version: 66.04
glider: 167
mission: 2
dive: 133
start: 6 10 109 23 18 6
data:
$ID,167
$MISSION,2
$DIVE,133
$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,-7453.7935
$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,83
$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
$GPS1,231207,2408.473,12304.207,42,1.4,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-61.4
$GPS2,231744,2408.635,12304.212,14,1.6,14,-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,240.8,31231,-18.3,-12.000
$D_GRID,499
$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,-194.7,0.0,0.0,0,56,0.00,0.00,-39.60,0.000,2,0.000,0.000,141,2465,2529
$GC,59,-1.05,-194.7,3.4,-3.2,6,119,8.25,2.00,-43.72,0.000,4,0.243,0.057,2190,3767,3989
$GC,131,-0.32,-194.7,12.2,-24.6,18,138,0.88,1.92,0.00,0.000,6,0.186,0.022,2436,2407,3989
$GC,476,-0.46,-194.7,55.7,-9.5,79,483,0.12,2.08,0.00,0.000,4,0.074,0.045,2382,3754,3991
$GC,517,-0.46,-194.7,60.8,-13.1,86,523,0.00,1.85,0.00,0.000,6,0.000,0.024,2382,2432,3991
$GC,861,-0.41,-194.7,108.2,-13.3,147,867,0.00,2.03,0.00,0.000,4,0.000,0.045,2374,3767,3992
$GC,929,-0.41,-194.7,116.9,-13.6,159,936,0.12,1.83,0.00,0.000,6,0.146,0.024,2408,2457,3992
$GC,1274,-0.63,-194.7,147.5,-9.1,220,1282,0.17,2.00,0.00,0.000,4,0.064,0.025,2325,1045,3993
$GC,1333,-0.58,-194.7,155.0,-13.5,230,1340,0.15,2.08,0.00,0.000,6,0.150,0.031,2360,2457,3993
$GC,1678,-0.73,-194.7,188.7,-7.4,291,1684,0.15,0.00,0.00,0.000,6,0.067,0.000,2295,2459,3994
$GC,2021,-0.73,-194.7,226.3,-10.0,352,2028,0.00,1.95,0.00,0.000,4,0.000,0.046,2289,3758,3995
$GC,2068,-0.73,-194.7,231.7,-11.9,360,2075,0.00,1.85,0.00,0.000,6,0.000,0.025,2289,2434,3996
$GC,2414,-0.68,-194.7,271.6,-12.7,421,2420,0.12,0.00,0.00,0.000,6,0.156,0.000,2322,2433,3996
$GC,2760,-0.83,-194.7,305.2,-9.0,478,2764,0.12,2.03,0.00,0.000,4,0.077,0.047,2264,3754,3996
$GC,2828,-0.70,-194.7,313.3,-12.6,484,2833,0.17,1.85,0.00,0.000,6,0.150,0.026,2314,2442,3996
$GC,3159,-0.82,-194.7,342.6,-8.0,515,3163,0.00,2.03,0.00,0.000,4,0.000,0.049,2314,3761,3996
$GC,3239,-0.98,-194.7,348.1,-6.5,522,3243,0.22,1.88,0.00,0.000,6,0.062,0.026,2219,2436,3995
$GC,3569,-0.70,-194.7,392.1,-14.3,553,3571,0.32,0.00,0.00,0.000,6,0.156,0.000,2316,2434,3995
$GC,3889,-0.88,-194.7,419.1,-8.4,583,3894,0.15,2.00,0.00,0.000,4,0.072,0.027,2252,1044,3993
$GC,3962,-0.82,-194.7,427.6,-11.9,589,3969,0.12,2.10,0.00,0.000,6,0.163,0.035,2281,2450,3993
$GC,4287,-0.82,-194.7,455.8,-9.2,620,4291,0.00,2.00,0.00,0.000,4,0.000,0.050,2279,3763,3991
$GC,4349,-0.88,-194.7,462.4,-11.3,625,4355,0.00,1.88,0.00,0.000,6,0.000,0.027,2279,2446,3991
$STATE,4448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4448,begin apogee
