version: 66.04
glider: 167
mission: 2
dive: 134
start: 6 11 109 1 47 18
data:
$ID,167
$MISSION,2
$DIVE,134
$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,-7471.8301
$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,65
$R_STBD_OVSHOOT,42
$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
$GPS1,014125,2409.561,12302.716,39,1.6,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.7
$GPS2,014656,2409.700,12302.731,17,1.8,17,-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,216.3,29102,-18.3,-12.000
$D_GRID,464
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,45,0.00,0.00,-28.30,0.000,2,0.000,0.000,144,2442,2409
$GC,48,-1.05,-194.7,3.1,-2.8,4,117,8.32,2.08,-53.42,0.000,4,0.246,0.058,2193,3755,3989
$GC,158,-0.16,-194.7,20.9,-34.1,22,167,1.05,1.92,0.00,0.000,6,0.188,0.024,2489,2397,3990
$GC,507,-0.96,-194.7,44.7,-5.5,83,514,0.68,2.08,0.00,0.000,4,0.077,0.044,2235,3754,3992
$GC,611,-0.25,-194.7,66.4,-27.4,101,618,0.75,1.83,0.00,0.000,6,0.170,0.024,2456,2452,3991
$GC,956,-0.64,-194.7,94.7,-8.4,162,962,0.30,2.00,0.00,0.000,4,0.051,0.025,2321,1046,3992
$GC,991,-0.53,-194.7,99.6,-15.6,168,999,0.20,2.10,0.00,0.000,6,0.151,0.031,2373,2471,3992
$GC,1338,-0.60,-194.7,142.0,-10.9,229,1344,0.00,2.05,0.00,0.000,4,0.000,0.027,2373,1046,3993
$GC,1356,-0.69,-194.7,144.2,-11.1,232,1364,0.15,2.10,0.00,0.000,6,0.070,0.032,2305,2474,3993
$GC,1702,-0.63,-194.7,193.7,-14.5,293,1708,0.12,1.92,0.00,0.000,4,0.162,0.044,2332,3757,3995
$GC,1772,-0.76,-194.7,201.9,-11.1,305,1778,0.00,1.83,0.00,0.000,6,0.000,0.025,2332,2455,3996
$GC,2118,-0.90,-194.7,231.8,-8.1,366,2125,0.17,2.00,0.00,0.000,4,0.067,0.044,2246,3765,3997
$GC,2193,-0.71,-194.7,242.3,-14.6,379,2200,0.22,1.83,0.00,0.000,6,0.150,0.025,2312,2463,3997
$GC,2539,-0.79,-194.7,279.9,-11.7,440,2545,0.00,1.98,0.00,0.000,4,0.000,0.046,2305,3761,3997
$GC,2597,-0.90,-194.7,286.6,-10.2,450,2604,0.15,1.77,0.00,0.000,6,0.071,0.026,2239,2505,3997
$GC,2934,-0.69,-194.7,337.1,-17.0,490,2939,0.25,2.08,0.00,0.000,4,0.154,0.026,2318,1051,3997
$GC,3066,-0.88,-194.7,351.5,-9.4,501,3071,0.17,2.15,0.00,0.000,6,0.070,0.035,2244,2502,3997
$GC,3397,-0.75,-194.7,388.6,-10.6,532,3402,0.17,2.10,0.00,0.000,4,0.160,0.027,2299,1053,3996
$GC,3425,-0.75,-194.7,391.3,-9.0,534,3429,0.00,2.15,0.00,0.000,6,0.000,0.035,2299,2493,3996
$GC,3758,-0.89,-194.7,415.9,-7.2,565,3763,0.12,2.10,0.00,0.000,4,0.077,0.028,2246,1051,3995
$GC,3848,-0.83,-194.7,424.9,-11.1,572,3856,0.10,2.12,0.00,0.000,6,0.165,0.036,2271,2472,3994
$STATE,4140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4140,begin apogee
$GC,4146,-0.22,0.0,455.4,9.6,600,4234,0.60,0.00,84.95,0.956,6,0.135,0.000,2468,2473,3532
$STATE,4234,end apogee,CONTROL_FINISHED_OK
$STATE,4235,begin climb
$GC,4237,1.05,194.7,458.7,0.0,609,4388,1.10,2.15,143.82,0.933,4,0.051,0.031,2896,1125,2736
$GC,4643,0.51,194.7,418.9,18.8,644,4651,0.68,2.12,0.00,0.000,6,0.189,0.037,2709,2518,2733
$GC,4968,0.58,254.8,388.7,9.5,675,5017,0.00,2.17,44.00,0.903,4,0.000,0.032,2710,1136,2492
$GC,5153,0.87,352.0,372.2,8.0,691,5233,0.32,2.10,73.38,0.890,6,0.059,0.036,2834,2512,2096
$GC,5559,0.67,352.0,300.2,18.1,729,5563,0.22,1.92,0.00,0.000,4,0.163,0.049,2767,3758,2088
$GC,5659,0.67,352.0,284.9,14.2,746,5665,0.00,1.80,0.00,0.000,6,0.000,0.028,2773,2518,2086
$GC,6003,0.77,431.8,244.2,8.7,807,6068,0.00,2.17,58.97,0.820,4,0.000,0.032,2773,1119,1770
$GC,6109,1.12,554.1,236.6,6.9,825,6213,0.38,2.12,94.10,0.790,6,0.058,0.033,2916,2499,1271
$GC,6551,1.00,554.1,145.6,21.4,903,6558,0.17,1.95,0.00,0.000,4,0.169,0.049,2865,3762,1262
$GC,6637,1.00,554.1,129.8,17.4,918,6643,0.00,1.88,0.00,0.000,6,0.000,0.028,2868,2492,1261
$GC,6980,1.10,554.1,70.4,16.8,979,6986,0.00,2.03,0.00,0.000,4,0.000,0.032,2874,1101,1259
$GC,7146,1.29,554.1,47.7,12.1,1008,7154,0.22,2.05,0.00,0.000,6,0.064,0.033,2968,2481,1259
$STATE,7371,end climb,SURFACE_DEPTH_REACHED
$STATE,7371,begin surface coast
$FINISH,1.7,1.009128
$STATE,7384,end surface coast,CONTROL_FINISHED_OK
$STATE,7384,begin surface
$SM_CCo,7461,0.00,0.000,0,0,1257,558.06
$SM_GC,2.36,7.32,0.00,0.00,0.045,0.000,0.000,142,2485,1257,-7.50,1.64,558.06
$IRIDIUM_FIX,2401.56,12303.41,040998,232350
$TT8_MAMPS,0.028379
$HUMID,1639
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.4,129.1
$24V_AH,24.7,24.919
$10V_AH,10.9,14.594
$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,23.975,64.650,499.225,0.000,0.000,31.792,34.141,147.017,2.000,0.000,0.000,17.408,1729.292,3424.687,546.579,1695.297,397.051,0.000,1427.125,0.000,1658.241,0.000,15.814,0.000
$DEVICE_MAMPS,246.207,57.525,956.449,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.764,787.684,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53727,1050
$CAP_FILE_SIZE,95576,0
$CFSIZE,260165632,215150592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.320,345.2,1
$GPS,110609,035254,2410.260,12301.836,24,1.0,41,-3.4