version: 66.04
glider: 167
mission: 2
dive: 147
start: 6 12 109 7 44 3
data:
$ID,167
$MISSION,2
$DIVE,147
$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,-7756.1499
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,073707,2420.477,12254.261,34,1.0,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.8
$GPS2,074341,2420.515,12254.251,13,1.1,16,-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,303.5,104231,-18.3,-12.000
$D_GRID,559
$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,-194.7,0.0,0.0,0,56,0.00,0.00,-39.88,0.000,2,0.000,0.000,142,2498,2512
$GC,60,-1.05,-194.7,3.2,-3.2,6,119,8.35,1.95,-44.47,0.000,4,0.245,0.060,2190,3764,3988
$GC,254,-0.17,-194.7,58.0,-37.1,40,261,1.02,1.95,0.00,0.000,6,0.179,0.025,2484,2398,3990
$GC,599,-1.14,-194.7,89.4,-7.3,101,606,0.82,2.10,0.00,0.000,4,0.081,0.047,2180,3757,3992
$GC,657,-0.46,-194.7,99.3,-23.5,111,665,0.73,1.88,0.00,0.000,6,0.167,0.024,2394,2429,3991
$GC,1003,-0.70,-194.7,132.0,-8.8,172,1010,0.17,2.05,0.00,0.000,4,0.062,0.047,2312,3757,3993
$GC,1079,-0.64,-194.7,140.6,-11.6,185,1085,0.00,1.85,0.00,0.000,6,0.000,0.025,2312,2440,3993
$GC,1423,-0.64,-194.7,178.4,-10.9,246,1430,0.00,2.03,0.00,0.000,4,0.000,0.047,2303,3763,3994
$GC,1492,-0.64,-194.7,186.9,-12.1,258,1499,0.12,1.83,0.00,0.000,6,0.142,0.026,2338,2470,3994
$GC,1837,-0.83,-194.7,214.5,-6.5,319,1844,0.17,0.00,0.00,0.000,6,0.066,0.000,2257,2471,3995
$GC,2183,-0.71,-194.7,258.0,-10.9,380,2189,0.17,1.98,0.00,0.000,4,0.154,0.047,2304,3755,3995
$GC,2263,-0.82,-194.7,264.9,-7.6,394,2269,0.00,1.83,0.00,0.000,6,0.000,0.027,2304,2463,3995
$GC,2607,-0.93,-194.7,292.5,-10.0,455,2615,0.17,2.00,0.00,0.000,4,0.071,0.049,2221,3756,3995
$GC,2633,-0.84,-194.7,295.9,-13.0,459,2641,0.20,1.85,0.00,0.000,6,0.157,0.027,2278,2451,3995
$GC,2962,-0.84,-194.7,334.9,-10.6,492,2966,0.00,2.03,0.00,0.000,4,0.000,0.050,2275,3761,3995
$GC,3008,-0.84,-194.7,339.8,-10.4,496,3012,0.00,1.83,0.00,0.000,6,0.000,0.028,2275,2481,3995
$GC,3340,-0.84,-194.7,372.8,-9.1,527,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2481,3994
$GC,3659,-0.84,-194.7,402.6,-9.8,557,3662,0.00,2.00,0.00,0.000,4,0.000,0.053,2275,3764,3993
$GC,3805,-0.84,-194.7,417.8,-10.8,570,3809,0.00,1.85,0.00,0.000,6,0.000,0.029,2275,2477,3993
$GC,4136,-0.88,-194.7,451.9,-10.0,601,4140,0.00,2.00,0.00,0.000,4,0.000,0.053,2275,3761,3991
$GC,4195,-0.93,-194.7,457.3,-9.6,606,4198,0.00,1.85,0.00,0.000,6,0.000,0.031,2275,2477,3991
$GC,4525,-0.99,-194.7,482.5,-6.7,637,4530,0.15,2.10,0.00,0.000,4,0.074,0.031,2212,1036,3989
$GC,4566,-0.84,-194.7,486.1,-9.6,640,4571,0.22,2.17,0.00,0.000,6,0.156,0.038,2272,2477,3988
$GC,4898,-0.89,-194.7,516.1,-9.7,663,4902,0.00,2.00,0.00,0.000,4,0.000,0.056,2271,3767,3986
$GC,5016,-0.97,-194.7,528.3,-9.9,668,5020,0.12,1.85,0.00,0.000,6,0.081,0.030,2221,2491,3986
