version: 66.04
glider: 167
mission: 2
dive: 130
start: 6 10 109 15 32 48
data:
$ID,167
$MISSION,2
$DIVE,130
$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,-7372.8262
$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,74
$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
$GPS1,152637,2408.323,12309.773,35,1.2,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-64.2
$GPS2,153226,2408.381,12309.890,14,1.3,14,-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,256.3,40719,-18.3,-12.000
$D_GRID,516
$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,-194.7,0.0,0.0,0,54,0.00,0.00,-36.12,0.000,2,0.000,0.000,140,2488,2481
$GC,57,-1.05,-194.7,3.0,-2.2,6,122,8.40,2.17,-46.83,0.000,4,0.249,0.040,2199,1024,3990
$GC,169,-0.30,-194.7,23.4,-30.7,25,176,0.88,2.10,0.00,0.000,6,0.181,0.031,2441,2434,3990
$GC,514,-0.50,-194.7,63.8,-9.1,86,521,0.17,2.00,0.00,0.000,4,0.067,0.046,2359,3753,3991
$GC,567,-0.39,-194.7,70.7,-14.1,95,573,0.20,1.90,0.00,0.000,6,0.149,0.023,2415,2400,3992
$GC,912,-0.56,-194.7,106.1,-10.5,156,920,0.15,2.08,0.00,0.000,4,0.070,0.044,2345,3757,3992
$GC,984,-0.41,-194.7,117.2,-17.0,168,992,0.22,1.85,0.00,0.000,6,0.153,0.024,2409,2432,3992
$GC,1330,-0.68,-194.7,151.0,-8.7,229,1337,0.20,1.98,0.00,0.000,4,0.060,0.025,2315,1037,3993
$GC,1400,-0.68,-194.7,160.1,-12.5,241,1406,0.00,2.05,0.00,0.000,6,0.000,0.031,2315,2433,3994
$GC,1744,-0.68,-194.7,205.7,-11.0,302,1750,0.00,2.00,0.00,0.000,4,0.000,0.045,2315,3765,3995
$GC,1790,-0.68,-194.7,211.2,-11.2,310,1796,0.00,1.90,0.00,0.000,6,0.000,0.024,2315,2402,3995
$GC,2134,-0.74,-194.7,244.9,-10.2,371,2140,0.00,2.08,0.00,0.000,4,0.000,0.045,2314,3765,3996
$GC,2215,-0.84,-194.7,253.3,-10.6,385,2221,0.12,1.88,0.00,0.000,6,0.077,0.025,2259,2425,3997
$GC,2561,-0.71,-194.7,298.9,-10.6,446,2567,0.17,2.05,0.00,0.000,4,0.154,0.045,2315,3766,3997
$GC,2597,-0.81,-194.7,302.5,-9.8,450,2600,0.00,1.90,0.00,0.000,6,0.000,0.025,2315,2414,3996
$GC,2928,-0.94,-194.7,330.0,-8.4,481,2930,0.20,0.00,0.00,0.000,6,0.067,0.000,2230,2413,3997
$GC,3247,-0.73,-194.7,370.6,-14.9,511,3251,0.22,2.05,0.00,0.000,4,0.163,0.045,2291,3761,3996
$GC,3321,-0.80,-194.7,380.1,-12.2,517,3324,0.00,1.88,0.00,0.000,6,0.000,0.027,2291,2443,3996
$GC,3651,-0.85,-194.7,418.6,-10.5,548,3655,0.00,2.03,0.00,0.000,4,0.000,0.049,2289,3754,3995
$GC,3690,-0.92,-194.7,423.0,-10.5,551,3697,0.12,1.88,0.00,0.000,6,0.081,0.026,2234,2433,3995
$GC,4016,-0.77,-194.7,464.7,-11.8,582,4020,0.17,2.00,0.00,0.000,4,0.157,0.027,2289,1047,3993
$GC,4121,-0.77,-194.7,473.5,-13.7,591,4128,0.00,2.08,0.00,0.000,6,0.000,0.035,2289,2423,3993
$GC,4448,-0.85,-194.7,504.8,-10.0,620,4451,0.00,2.00,0.00,0.000,4,0.000,0.029,2289,1046,3991
$GC,4481,-0.97,-194.7,508.7,-10.8,621,4486,0.17,2.08,0.00,0.000,6,0.073,0.036,2218,2436,3991
