version: 66.04
glider: 167
mission: 2
dive: 129
start: 6 10 109 12 56 54
data:
$ID,167
$MISSION,2
$DIVE,129
$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,-7357.4912
$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,79
$R_STBD_OVSHOOT,40
$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
$GPS1,125054,2408.289,12311.127,31,1.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-68.5
$GPS2,125632,2408.403,12311.243,13,2.0,13,-3.4
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2406.400,12245.900
$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,257.6,43002,-18.3,-12.000
$D_GRID,492
$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,-194.7,0.0,0.0,0,46,0.00,0.00,-29.67,0.000,2,0.000,0.000,140,2486,2550
$GC,49,-1.05,-194.7,3.2,-3.1,5,108,8.32,2.15,-42.42,0.000,4,0.246,0.042,2197,1043,3990
$GC,132,-0.25,-194.7,15.8,-29.5,19,140,0.95,2.08,0.00,0.000,6,0.186,0.029,2457,2444,3991
$GC,480,-0.53,-194.7,53.5,-8.2,80,486,0.20,1.98,0.00,0.000,4,0.061,0.045,2363,3751,3992
$GC,507,-0.61,-194.7,56.4,-10.5,84,513,0.00,1.90,0.00,0.000,6,0.000,0.024,2364,2392,3992
$GC,850,-0.56,-194.7,108.0,-12.4,145,856,0.00,2.08,0.00,0.000,4,0.000,0.045,2358,3751,3992
$GC,879,-0.56,-194.7,111.8,-13.9,150,885,0.00,1.85,0.00,0.000,6,0.000,0.024,2358,2425,3992
$GC,1225,-0.56,-194.7,154.4,-11.0,211,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2425,3994
$GC,1570,-0.73,-194.7,190.3,-8.5,272,1576,0.15,0.00,0.00,0.000,6,0.069,0.000,2289,2424,3996
$GC,1913,-0.66,-194.7,236.2,-12.9,333,1920,0.15,2.03,0.00,0.000,4,0.147,0.044,2331,3751,3997
$GC,1955,-0.78,-194.7,240.7,-10.1,340,1962,0.10,1.80,0.00,0.000,6,0.087,0.025,2282,2455,3997
$GC,2302,-0.71,-194.7,282.6,-11.5,401,2308,0.12,0.00,0.00,0.000,6,0.154,0.000,2316,2454,3997
$GC,2643,-0.80,-194.7,313.3,-8.6,449,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2454,3997
$GC,2963,-0.92,-194.7,340.6,-9.0,479,2967,0.17,2.00,0.00,0.000,4,0.070,0.047,2234,3756,3997
$GC,3031,-0.70,-194.7,349.8,-14.7,485,3037,0.28,1.83,0.00,0.000,6,0.154,0.026,2316,2464,3997
$GC,3363,-0.84,-194.7,374.2,-7.3,516,3367,0.12,2.05,0.00,0.000,4,0.077,0.027,2261,1044,3996
$GC,3390,-0.84,-194.7,376.8,-9.5,518,3396,0.00,2.15,0.00,0.000,6,0.000,0.035,2261,2476,3996
$GC,3715,-0.76,-194.7,408.7,-10.1,549,3717,0.15,0.00,0.00,0.000,6,0.166,0.000,2303,2477,3996
$GC,4034,-0.87,-194.7,430.9,-8.3,579,4038,0.12,1.95,0.00,0.000,4,0.081,0.049,2247,3758,3993
$GC,4146,-0.78,-194.7,444.7,-12.4,589,4150,0.15,1.85,0.00,0.000,6,0.155,0.028,2288,2466,3993
$GC,4477,-0.86,-194.7,482.1,-11.6,620,4481,0.00,2.08,0.00,0.000,4,0.000,0.030,2288,1027,3992
$GC,4557,-0.98,-194.7,490.9,-10.6,627,4561,0.17,2.15,0.00,0.000,6,0.074,0.036,2218,2465,3992
$STATE,4571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4571,begin apogee
$GC,4577,-0.22,0.0,492.8,10.6,628,4666,0.77,0.00,85.35,0.994,6,0.156,0.000,2461,2466,3532
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4669,1.05,194.7,497.2,0.0,637,4823,1.15,2.10,144.90,0.969,4,0.064,0.031,2889,1119,2737
$GC,5081,0.54,194.7,458.3,16.5,669,5089,0.60,2.12,0.00,0.000,6,0.191,0.035,2724,2518,2734
$GC,5406,0.61,298.5,428.1,7.7,700,5489,0.00,2.00,77.45,0.942,4,0.000,0.051,2724,3758,2313
$GC,5528,0.61,298.5,416.3,12.6,711,5534,0.00,1.90,0.00,0.000,6,0.000,0.027,2729,2507,2310
$GC,5856,0.67,298.5,374.0,13.2,742,5859,0.00,1.98,0.00,0.000,4,0.000,0.051,2729,3763,2306
$GC,5916,0.67,298.5,365.1,14.2,747,5923,0.00,1.85,0.00,0.000,6,0.000,0.027,2735,2509,2306
$GC,6244,0.76,305.3,328.0,11.7,778,6252,0.15,0.00,5.12,0.681,6,0.076,0.000,2796,2509,2286
$GC,6579,0.62,305.3,278.6,14.0,822,6585,0.17,1.95,0.00,0.000,4,0.173,0.049,2744,3764,2284
$GC,6721,0.62,305.3,260.5,12.4,847,6727,0.00,1.83,0.00,0.000,6,0.000,0.028,2746,2498,2283
$GC,7064,0.74,344.1,224.5,10.4,908,7100,0.12,0.00,29.42,0.819,6,0.082,0.000,2798,2495,2128
$GC,7438,0.76,356.5,175.9,11.5,974,7450,0.00,0.00,10.32,0.721,6,0.000,0.000,2798,2495,2078
$GC,7788,0.97,434.8,138.7,8.8,1036,7854,0.17,2.03,58.92,0.740,4,0.070,0.049,2878,3758,1758
$GC,7866,0.84,434.8,128.5,14.6,1049,7874,0.25,1.90,0.00,0.000,6,0.168,0.027,2817,2478,1756
$GC,8212,1.12,476.1,93.0,10.3,1110,8253,0.20,2.05,31.52,0.680,4,0.063,0.030,2913,1120,1587
$GC,8506,1.12,476.1,50.4,14.5,1162,8512,0.00,2.05,0.00,0.000,6,0.000,0.033,2914,2483,1583
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8820,begin surface coast
$FINISH,1.7,1.021676
$STATE,8837,end surface coast,CONTROL_FINISHED_OK
$STATE,8837,begin surface
$SM_CCo,8914,0.00,0.000,0,0,1580,478.83
$SM_GC,2.59,7.35,0.00,0.00,0.057,0.000,0.000,141,2488,1580,-7.51,1.72,478.83
$IRIDIUM_FIX,2359.20,12311.93,040998,101051
$TT8_MAMPS,0.028379
$HUMID,1599
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.0,92.1
$24V_AH,24.7,24.280
$10V_AH,10.9,14.262
$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,22.125,55.650,443.025,0.000,0.000,22.602,44.517,162.496,3.750,0.000,0.000,14.104,2028.010,4366.195,499.215,1939.595,420.455,0.000,1473.371,0.000,1896.870,0.000,28.373,0.000
$DEVICE_MAMPS,246.207,51.389,994.032,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.022,913.146,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63207,1221
$CAP_FILE_SIZE,105613,0
$CFSIZE,260165632,215433216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,323.0,1
$GPS,100609,152637,2408.323,12309.773,35,1.2,35,-3.4