$STATE,5278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5278,begin apogee
$GC,5284,-0.22,0.0,560.2,10.9,681,5373,0.80,0.00,85.22,1.064,6,0.153,0.000,2466,2491,3531
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5376,1.05,194.7,562.6,0.0,685,5532,1.12,2.20,147.68,1.029,4,0.054,0.031,2894,1111,2738
$GC,5784,0.51,194.7,519.6,16.9,704,5789,0.68,2.17,0.00,0.000,6,0.193,0.038,2710,2518,2733
$GC,6111,0.60,266.6,485.4,9.0,727,6172,0.00,2.17,54.22,0.992,4,0.000,0.032,2716,1120,2443
$GC,6222,0.75,307.2,474.4,10.3,737,6263,0.20,2.20,32.45,0.960,6,0.070,0.035,2791,2532,2279
$GC,6581,0.62,307.2,420.7,15.8,771,6585,0.17,2.12,0.00,0.000,4,0.173,0.031,2751,1118,2271
$GC,6722,0.67,307.2,402.6,12.9,783,6726,0.00,2.15,0.00,0.000,6,0.000,0.036,2751,2531,2270
$GC,7055,0.71,342.4,363.6,10.5,814,7088,0.00,2.17,26.23,0.927,4,0.000,0.033,2759,1106,2136
$GC,7145,0.80,342.4,353.7,12.0,822,7150,0.12,2.17,0.00,0.000,6,0.087,0.036,2808,2520,2133
$GC,7470,0.68,342.4,304.0,13.6,852,7475,0.17,2.10,0.00,0.000,4,0.170,0.032,2761,1119,2130
$GC,7543,0.76,342.4,294.9,12.4,862,7549,0.00,2.10,0.00,0.000,6,0.000,0.036,2761,2503,2129
$GC,7887,0.78,358.7,249.8,11.3,923,7905,0.10,0.00,13.10,0.820,6,0.094,0.000,2802,2504,2067
$GC,8242,0.78,358.7,201.2,13.7,986,8248,0.00,2.08,0.00,0.000,4,0.000,0.033,2804,1113,2064
$GC,8333,0.78,358.7,189.3,12.1,1002,8339,0.00,2.10,0.00,0.000,6,0.000,0.035,2803,2506,2064
$GC,8676,0.80,372.9,144.9,11.4,1063,8695,0.00,2.10,11.68,0.728,4,0.000,0.032,2804,1106,2010
$GC,8870,1.00,430.8,124.5,9.6,1097,8923,0.17,2.08,44.60,0.742,6,0.071,0.035,2877,2479,1773
$GC,9263,1.02,440.9,70.8,11.6,1166,9277,0.00,2.10,8.27,0.612,4,0.000,0.031,2884,1112,1733
$GC,9339,1.02,440.9,60.5,13.8,1179,9346,0.00,2.08,0.00,0.000,6,0.000,0.035,2884,2483,1732
$GC,9687,1.09,454.4,16.3,11.4,1240,9704,0.00,2.05,11.62,0.591,4,0.000,0.030,2884,1104,1679
$STATE,9804,end climb,SURFACE_DEPTH_REACHED
$STATE,9804,begin surface coast
$FINISH,2.3,1.021563
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9891,0.00,0.000,0,0,1676,455.28
$SM_GC,2.64,7.25,0.00,0.00,0.052,0.000,0.000,143,2442,1676,-7.50,0.42,455.28
$IRIDIUM_FIX,2411.01,12254.20,060998,040451
$TT8_MAMPS,0.028379
$HUMID,1606
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.5,26.550
$10V_AH,10.8,15.425
$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,23.250,81.150,435.075,0.000,0.000,29.751,42.078,199.008,3.750,0.000,0.000,16.428,2141.091,5048.681,531.876,2064.823,495.138,0.000,1566.949,0.000,2027.900,0.000,26.063,0.000
$DEVICE_MAMPS,245.440,59.826,1063.829,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.482,929.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66424,1262
$CAP_FILE_SIZE,117189,0
$CFSIZE,260165632,214376448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,  8.7,1
$GPS,120609,103007,2422.153,12253.268,39,1.5,39,-3.4