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4553,-0.22,0.0,518.3,14.2,624,4642,0.82,0.00,85.60,1.016,6,0.159,0.000,2468,2517,3532
$STATE,4642,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4645,1.05,194.7,521.8,0.0,628,4799,1.12,2.00,145.50,0.984,4,0.062,0.051,2883,3757,2738
$GC,5002,0.38,194.7,475.3,18.8,650,5007,0.80,1.83,0.00,0.000,6,0.193,0.026,2673,2501,2734
$GC,5327,0.67,325.9,448.8,6.6,680,5434,0.25,2.15,97.82,0.950,4,0.067,0.032,2773,1128,2202
$GC,5461,0.67,325.9,430.6,14.0,692,5469,0.00,2.15,0.00,0.000,6,0.000,0.035,2773,2504,2199
$GC,5788,0.60,325.9,381.9,16.2,723,5792,0.15,1.95,0.00,0.000,4,0.173,0.048,2734,3771,2194
$GC,5844,0.60,325.9,372.7,15.3,728,5848,0.00,1.85,0.00,0.000,6,0.000,0.027,2739,2492,2193
$GC,6176,0.68,325.9,328.9,12.3,759,6180,0.00,2.00,0.00,0.000,4,0.000,0.051,2739,3767,2191
$GC,6260,0.68,325.9,317.3,13.4,766,6267,0.00,1.80,0.00,0.000,6,0.000,0.027,2745,2513,2191
$GC,6595,0.81,356.9,274.9,10.7,814,6625,0.17,2.08,22.52,0.844,4,0.072,0.032,2829,1115,2076
$GC,6654,0.69,356.9,266.5,14.9,824,6663,0.22,2.15,0.00,0.000,6,0.165,0.035,2767,2532,2074
$GC,7001,0.79,356.9,224.3,12.6,885,7007,0.00,1.88,0.00,0.000,4,0.000,0.049,2767,3759,2071
$GC,7120,0.83,356.9,207.7,13.9,906,7127,0.12,1.75,0.00,0.000,6,0.083,0.028,2823,2539,2070
$GC,7464,0.83,356.9,167.7,12.4,967,7470,0.00,2.05,0.00,0.000,4,0.000,0.031,2829,1114,2069
$GC,7723,0.90,412.9,141.6,9.7,1013,7770,0.00,2.10,41.85,0.736,6,0.000,0.035,2829,2518,1847
$GC,8111,1.08,442.1,100.8,10.8,1081,8141,0.17,2.10,22.70,0.674,4,0.067,0.031,2916,1121,1727
$GC,8265,1.03,442.1,75.5,16.3,1108,8272,0.15,2.12,0.00,0.000,6,0.163,0.034,2876,2534,1724
$GC,8611,1.08,443.9,31.5,11.9,1169,8617,0.00,1.85,0.00,0.000,4,0.000,0.048,2876,3757,1723
$GC,8635,1.08,443.9,28.4,12.5,1173,8641,0.00,1.75,0.00,0.000,6,0.000,0.025,2882,2514,1723
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$FINISH,1.6,1.009123
$STATE,8848,end surface coast,CONTROL_FINISHED_OK
$STATE,8848,begin surface
$SM_CCo,8925,0.00,0.000,0,0,1722,443.99
$SM_GC,2.61,7.10,0.00,0.00,0.045,0.000,0.000,141,2510,1722,-7.50,2.35,443.99
$IRIDIUM_FIX,2359.20,12308.66,040998,131330
$TT8_MAMPS,0.028379
$HUMID,1575
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.2,93.4
$24V_AH,24.7,24.403
$10V_AH,10.9,14.331
$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,22.525,79.525,416.000,0.000,0.000,27.673,37.313,170.394,3.000,0.000,0.000,14.705,2039.995,4340.979,521.015,1930.370,442.599,0.000,1497.881,0.000,1896.760,0.000,22.390,0.000
$DEVICE_MAMPS,248.508,91.273,1015.508,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,810.272,918.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63139,1211
$CAP_FILE_SIZE,111487,0
$CFSIZE,260165632,215363584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,265.5,1
$GPS,100609,180257,2408.015,12308.171,30,2.2,49,-3.4