version: 66.04
glider: 167
mission: 2
dive: 139
start: 6 11 109 12 8 40
data:
$ID,167
$MISSION,2
$DIVE,139
$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,-7591.0898
$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,76
$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
$GPS1,115949,2412.565,12259.194,14,1.8,25,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.8
$GPS2,120818,2412.666,12259.198,10,1.9,14,-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,201.1,25299,-18.3,-12.000
$D_GRID,400
$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,-194.7,0.0,0.0,0,66,0.00,0.00,-47.72,0.000,2,0.000,0.000,141,2507,2616
$GC,69,-1.05,-194.7,3.2,-3.5,8,123,8.30,1.98,-40.75,0.000,4,0.245,0.057,2188,3761,3989
$GC,253,-0.18,-194.7,53.7,-34.3,40,260,1.02,1.92,0.00,0.000,6,0.189,0.023,2478,2394,3989
$GC,598,-1.08,-194.7,82.7,-9.1,101,604,0.73,2.08,0.00,0.000,4,0.068,0.043,2198,3757,3991
$GC,679,-0.39,-194.7,99.8,-28.1,115,686,0.73,1.83,0.00,0.000,6,0.173,0.023,2411,2450,3991
$GC,1024,-0.64,-194.7,136.5,-8.1,176,1030,0.17,2.00,0.00,0.000,4,0.061,0.025,2328,1042,3992
$GC,1050,-0.73,-194.7,139.1,-10.5,180,1056,0.00,2.10,0.00,0.000,6,0.000,0.031,2322,2474,3992
$GC,1393,-0.73,-194.7,185.3,-13.0,241,1399,0.00,2.05,0.00,0.000,4,0.000,0.026,2321,1046,3992
$GC,1433,-0.73,-194.7,190.8,-13.3,248,1439,0.00,2.05,0.00,0.000,6,0.000,0.031,2317,2445,3992
$GC,1777,-0.82,-194.7,234.0,-8.7,309,1784,0.10,1.98,0.00,0.000,4,0.084,0.044,2262,3762,3992
$GC,1864,-0.71,-194.7,243.2,-11.3,324,1870,0.17,1.85,0.00,0.000,6,0.144,0.025,2313,2442,3993
$GC,2210,-0.80,-194.7,276.3,-8.4,385,2216,0.00,2.00,0.00,0.000,4,0.000,0.028,2313,1037,3993
$GC,2251,-0.92,-194.7,280.1,-8.5,392,2258,0.20,2.08,0.00,0.000,6,0.063,0.032,2228,2452,3993
$GC,2586,-0.70,-194.7,324.7,-13.8,436,2594,0.28,1.98,0.00,0.000,4,0.156,0.044,2306,3764,3993
$GC,2606,-0.60,-194.7,327.0,-11.9,437,2612,0.15,1.88,0.00,0.000,6,0.133,0.025,2350,2437,3993
$GC,2931,-0.91,-194.7,345.6,-5.6,468,2935,0.25,2.03,0.00,0.000,4,0.061,0.047,2236,3758,3992
$GC,2954,-1.00,-194.7,347.2,-7.2,469,2960,0.00,1.85,0.00,0.000,6,0.000,0.025,2236,2448,3993
$GC,3279,-0.85,-194.7,390.2,-12.4,500,3283,0.12,2.00,0.00,0.000,4,0.161,0.046,2262,3752,3991
$GC,3351,-0.79,-194.7,398.7,-9.2,506,3358,0.00,1.80,0.00,0.000,6,0.000,0.027,2262,2482,3991
$STATE,3365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3365,begin apogee
$GC,3371,-0.22,0.0,400.1,8.8,508,3459,0.65,0.00,83.93,0.903,6,0.139,0.000,2468,2481,3532
$STATE,3460,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3462,1.05,194.7,401.3,0.0,517,3612,1.12,2.12,142.52,0.875,4,0.060,0.047,2887,3757,2737
$GC,3867,0.37,194.7,359.2,16.0,553,3873,0.80,1.80,0.00,0.000,6,0.189,0.025,2672,2503,2734
$GC,4192,0.64,277.0,333.8,8.6,584,4258,0.20,2.08,60.05,0.850,4,0.067,0.048,2762,3760,2401
$GC,4321,0.49,277.0,317.9,13.9,595,4328,0.20,1.83,0.00,0.000,6,0.165,0.027,2709,2514,2398
$GC,4653,0.72,312.4,288.4,10.5,637,4690,0.17,2.12,26.62,0.816,4,0.069,0.031,2795,1113,2256
$GC,4764,0.72,312.4,272.7,14.8,656,4770,0.00,2.08,0.00,0.000,6,0.000,0.035,2795,2483,2254
$GC,5107,0.72,312.4,214.9,18.7,717,5113,0.00,2.03,0.00,0.000,4,0.000,0.030,2802,1109,2250
$GC,5125,0.67,312.4,211.5,19.2,720,5131,0.15,2.05,0.00,0.000,6,0.154,0.035,2762,2478,2250
$GC,5469,1.04,482.9,175.4,5.0,781,5603,0.30,2.08,125.10,0.753,4,0.060,0.050,2888,3751,1562
$GC,5631,0.89,482.9,158.3,12.0,809,5638,0.25,1.92,0.00,0.000,6,0.166,0.026,2829,2456,1557
$GC,5977,1.04,482.9,115.9,14.3,870,5984,0.15,1.98,0.00,0.000,4,0.073,0.029,2898,1097,1552
$GC,6019,0.99,482.9,108.5,19.0,877,6025,0.12,2.05,0.00,0.000,6,0.166,0.034,2866,2464,1552
$GC,6363,1.11,492.9,51.8,11.6,938,6377,0.10,1.98,7.47,0.562,4,0.084,0.048,2908,3762,1522
$GC,6412,0.99,492.9,44.5,16.9,946,6419,0.17,1.92,0.00,0.000,6,0.169,0.026,2865,2421,1520
$GC,6758,1.17,497.0,6.4,11.8,1007,6770,0.15,1.90,4.90,0.460,4,0.073,0.030,2935,1101,1504
$STATE,6785,end climb,SURFACE_DEPTH_REACHED
$STATE,6785,begin surface coast
$FINISH,1.7,1.021782
$STATE,6792,end surface coast,CONTROL_FINISHED_OK
$STATE,6792,begin surface
$SM_CCo,6872,0.00,0.000,0,0,1501,498.20
$SM_GC,2.34,7.38,0.00,0.00,0.055,0.000,0.000,142,2440,1501,-7.50,0.37,498.20
$IRIDIUM_FIX,2403.92,12258.16,050998,121216
$TT8_MAMPS,0.028379
$HUMID,1619
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.4,109.9
$24V_AH,24.8,25.504
$10V_AH,10.9,14.890
$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,24.150,67.400,450.600,0.000,0.000,54.907,68.480,215.006,2.000,0.000,0.000,14.570,1667.897,3075.866,532.684,1589.229,520.687,0.000,1366.580,0.000,1560.778,0.000,17.308,0.000
$DEVICE_MAMPS,245.440,56.758,902.759,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.920,793.029,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53685,1013
$CAP_FILE_SIZE,96384,0
$CFSIZE,260165632,214888448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.497,  8.5,1
$GPS,110609,140425,2413.629,12259.126,39,1.5,39,-3.4