version: 66.04
glider: 167
mission: 2
dive: 103
start: 6 8 109 8 59 51
data:
$ID,167
$MISSION,2
$DIVE,103
$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,-6718.4805
$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,76
$R_STBD_OVSHOOT,37
$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
$GPS1,085406,2418.629,12319.138,30,1.2,30,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.7
$GPS2,085930,2418.616,12319.221,15,1.6,31,-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,217.7,24164,-18.3,-12.000
$D_GRID,331
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-41.72,0.000,2,0.000,0.000,144,2475,2665
$GC,61,-1.05,-194.7,3.4,-3.0,7,115,8.25,2.12,-36.65,0.000,4,0.246,0.042,2200,1041,3989
$GC,149,-0.39,-194.7,20.5,-30.2,22,157,0.77,2.08,0.00,0.000,6,0.180,0.033,2415,2432,3990
$GC,497,-0.51,-194.7,68.0,-10.0,83,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2432,3991
$GC,840,-0.73,-194.7,99.3,-8.4,144,846,0.25,2.00,0.00,0.000,4,0.059,0.047,2302,3757,3992
$GC,881,-0.48,-194.7,105.1,-15.8,151,888,0.30,1.92,0.00,0.000,6,0.157,0.025,2390,2389,3992
$GC,1226,-0.71,-194.7,140.5,-8.3,212,1232,0.17,0.00,0.00,0.000,6,0.064,0.000,2308,2387,3993
$GC,1570,-0.60,-194.7,187.2,-12.9,273,1576,0.15,0.00,0.00,0.000,6,0.158,0.000,2349,2387,3993
$GC,1914,-0.72,-194.7,218.9,-10.1,334,1921,0.12,2.10,0.00,0.000,4,0.078,0.047,2290,3761,3993
$GC,1957,-0.64,-194.7,223.4,-10.2,341,1963,0.17,1.90,0.00,0.000,6,0.150,0.026,2339,2421,3993
$GC,2303,-0.74,-194.7,255.2,-9.2,402,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2420,3994
$GC,2648,-0.87,-194.7,290.1,-9.3,463,2653,0.17,0.00,0.00,0.000,6,0.068,0.000,2259,2421,3994
$STATE,2921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2921,begin apogee
$GC,2927,-0.22,0.0,332.4,16.4,495,3015,0.65,0.00,84.03,0.831,6,0.159,0.000,2462,2525,3532
$STATE,3015,end apogee,CONTROL_FINISHED_OK
$STATE,3015,begin climb
$GC,3018,1.05,194.7,337.9,0.0,504,3167,1.17,2.03,141.25,0.815,4,0.086,0.049,2876,3754,2736
$GC,3421,0.45,194.7,303.2,15.9,540,3428,0.70,1.80,0.00,0.000,6,0.192,0.025,2691,2500,2734
$GC,3763,0.80,341.4,282.2,5.9,598,3880,0.28,2.08,106.65,0.785,4,0.060,0.048,2809,3746,2138
$GC,3992,0.62,341.4,248.0,17.0,638,4000,0.25,1.83,0.00,0.000,6,0.165,0.026,2746,2493,2133
$GC,4339,0.82,385.2,208.3,10.2,699,4379,0.17,2.08,32.42,0.732,4,0.068,0.031,2829,1120,1960
$GC,4397,0.77,385.2,199.4,15.5,709,4404,0.12,2.08,0.00,0.000,6,0.160,0.033,2796,2490,1958
$GC,4742,0.83,385.2,148.5,14.4,770,4749,0.00,1.92,0.00,0.000,4,0.000,0.050,2797,3759,1954
$GC,4795,0.83,385.2,141.2,13.3,779,4801,0.00,1.83,0.00,0.000,6,0.000,0.026,2802,2480,1953
$GC,5138,0.97,401.5,101.1,11.3,840,5158,0.15,2.00,12.65,0.639,4,0.073,0.048,2869,3765,1894
$GC,5200,0.81,401.5,91.8,16.1,850,5208,0.25,1.83,0.00,0.000,6,0.169,0.025,2806,2492,1892
$GC,5546,1.11,468.5,54.3,9.2,911,5599,0.22,0.00,50.00,0.638,6,0.061,0.000,2908,2491,1621
$STATE,5867,end climb,SURFACE_DEPTH_REACHED
$STATE,5867,begin surface coast
$FINISH,1.7,1.011398
$STATE,5886,end surface coast,CONTROL_FINISHED_OK
$STATE,5886,begin surface
$SM_CCo,5963,0.00,0.000,0,0,1611,471.22
$SM_GC,2.51,7.32,0.00,0.00,0.055,0.000,0.000,142,2488,1611,-7.50,1.70,471.22
$IRIDIUM_FIX,2408.65,12317.79,020998,070716
$TT8_MAMPS,0.028379
$HUMID,1538
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,24.9,21.361
$10V_AH,10.9,12.738
$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,21.675,31.700,427.000,0.000,0.000,31.835,32.436,136.488,1.500,0.000,0.000,31.229,1554.493,2403.697,476.708,1505.383,352.484,0.000,1238.445,0.000,1464.951,0.000,11.032,0.000
$DEVICE_MAMPS,246.207,67.496,831.428,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.235,781.445,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50580,971
$CAP_FILE_SIZE,77857,0
$CFSIZE,260165632,216838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285, 37.1,1
$GPS,080609,104002,2418.597,12319.433,14,1.7,14,-3.5