version: 66.04
glider: 167
mission: 2
dive: 132
start: 6 10 109 20 37 44
data:
$ID,167
$MISSION,2
$DIVE,132
$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,-7438.5176
$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,80
$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
$GPS1,202836,2408.010,12306.336,34,1.5,37,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-63.4
$GPS2,203722,2408.135,12306.362,10,2.9,29,-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,263.2,34740,-18.3,-12.000
$D_GRID,556
$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,-194.7,0.0,0.0,0,51,0.00,0.00,-34.35,0.000,2,0.000,0.000,142,2420,2482
$GC,54,-1.05,-194.7,3.0,-2.5,5,118,8.32,2.08,-49.92,0.000,4,0.246,0.041,2197,1026,3989
$GC,153,-0.31,-194.7,17.8,-30.0,21,160,0.88,2.10,0.00,0.000,6,0.186,0.032,2439,2433,3990
$GC,498,-0.47,-194.7,60.6,-11.0,82,505,0.15,2.00,0.00,0.000,4,0.070,0.045,2373,3755,3990
$GC,562,-0.40,-194.7,70.1,-14.6,93,569,0.15,1.88,0.00,0.000,6,0.150,0.024,2413,2421,3990
$GC,908,-0.52,-194.7,108.5,-11.6,154,915,0.12,2.03,0.00,0.000,4,0.075,0.044,2358,3757,3990
$GC,972,-0.42,-194.7,118.3,-15.1,165,979,0.17,1.83,0.00,0.000,6,0.150,0.024,2407,2446,3991
$GC,1317,-0.64,-194.7,150.6,-9.1,226,1324,0.17,1.98,0.00,0.000,4,0.063,0.025,2323,1048,3992
$GC,1416,-0.58,-194.7,163.7,-13.5,243,1423,0.15,2.05,0.00,0.000,6,0.151,0.031,2360,2445,3992
$GC,1762,-0.70,-194.7,200.7,-8.5,304,1768,0.12,1.98,0.00,0.000,4,0.076,0.044,2302,3763,3993
$GC,1804,-0.62,-194.7,205.1,-11.3,311,1810,0.15,1.83,0.00,0.000,6,0.148,0.025,2344,2459,3993
$GC,2148,-0.80,-194.7,234.3,-7.5,372,2155,0.17,1.98,0.00,0.000,4,0.064,0.045,2261,3756,3993
$GC,2172,-0.80,-194.7,236.7,-9.8,376,2179,0.00,1.85,0.00,0.000,6,0.000,0.024,2261,2426,3993
$GC,2516,-0.68,-194.7,279.5,-12.4,437,2522,0.17,1.95,0.00,0.000,4,0.154,0.026,2318,1050,3994
$GC,2563,-0.80,-194.7,284.2,-9.3,445,2569,0.00,2.08,0.00,0.000,6,0.000,0.032,2318,2456,3994
$GC,2904,-0.93,-194.7,315.5,-8.4,491,2908,0.17,1.98,0.00,0.000,4,0.069,0.047,2233,3765,3994
$GC,2961,-0.73,-194.7,322.3,-12.3,496,2966,0.25,1.83,0.00,0.000,6,0.153,0.025,2307,2470,3994
$GC,3294,-0.83,-194.7,350.1,-8.2,527,3298,0.00,2.05,0.00,0.000,4,0.000,0.028,2308,1039,3994
$GC,3407,-0.97,-194.7,360.7,-10.1,537,3412,0.20,2.10,0.00,0.000,6,0.067,0.033,2223,2458,3993
$GC,3733,-0.74,-194.7,408.1,-11.6,567,3735,0.28,0.00,0.00,0.000,6,0.163,0.000,2302,2459,3993
$GC,4052,-0.87,-194.7,432.7,-8.7,597,4057,0.12,1.98,0.00,0.000,4,0.083,0.051,2247,3752,3991
$GC,4091,-0.76,-194.7,437.7,-13.7,600,4098,0.17,1.88,0.00,0.000,6,0.156,0.027,2297,2441,3991
$GC,4417,-0.87,-194.7,471.7,-10.0,631,4421,0.00,2.03,0.00,0.000,4,0.000,0.030,2297,1034,3989
$GC,4453,-0.97,-194.7,475.3,-11.2,634,4457,0.17,2.12,0.00,0.000,6,0.071,0.035,2223,2455,3989
