8,211.3,10.3,1074,11041,0.17,2.25,32.70,0.837,4,0.077,0.035,2816,1107,2011
$GC,11053,0.73,372.8,203.4,16.3,1083,11060,0.12,2.28,0.00,0.000,6,0.175,0.037,2786,2572,2009
$GC,11397,0.82,372.8,155.5,13.9,1144,11403,0.00,1.85,0.00,0.000,4,0.000,0.052,2786,3769,2006
$GC,11527,0.82,372.8,137.6,12.0,1167,11533,0.00,1.77,0.00,0.000,6,0.000,0.029,2789,2553,2005
$GC,11871,1.00,400.3,99.1,10.9,1228,11901,0.20,2.17,21.88,0.711,4,0.071,0.033,2885,1114,1899
$GC,11959,0.94,400.3,86.2,15.7,1243,11966,0.15,2.17,0.00,0.000,6,0.176,0.036,2847,2543,1896
$GC,12303,0.94,400.3,39.9,13.2,1304,12309,0.00,1.88,0.00,0.000,4,0.000,0.051,2847,3766,1895
$GC,12522,0.94,400.3,9.2,13.8,1343,12528,0.00,1.75,0.00,0.000,6,0.000,0.027,2852,2538,1895
$STATE,12571,end climb,SURFACE_DEPTH_REACHED
$STATE,12571,begin surface coast
$FINISH,1.5,1.009412
$STATE,12595,end surface coast,CONTROL_FINISHED_OK
$STATE,12595,begin surface
$SM_CCo,12612,16.10,0.614,0,0,1798,425.10
$SM_GC,3.05,0.00,0.00,16.10,0.000,0.000,0.614,145,2437,1798,-7.50,0.28,425.10
$IRIDIUM_FIX,2527.05,12315.56,250898,121217
$TT8_MAMPS,0.029146
$HUMID,1564
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.5,75.5
$24V_AH,24.2,14.155
$10V_AH,10.8,9.001
$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,23.575,108.350,404.025,16.100,0.000,23.942,34.975,171.947,5.500,0.000,0.000,15.068,2375.064,7303.481,537.965,2285.775,476.828,0.000,1693.220,0.000,2237.526,0.000,39.028,0.000
$DEVICE_MAMPS,254.644,99.710,1258.647,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,914.510,963.639,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72520,1356
$CAP_FILE_SIZE,140872,0
$CFSIZE,260165632,220266496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 35.1,1
$GPS,310509,194128,2538.540,12316.254,13,99.0,32,-3.8