version: 66.04
glider: 167
mission: 2
dive: 144
start: 6 11 109 22 35 30
data:
$ID,167
$MISSION,2
$DIVE,144
$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,-7691.7354
$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,34
$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
$GPS1,222831,2415.934,12257.962,42,1.2,42,-3.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-69.0
$GPS2,223508,2415.989,12258.035,15,1.6,15,-3.4
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,298.3,114648,-18.3,-12.000
$D_GRID,546
$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,-194.7,0.0,0.0,0,61,0.00,0.00,-44.40,0.000,2,0.000,0.000,145,2409,2495
$GC,64,-1.05,-194.7,3.1,-2.5,7,123,8.32,2.00,-43.65,0.000,4,0.245,0.041,2199,1027,3989
$GC,248,-0.24,-194.7,49.9,-35.0,39,255,0.93,2.10,0.00,0.000,6,0.172,0.033,2461,2436,3990
$GC,593,-0.66,-194.7,76.3,-3.8,100,599,0.32,2.00,0.00,0.000,4,0.051,0.047,2316,3754,3991
$GC,673,-0.48,-194.7,86.3,-15.8,114,680,0.25,1.90,0.00,0.000,6,0.142,0.025,2390,2404,3991
$GC,1018,-0.64,-194.7,124.2,-7.8,175,1025,0.15,2.08,0.00,0.000,4,0.069,0.045,2325,3759,3992
$GC,1132,-0.51,-194.7,140.6,-18.5,195,1139,0.17,1.85,0.00,0.000,6,0.143,0.025,2376,2445,3992
$GC,1478,-0.80,-194.7,181.0,-8.1,256,1484,0.22,0.00,0.00,0.000,6,0.059,0.000,2273,2445,3993
$GC,1821,-0.69,-194.7,225.7,-13.6,317,1829,0.17,2.00,0.00,0.000,4,0.148,0.045,2316,3755,3994
$GC,1957,-0.79,-194.7,241.7,-11.2,340,1963,0.00,1.85,0.00,0.000,6,0.000,0.027,2315,2451,3994
$GC,2301,-0.90,-194.7,273.1,-6.6,401,2309,0.17,2.03,0.00,0.000,4,0.068,0.028,2231,1034,3995
$GC,2344,-0.69,-194.7,277.4,-11.4,408,2351,0.30,2.12,0.00,0.000,6,0.151,0.035,2321,2461,3995
$GC,2687,-0.86,-194.7,303.5,-7.5,465,2689,0.15,0.00,0.00,0.000,6,0.074,0.000,2258,2462,3995
$GC,3006,-0.79,-194.7,340.8,-12.7,495,3008,0.12,0.00,0.00,0.000,6,0.161,0.000,2292,2462,3995
$GC,3325,-0.86,-194.7,373.8,-8.4,525,3328,0.00,1.98,0.00,0.000,4,0.000,0.051,2289,3757,3994
$GC,3371,-0.95,-194.7,377.9,-8.4,529,3375,0.15,1.85,0.00,0.000,6,0.073,0.028,2225,2461,3994
$GC,3701,-0.74,-194.7,421.9,-14.5,560,3705,0.22,2.05,0.00,0.000,4,0.155,0.029,2296,1043,3993
$GC,3891,-0.87,-194.7,444.1,-10.8,576,3897,0.00,2.10,0.00,0.000,6,0.000,0.037,2294,2443,3991
$GC,4218,-0.97,-194.7,474.4,-9.4,607,4220,0.17,0.00,0.00,0.000,6,0.073,0.000,2222,2445,3990
$GC,4534,-0.80,-194.7,513.7,-12.9,632,4538,0.20,2.03,0.00,0.000,4,0.160,0.052,2276,3758,3988
$GC,4617,-0.85,-194.7,524.2,-12.5,635,4623,0.00,1.90,0.00,0.000,6,0.000,0.030,2275,2443,3987
$STATE,4827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4827,begin apogee
$GC,4834,-0.22,0.0,546.7,10.0,646,4922,0.62,0.00,85.30,1.040,6,0.135,0.000,2473,2523,3532
