version: 66.04
glider: 167
mission: 2
dive: 149
start: 6 12 109 12 56 57
data:
$ID,167
$MISSION,2
$DIVE,149
$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,-7802.9917
$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,78
$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
$GPS1,124307,2424.140,12252.180,10,2.0,27,-3.5
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.5
$GPS2,125636,2424.344,12252.312,13,1.4,29,-3.5
$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,276.0,96976,-18.3,-12.000
$D_GRID,539
$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,-194.7,0.0,0.0,0,68,0.00,0.00,-51.12,0.000,2,0.000,0.000,144,2412,2609
$GC,71,-1.05,-194.7,3.4,-3.5,8,125,8.38,2.00,-38.62,0.000,4,0.246,0.041,2201,1031,3988
$GC,289,-0.45,-194.7,61.0,-28.9,46,297,0.70,2.10,0.00,0.000,6,0.170,0.032,2398,2441,3989
$GC,635,-0.63,-194.7,101.8,-8.8,107,642,0.17,2.00,0.00,0.000,4,0.065,0.047,2316,3758,3990
$GC,693,-0.49,-194.7,110.2,-16.6,117,700,0.25,1.90,0.00,0.000,6,0.146,0.025,2389,2412,3990
$GC,1038,-0.72,-194.7,140.2,-5.7,178,1046,0.17,2.08,0.00,0.000,4,0.064,0.046,2303,3765,3991
$GC,1115,-0.58,-194.7,148.5,-13.2,191,1121,0.17,1.88,0.00,0.000,6,0.149,0.025,2353,2431,3991
$GC,1460,-0.75,-194.7,183.1,-7.0,252,1466,0.15,2.03,0.00,0.000,4,0.068,0.046,2279,3754,3991
$GC,1524,-0.63,-194.7,189.8,-11.5,263,1531,0.20,1.85,0.00,0.000,6,0.147,0.026,2337,2444,3992
$GC,1871,-0.78,-194.7,225.2,-8.2,324,1877,0.12,0.00,0.00,0.000,6,0.075,0.000,2280,2444,3992
$GC,2214,-0.78,-194.7,267.0,-14.7,385,2220,0.00,2.03,0.00,0.000,4,0.000,0.048,2275,3766,3992
$GC,2243,-0.72,-194.7,271.2,-14.8,390,2251,0.12,1.88,0.00,0.000,6,0.149,0.025,2310,2439,3992
$GC,2585,-0.84,-194.7,307.2,-8.1,443,2589,0.00,2.03,0.00,0.000,4,0.000,0.048,2303,3757,3991
$GC,2669,-0.94,-194.7,314.0,-7.8,450,2677,0.17,1.85,0.00,0.000,6,0.067,0.026,2226,2455,3992
$GC,2995,-0.71,-194.7,356.2,-14.0,481,2999,0.25,2.03,0.00,0.000,4,0.152,0.028,2307,1043,3991
$GC,3050,-0.86,-194.7,362.7,-9.8,485,3056,0.10,2.10,0.00,0.000,6,0.084,0.034,2259,2457,3991
$GC,3375,-0.86,-194.7,397.8,-8.7,516,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2457,3990
$GC,3695,-0.86,-194.7,426.3,-7.9,546,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2458,3989
$GC,4012,-0.86,-194.7,449.5,-7.6,576,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2457,3987
$GC,4332,-0.86,-194.7,471.1,-9.5,606,4335,0.00,2.00,0.00,0.000,4,0.000,0.053,2258,3757,3985
$GC,4372,-0.86,-194.7,475.2,-10.7,609,4378,0.00,1.88,0.00,0.000,6,0.000,0.030,2258,2460,3984
$GC,4692,-0.86,-194.7,523.6,-15.6,633,4695,0.00,2.08,0.00,0.000,4,0.000,0.031,2258,1026,3981
$GC,4764,-0.86,-194.7,533.2,-12.8,636,4768,0.00,2.12,0.00,0.000,6,0.000,0.037,2258,2437,3981
$STATE,4821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4821,begin apogee
$GC,4827,-0.22,0.0,539.7,11.5,639,4914,0.65,0.00,84.07,1.034,6,0.133,0.000,2466,2510,3531
