version: 66.04
glider: 167
mission: 2
dive: 101
start: 6 8 109 5 21 36
data:
$ID,167
$MISSION,2
$DIVE,101
$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,-6674.3638
$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,69
$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
$GPS1,051231,2420.049,12319.508,39,1.8,39,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-68.3
$GPS2,052114,2419.961,12319.593,14,1.5,14,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,229.0,26656,-18.3,-12.000
$D_GRID,364
$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,-194.7,0.0,0.0,0,46,0.00,0.00,-29.70,0.000,2,0.000,0.000,144,2422,2492
$GC,50,-1.05,-194.7,3.2,-2.5,5,111,8.38,2.10,-46.92,0.000,4,0.249,0.043,2201,1024,3989
$GC,168,-0.23,-194.7,24.5,-32.8,25,175,0.95,2.12,0.00,0.000,6,0.189,0.034,2461,2438,3990
$GC,513,-0.57,-194.7,60.4,-7.5,86,521,0.25,2.03,0.00,0.000,4,0.054,0.048,2345,3766,3991
$GC,590,-0.44,-194.7,72.2,-17.3,99,596,0.20,1.92,0.00,0.000,6,0.153,0.025,2401,2410,3991
$GC,934,-0.60,-194.7,111.6,-9.1,160,941,0.15,2.08,0.00,0.000,4,0.071,0.046,2331,3763,3992
$GC,1037,-0.53,-194.7,125.0,-13.7,178,1045,0.15,1.85,0.00,0.000,6,0.153,0.026,2372,2450,3992
$GC,1384,-0.75,-194.7,156.9,-5.5,239,1390,0.17,0.00,0.00,0.000,6,0.066,0.000,2291,2450,3993
$GC,1728,-0.63,-194.7,200.5,-13.9,300,1735,0.17,2.00,0.00,0.000,4,0.153,0.028,2340,1050,3993
$GC,1771,-0.75,-194.7,205.8,-11.0,307,1776,0.00,2.08,0.00,0.000,6,0.000,0.034,2336,2453,3994
$GC,2115,-0.87,-194.7,239.3,-9.3,368,2122,0.17,2.05,0.00,0.000,4,0.070,0.028,2253,1038,3994
$GC,2242,-0.74,-194.7,256.3,-12.8,390,2250,0.20,2.05,0.00,0.000,6,0.156,0.034,2304,2424,3994
$GC,2588,-0.79,-194.7,289.9,-8.0,451,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2425,3994
$GC,2924,-0.85,-194.7,323.9,-12.1,493,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2425,3994
$GC,3246,-0.90,-194.7,357.5,-8.9,523,3250,0.15,2.00,0.00,0.000,4,0.079,0.029,2244,1053,3993
$STATE,3293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3293,begin apogee
$GC,3301,-0.22,0.0,364.9,15.2,527,3389,0.73,0.00,84.53,0.881,6,0.154,0.000,2465,2502,3532
$STATE,3390,end apogee,CONTROL_FINISHED_OK
$STATE,3390,begin climb
$GC,3392,1.05,194.7,368.1,0.0,536,3544,1.17,2.05,142.05,0.858,4,0.077,0.050,2882,3751,2737
$GC,3800,0.40,194.7,321.1,17.4,572,3807,0.77,1.80,0.00,0.000,6,0.198,0.027,2680,2508,2734
$GC,4127,0.72,322.3,297.9,6.7,605,4226,0.22,2.17,93.62,0.824,4,0.066,0.032,2780,1123,2216
$GC,4480,0.72,322.3,251.6,14.0,667,4486,0.00,2.15,0.00,0.000,6,0.000,0.036,2779,2535,2208
$GC,4824,0.72,324.7,208.2,11.9,728,4830,0.00,2.10,0.00,0.000,4,0.000,0.032,2780,1110,2205
$GC,4898,0.79,324.7,198.9,12.1,741,4904,0.00,2.12,0.00,0.000,6,0.000,0.035,2779,2521,2205
$GC,5242,0.87,344.5,154.3,11.2,802,5267,0.12,1.95,15.90,0.716,4,0.081,0.051,2831,3761,2126
$GC,5301,0.69,344.5,145.3,16.8,812,5308,0.25,1.80,0.00,0.000,6,0.166,0.028,2771,2514,2124
$GC,5646,0.95,421.3,109.2,8.8,873,5711,0.20,2.03,57.12,0.701,4,0.069,0.051,2860,3750,1812
$GC,5776,0.82,421.3,92.3,15.5,895,5783,0.22,1.80,0.00,0.000,6,0.170,0.026,2808,2514,1808
$GC,6120,1.10,471.3,55.3,9.9,956,6164,0.22,2.03,37.47,0.647,4,0.061,0.048,2908,3757,1609
$GC,6221,0.98,471.3,39.2,18.3,973,6228,0.20,1.80,0.00,0.000,6,0.172,0.025,2864,2511,1605
$STATE,6502,end climb,SURFACE_DEPTH_REACHED
$STATE,6502,begin surface coast
$FINISH,1.7,1.019098
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6607,0.00,0.000,0,0,1600,473.92
$SM_GC,2.57,7.15,0.00,0.00,0.051,0.000,0.000,144,2504,1600,-7.49,2.18,473.92
$IRIDIUM_FIX,2408.65,12319.77,020998,050511
$TT8_MAMPS,0.028379
$HUMID,1553
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.8,21.151
$10V_AH,10.9,12.632
$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,22.225,48.275,430.700,0.000,0.000,62.073,67.852,207.058,1.750,0.000,0.000,14.770,1662.292,2888.954,482.460,1588.779,505.892,0.000,1293.451,0.000,1558.588,0.000,12.703,0.000
$DEVICE_MAMPS,248.508,50.622,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.114,825.284,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53602,1028
$CAP_FILE_SIZE,87178,0
$CFSIZE,260165632,216928256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,152.1,1
$GPS,080609,071249,2419.129,12319.229,16,1.9,33,-3.5