$STATE,4923,end apogee,CONTROL_FINISHED_OK
$STATE,4923,begin climb
$GC,4925,1.05,194.7,549.3,0.0,650,5081,1.10,2.25,146.57,1.011,4,0.048,0.032,2900,1122,2737
$GC,5311,0.50,194.7,513.3,15.5,667,5318,0.70,2.12,0.00,0.000,6,0.189,0.038,2707,2504,2733
$GC,5633,0.56,242.8,482.3,10.0,691,5677,0.00,2.03,36.10,0.974,4,0.000,0.054,2706,3751,2541
$GC,5739,0.56,246.5,470.4,11.8,700,5749,0.00,1.83,4.25,0.644,6,0.000,0.029,2707,2518,2526
$GC,6075,0.71,297.5,436.3,9.9,732,6121,0.17,2.20,39.33,0.957,4,0.074,0.035,2791,1112,2318
$GC,6256,0.61,297.5,410.2,15.4,748,6260,0.17,2.15,0.00,0.000,6,0.170,0.038,2744,2506,2314
$GC,6581,0.64,324.6,369.3,10.9,778,6606,0.00,2.12,20.77,0.904,4,0.000,0.033,2746,1105,2207
$GC,6668,0.75,324.6,358.9,12.7,785,6676,0.12,2.12,0.00,0.000,6,0.083,0.036,2794,2491,2204
$GC,6993,0.67,324.6,308.7,15.3,816,6997,0.12,1.95,0.00,0.000,4,0.177,0.052,2764,3755,2202
$GC,7105,0.62,324.6,291.8,13.6,831,7111,0.00,1.80,0.00,0.000,6,0.000,0.028,2764,2507,2201
$GC,7448,0.68,324.6,242.1,12.4,892,7454,0.00,2.05,0.00,0.000,4,0.000,0.035,2764,1107,2200
$GC,7517,0.85,378.7,235.1,9.8,904,7565,0.15,2.10,40.40,0.837,6,0.077,0.037,2824,2497,1987
$GC,7905,0.78,378.7,184.6,12.2,972,7910,0.00,1.98,0.00,0.000,4,0.000,0.054,2824,3765,1980
$GC,7928,0.66,378.7,181.0,14.2,976,7935,0.25,1.85,0.00,0.000,6,0.166,0.028,2759,2492,1980
$GC,8274,1.15,571.1,147.2,4.0,1037,8426,0.38,2.15,144.93,0.736,4,0.056,0.032,2922,1124,1202
$GC,8501,1.15,571.1,109.8,20.8,1076,8507,0.00,2.15,0.00,0.000,6,0.000,0.035,2923,2511,1198
$GC,8844,1.15,571.1,46.7,16.2,1137,8851,0.00,1.95,0.00,0.000,4,0.000,0.052,2923,3767,1195
$GC,8936,1.15,571.1,30.4,16.8,1153,8943,0.00,1.83,0.00,0.000,6,0.000,0.026,2925,2513,1194
$STATE,9106,end climb,SURFACE_DEPTH_REACHED
$STATE,9106,begin surface coast
$FINISH,1.7,1.020053
$STATE,9123,end surface coast,CONTROL_FINISHED_OK
$STATE,9123,begin surface
$SM_CCo,9200,0.00,0.000,0,0,1191,574.00
$SM_GC,2.55,7.38,0.00,0.00,0.055,0.000,0.000,142,2413,1191,-7.50,-0.40,574.00
$IRIDIUM_FIX,2406.29,12259.45,050998,202033
$TT8_MAMPS,0.028379
$HUMID,1650
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.6,26.133
$10V_AH,10.8,15.199
$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,23.225,68.600,517.650,0.000,0.000,24.697,33.238,224.524,3.500,0.000,0.000,15.747,1986.931,4596.802,584.385,1947.006,482.975,0.000,1575.708,0.000,1905.218,0.000,24.393,0.000
$DEVICE_MAMPS,245.440,85.904,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.911,870.090,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63038,1186
$CAP_FILE_SIZE,110746,0
$CFSIZE,260165632,214589440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234,  0.2,1
$GPS,120609,010958,2417.749,12256.790,14,99.0,33,-3.4