$STATE,4915,end apogee,CONTROL_FINISHED_OK
$STATE,4915,begin climb
$GC,4917,1.05,194.7,543.2,0.0,643,5073,1.12,2.17,146.05,1.006,4,0.053,0.031,2899,1109,2738
$GC,5299,0.50,194.7,508.6,15.9,660,5304,0.70,2.15,0.00,0.000,6,0.192,0.038,2707,2518,2733
$GC,5623,0.65,316.4,481.0,7.0,686,5723,0.15,2.20,91.12,0.979,4,0.075,0.031,2774,1108,2240
$GC,5802,0.67,340.0,460.1,11.0,702,5826,0.00,2.15,19.08,0.912,6,0.000,0.036,2774,2496,2145
$GC,6144,0.62,340.0,418.0,13.0,734,6147,0.00,2.08,0.00,0.000,4,0.000,0.032,2775,1110,2138
$GC,6205,0.66,372.3,410.0,10.7,739,6235,0.00,2.08,25.05,0.921,6,0.000,0.036,2775,2478,2012
$GC,6560,0.66,372.3,366.7,12.1,773,6564,0.00,2.05,0.00,0.000,4,0.000,0.034,2775,1110,2006
$GC,6606,0.71,372.3,360.7,13.1,777,6609,0.00,2.08,0.00,0.000,6,0.000,0.036,2775,2476,2006
$GC,6937,0.71,372.3,305.4,17.2,808,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2476,2004
$GC,7270,0.75,399.0,263.9,10.9,864,7294,0.00,2.08,20.23,0.842,4,0.000,0.053,2775,3767,1904
$GC,7335,0.76,411.6,256.8,11.5,875,7352,0.00,1.90,11.07,0.782,6,0.000,0.028,2775,2472,1853
$GC,7691,0.90,414.6,211.9,11.9,938,7698,0.17,2.00,0.00,0.000,4,0.074,0.031,2860,1110,1848
$GC,7727,0.79,414.6,206.6,15.5,944,7734,0.22,2.10,0.00,0.000,6,0.166,0.035,2799,2498,1849
$GC,8072,0.95,462.8,171.9,10.0,1005,8119,0.15,2.12,39.38,0.776,4,0.076,0.032,2865,1122,1644
$GC,8142,0.95,462.8,161.7,15.7,1017,8149,0.00,2.10,0.00,0.000,6,0.000,0.035,2865,2491,1642
$GC,8486,0.95,462.8,102.8,14.0,1078,8493,0.00,1.98,0.00,0.000,4,0.000,0.052,2865,3768,1637
$GC,8585,0.89,462.8,88.4,14.3,1095,8591,0.15,1.85,0.00,0.000,6,0.168,0.026,2830,2496,1636
$GC,8930,1.14,465.0,54.3,11.9,1156,8937,0.20,2.03,0.00,0.000,4,0.064,0.031,2922,1102,1636
$GC,9016,1.15,468.7,43.1,11.8,1171,9028,0.00,2.10,4.75,0.491,6,0.000,0.033,2922,2512,1620
$STATE,9307,end climb,SURFACE_DEPTH_REACHED
$STATE,9307,begin surface coast
$FINISH,1.5,1.008413
$STATE,9331,end surface coast,CONTROL_FINISHED_OK
$STATE,9331,begin surface
$SM_CCo,9408,0.00,0.000,0,0,1618,469.26
$SM_GC,2.56,7.38,0.00,0.00,0.058,0.000,0.000,143,2420,1618,-7.50,-0.20,469.26
$IRIDIUM_FIX,2415.74,12416.86,060998,121252
$TT8_MAMPS,0.028379
$HUMID,1607
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,24.6,26.839
$10V_AH,10.9,15.563
$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,21.875,73.175,440.800,0.000,0.000,83.891,185.884,280.665,3.500,0.000,0.000,30.062,2064.987,4858.947,520.999,2007.321,766.746,0.000,1531.156,0.000,1950.257,0.000,24.394,0.000
$DEVICE_MAMPS,246.207,92.807,1033.916,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,823.608,908.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63185,1227
$CAP_FILE_SIZE,114172,0
$CFSIZE,260165632,214265856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.507,354.1,1
$GPS,120609,153452,2427.039,12250.500,13,99.0,32,-3.5