$GC,4786,-0.77,-194.7,521.1,-14.2,658,4787,0.25,0.00,0.00,0.000,6,0.162,0.000,2295,2456,3986
$STATE,5050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5050,begin apogee
$GC,5056,-0.22,0.0,546.3,8.7,671,5144,0.55,0.00,84.88,1.037,6,0.134,0.000,2471,2513,3532
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5147,1.05,194.7,549.4,0.0,675,5301,1.12,2.17,146.10,1.006,4,0.060,0.029,2894,1113,2737
$GC,5422,0.51,194.7,529.5,18.8,687,5429,0.65,2.15,0.00,0.000,6,0.189,0.035,2716,2511,2734
$GC,5739,0.64,297.6,494.2,7.7,706,5827,0.10,2.05,77.57,0.977,4,0.087,0.050,2759,3751,2317
$GC,5899,0.47,297.6,475.9,16.4,720,5906,0.22,1.85,0.00,0.000,6,0.165,0.027,2700,2500,2313
$GC,6225,0.77,428.8,446.8,6.6,751,6334,0.22,2.15,99.70,0.952,4,0.066,0.033,2802,1131,1781
$GC,6368,0.77,428.8,427.3,16.7,764,6372,0.00,2.12,0.00,0.000,6,0.000,0.035,2802,2494,1778
$GC,6700,0.77,428.8,369.7,19.0,795,6704,0.00,1.98,0.00,0.000,4,0.000,0.053,2802,3762,1771
$GC,6734,0.70,428.8,362.8,18.9,798,6739,0.15,1.85,0.00,0.000,6,0.173,0.028,2770,2490,1771
$GC,7065,0.77,428.8,311.9,15.3,829,7068,0.00,2.03,0.00,0.000,4,0.000,0.032,2773,1109,1769
$GC,7093,0.87,428.8,307.2,16.3,831,7099,0.15,2.10,0.00,0.000,6,0.078,0.036,2833,2500,1769
$GC,7433,0.77,428.8,243.5,18.3,888,7439,0.15,0.00,0.00,0.000,6,0.161,0.000,2793,2502,1767
$GC,7777,0.86,428.8,195.9,12.4,949,7783,0.00,1.92,0.00,0.000,4,0.000,0.050,2793,3761,1765
$GC,7795,0.97,428.8,193.2,14.1,952,7802,0.17,1.85,0.00,0.000,6,0.071,0.028,2870,2470,1765
$GC,8140,0.88,428.8,138.7,16.5,1013,8146,0.15,1.95,0.00,0.000,4,0.170,0.030,2838,1122,1764
$GC,8322,1.09,488.2,117.7,9.5,1045,8371,0.15,2.03,42.95,0.723,6,0.071,0.034,2901,2483,1540
$GC,8710,1.09,488.2,59.5,14.8,1113,8716,0.00,1.95,0.00,0.000,4,0.000,0.048,2902,3765,1534
$GC,8750,1.09,488.2,53.5,14.6,1120,8756,0.00,1.85,0.00,0.000,6,0.000,0.025,2911,2470,1534
$STATE,9091,end climb,SURFACE_DEPTH_REACHED
$STATE,9091,begin surface coast
$FINISH,1.6,1.020523
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9187,0.00,0.000,0,0,1532,490.60
$SM_GC,2.43,7.22,0.00,0.00,0.049,0.000,0.000,141,2466,1532,-7.50,1.10,490.60
$IRIDIUM_FIX,2359.20,12305.39,040998,202006
$TT8_MAMPS,0.028379
$HUMID,1617
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.9,44.1
$24V_AH,24.6,24.665
$10V_AH,10.9,14.466
$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,23.400,75.575,451.200,0.000,0.000,55.307,68.306,210.433,4.000,0.000,0.000,30.780,2009.760,4709.510,528.433,1916.933,549.717,0.000,1503.323,0.000,1861.671,0.000,31.737,0.000
$DEVICE_MAMPS,246.207,108.147,1036.984,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.462,883.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60137,1184
$CAP_FILE_SIZE,113038,0
$CFSIZE,260165632,215248896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,315.7,1
$GPS,100609,231207,2408.473,12304.207,42,1.4,42,-3.4