version: 66.04
glider: 167
mission: 2
dive: 148
start: 6 12 109 10 40 35
data:
$ID,167
$MISSION,2
$DIVE,148
$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,-7772.3018
$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,74
$R_STBD_OVSHOOT,38
$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
$GPS1,103007,2422.153,12253.268,39,1.5,39,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.5
$GPS2,104013,2422.216,12253.357,10,1.4,15,-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,304.8,100959,-18.3,-12.000
$D_GRID,432
$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,-194.7,0.0,0.0,0,45,0.00,0.00,-28.58,0.000,2,0.000,0.000,143,2442,2385
$GC,48,-1.05,-194.7,3.0,-2.5,4,115,8.35,2.10,-50.95,0.000,4,0.245,0.059,2193,3767,3989
$GC,239,-0.22,-194.7,49.9,-35.1,37,246,0.95,1.95,0.00,0.000,6,0.172,0.024,2470,2399,3990
$GC,585,-1.20,-194.7,76.8,-8.5,98,592,0.82,2.10,0.00,0.000,4,0.078,0.046,2161,3762,3992
$GC,632,-0.58,-194.7,85.2,-21.9,106,639,0.65,1.85,0.00,0.000,6,0.170,0.025,2352,2451,3992
$GC,977,-0.65,-194.7,130.7,-9.9,167,983,0.00,2.00,0.00,0.000,4,0.000,0.028,2352,1051,3993
$GC,1046,-0.80,-194.7,137.0,-8.2,179,1052,0.17,2.08,0.00,0.000,6,0.064,0.033,2271,2453,3992
$GC,1390,-0.64,-194.7,181.5,-16.5,240,1398,0.20,1.98,0.00,0.000,4,0.156,0.046,2329,3767,3994
$GC,1450,-0.79,-194.7,188.8,-10.7,250,1456,0.12,1.90,0.00,0.000,6,0.077,0.025,2272,2423,3994
$GC,1795,-0.71,-194.7,226.4,-8.8,311,1801,0.15,0.00,0.00,0.000,6,0.146,0.000,2315,2423,3995
$GC,2139,-0.83,-194.7,260.5,-11.0,372,2146,0.12,2.08,0.00,0.000,4,0.077,0.049,2261,3767,3995
$GC,2238,-0.74,-194.7,273.2,-12.6,389,2245,0.15,1.88,0.00,0.000,6,0.149,0.026,2303,2442,3995
$GC,2580,-0.83,-194.7,303.6,-8.2,446,2584,0.00,2.03,0.00,0.000,4,0.000,0.049,2303,3754,3995
$GC,2636,-0.94,-194.7,307.9,-7.7,451,2641,0.17,1.85,0.00,0.000,6,0.068,0.028,2227,2454,3995
$GC,2967,-0.75,-194.7,352.4,-13.3,482,2972,0.22,2.03,0.00,0.000,4,0.155,0.028,2298,1043,3995
$GC,3042,-0.89,-194.7,360.3,-10.0,488,3046,0.12,2.10,0.00,0.000,6,0.079,0.035,2245,2452,3994
$GC,3368,-0.81,-194.7,401.2,-13.2,518,3372,0.12,2.08,0.00,0.000,4,0.171,0.028,2278,1034,3993
$GC,3412,-0.88,-194.7,406.7,-11.2,521,3418,0.00,2.10,0.00,0.000,6,0.000,0.035,2278,2440,3993
$STATE,3670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3670,begin apogee
$GC,3676,-0.22,0.0,432.4,8.3,546,3764,0.57,0.00,84.88,0.933,6,0.135,0.000,2467,2515,3531
$STATE,3765,end apogee,CONTROL_FINISHED_OK
$STATE,3765,begin climb
$GC,3768,1.05,194.7,435.8,0.0,555,3919,1.12,2.08,144.00,0.908,4,0.060,0.052,2883,3755,2738
$GC,4077,0.38,194.7,410.4,17.6,583,4082,0.80,1.83,0.00,0.000,6,0.194,0.026,2675,2500,2734
$GC,4403,0.73,355.6,391.1,5.4,613,4533,0.28,2.15,119.53,0.890,4,0.064,0.032,2789,1134,2080
$GC,4640,0.73,355.6,362.5,13.2,634,4646,0.00,2.10,0.00,0.000,6,0.000,0.035,2790,2491,2076
$GC,4967,0.73,355.6,316.0,15.7,665,4971,0.00,2.05,0.00,0.000,4,0.000,0.032,2789,1118,2072
$GC,5005,0.73,355.6,309.8,14.8,668,5013,0.00,2.08,0.00,0.000,6,0.000,0.035,2789,2465,2072
$GC,5345,0.73,355.6,260.6,13.0,723,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2465,2070
$GC,5687,0.85,449.3,225.3,8.1,784,5764,0.00,2.12,69.22,0.805,4,0.000,0.052,2789,3758,1699
$GC,5810,0.98,505.7,214.8,9.7,805,5864,0.20,1.92,44.28,0.772,6,0.068,0.028,2871,2466,1467
$GC,6205,0.92,505.7,145.9,17.0,874,6211,0.12,2.00,0.00,0.000,4,0.173,0.032,2847,1109,1458
$GC,6349,1.01,505.7,125.9,13.9,899,6355,0.00,2.00,0.00,0.000,6,0.000,0.035,2847,2438,1457
$GC,6693,1.14,515.8,80.2,11.6,960,6707,0.17,1.98,6.72,0.578,4,0.069,0.031,2925,1103,1431
$GC,6792,1.07,515.8,61.6,21.3,977,6799,0.15,1.98,0.00,0.000,6,0.159,0.034,2885,2429,1429
$GC,7137,1.26,544.2,12.3,10.8,1038,7167,0.17,2.08,22.95,0.607,4,0.072,0.049,2963,3772,1314
$STATE,7193,end climb,SURFACE_DEPTH_REACHED
$STATE,7193,begin surface coast
$FINISH,1.6,1.010792
$STATE,7211,end surface coast,CONTROL_FINISHED_OK
$STATE,7211,begin surface
$SM_CCo,7291,0.00,0.000,0,0,1310,545.06
$SM_GC,2.49,7.45,0.00,0.00,0.051,0.000,0.000,143,2411,1310,-7.50,-0.45,545.06
$IRIDIUM_FIX,2411.01,12257.47,060998,101053
$TT8_MAMPS,0.028379
$HUMID,1613
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.7,26.692
$10V_AH,10.9,15.488
$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,23.400,60.525,491.575,0.000,0.000,64.830,82.223,274.801,2.500,0.000,0.000,15.526,1721.477,3361.112,544.246,1662.381,606.447,0.000,1405.195,0.000,1629.884,0.000,17.714,0.000
$DEVICE_MAMPS,244.673,90.506,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,701.153,788.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53650,1051
$CAP_FILE_SIZE,95840,0
$CFSIZE,260165632,214347776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311,353.9,1
$GPS,120609,124307,2424.140,12252.180,10,2.0,27,-3.5