$GC,4455,-0.22,0.0,473.1,11.0,635,4543,0.57,0.00,85.05,0.972,6,0.135,0.000,2465,2514,3532
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4546,1.05,194.7,475.9,0.0,644,4703,1.12,2.20,144.57,0.946,4,0.059,0.028,2891,1125,2737
$GC,4961,0.52,194.7,432.5,17.4,680,4968,0.62,2.10,0.00,0.000,6,0.186,0.035,2717,2508,2734
$GC,5286,0.60,261.9,400.8,9.2,711,5341,0.00,2.17,49.47,0.913,4,0.000,0.031,2720,1124,2463
$GC,5365,0.75,311.1,393.4,10.0,718,5410,0.20,2.10,38.50,0.887,6,0.067,0.034,2796,2483,2262
$GC,5725,0.61,311.1,343.8,13.7,752,5727,0.20,0.00,0.00,0.000,6,0.171,0.000,2743,2483,2255
$GC,6046,0.72,340.8,306.8,10.8,782,6073,0.00,2.05,21.92,0.847,4,0.000,0.049,2742,3764,2141
$GC,6146,0.72,340.8,293.7,12.7,794,6152,0.00,1.88,0.00,0.000,6,0.000,0.027,2746,2475,2138
$GC,6490,0.84,361.3,256.6,11.2,855,6515,0.17,2.03,16.17,0.803,4,0.070,0.031,2829,1125,2058
$GC,6589,0.74,361.3,243.3,13.1,872,6596,0.17,2.05,0.00,0.000,6,0.164,0.035,2782,2479,2055
$GC,6933,0.74,361.3,199.3,12.7,933,6940,0.00,1.95,0.00,0.000,4,0.000,0.050,2782,3756,2053
$GC,7092,0.74,361.3,176.5,14.6,961,7099,0.00,1.80,0.00,0.000,6,0.000,0.027,2788,2493,2053
$GC,7438,0.99,436.3,139.8,8.9,1022,7496,0.17,0.00,55.90,0.739,6,0.072,0.000,2871,2491,1753
$GC,7835,0.99,436.3,83.2,14.2,1092,7841,0.00,2.03,0.00,0.000,4,0.000,0.032,2872,1113,1745
$GC,7904,1.08,436.3,73.5,13.3,1104,7910,0.00,2.15,0.00,0.000,6,0.000,0.034,2872,2545,1745
$GC,8248,1.15,446.7,28.7,11.6,1165,8262,0.12,2.15,8.50,0.564,4,0.080,0.029,2930,1122,1709
$GC,8398,1.09,446.7,8.0,14.4,1191,8404,0.12,2.10,0.00,0.000,6,0.165,0.032,2899,2535,1709
$STATE,8431,end climb,SURFACE_DEPTH_REACHED
$STATE,8431,begin surface coast
$FINISH,1.7,1.021733
$STATE,8449,end surface coast,CONTROL_FINISHED_OK
$STATE,8449,begin surface
$SM_CCo,8526,0.00,0.000,0,0,1706,447.92
$SM_GC,2.54,7.22,0.00,0.00,0.051,0.000,0.000,144,2442,1706,-7.49,0.42,447.92
$IRIDIUM_FIX,2359.20,12308.66,040998,202019
$TT8_MAMPS,0.028379
$HUMID,1588
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.2,146.6
$24V_AH,24.7,24.783
$10V_AH,10.9,14.533
$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,21.825,64.250,420.100,0.000,0.000,31.470,39.920,149.731,2.000,0.000,0.000,14.647,1992.378,4061.456,496.371,1900.884,411.473,0.000,1459.034,0.000,1862.740,0.000,15.858,0.000
$DEVICE_MAMPS,243.139,86.671,971.789,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.511,906.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63226,1200
$CAP_FILE_SIZE,105707,0
$CFSIZE,260165632,215191552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.319,343.5,1
$GPS,110609,014125,2409.561,12302.716,39,1.6,39,-3.4