version: 66.04
glider: 167
mission: 2
dive: 105
start: 6 8 109 12 28 28
data:
$ID,167
$MISSION,2
$DIVE,105
$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,-6798.3623
$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,77
$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
$GPS1,122228,2418.727,12319.921,8,99.0,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.0
$GPS2,122807,2418.769,12320.008,40,1.0,40,-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,235.1,25077,-18.3,-12.000
$D_GRID,337
$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,-194.7,0.0,0.0,0,53,0.00,0.00,-36.08,0.000,2,0.000,0.000,144,2429,2654
$GC,56,-1.05,-194.7,3.5,-4.0,6,110,8.25,2.03,-38.88,0.000,4,0.246,0.041,2200,1027,3987
$GC,191,-0.26,-194.7,33.1,-33.2,29,198,0.90,2.10,0.00,0.000,6,0.181,0.033,2452,2441,3988
$GC,536,-0.62,-194.7,64.9,-7.5,90,542,0.28,0.00,0.00,0.000,6,0.055,0.000,2329,2443,3990
$GC,879,-0.39,-194.7,128.3,-19.4,151,886,0.25,1.98,0.00,0.000,4,0.155,0.044,2399,3757,3990
$GC,932,-0.66,-194.7,134.9,-9.1,160,940,0.17,1.90,0.00,0.000,6,0.066,0.025,2321,2406,3991
$GC,1278,-0.66,-194.7,178.3,-11.6,221,1284,0.00,2.05,0.00,0.000,4,0.000,0.046,2316,3754,3992
$GC,1308,-0.61,-194.7,182.0,-12.9,226,1314,0.12,1.88,0.00,0.000,6,0.144,0.025,2350,2419,3992
$GC,1652,-0.76,-194.7,213.2,-8.3,287,1659,0.15,1.95,0.00,0.000,4,0.070,0.027,2283,1043,3992
$GC,1733,-0.63,-194.7,223.6,-13.7,301,1740,0.22,2.03,0.00,0.000,6,0.145,0.033,2343,2424,3992
$GC,2079,-0.80,-194.7,252.5,-8.6,362,2085,0.17,2.00,0.00,0.000,4,0.066,0.047,2261,3751,3992
$GC,2131,-0.64,-194.7,259.0,-13.5,371,2138,0.25,1.88,0.00,0.000,6,0.150,0.026,2335,2420,3992
$GC,2476,-0.81,-194.7,285.2,-4.6,432,2484,0.15,2.05,0.00,0.000,4,0.071,0.048,2265,3759,3992
$GC,2514,-0.69,-194.7,288.2,-8.9,438,2520,0.20,1.90,0.00,0.000,6,0.154,0.026,2323,2416,3992
$GC,2855,-0.80,-194.7,315.0,-8.8,483,2857,0.12,0.00,0.00,0.000,6,0.077,0.000,2269,2414,3992
$STATE,3009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3010,begin apogee
$GC,3016,-0.22,0.0,337.2,14.1,498,3103,0.60,0.00,83.75,0.846,6,0.149,0.000,2461,2520,3531
$STATE,3104,end apogee,CONTROL_FINISHED_OK
$STATE,3104,begin climb
$GC,3107,1.05,194.7,340.6,0.0,507,3255,1.20,2.15,141.12,0.825,4,0.083,0.030,2890,1121,2737
$GC,3386,0.56,194.7,320.0,14.4,531,3393,0.57,2.10,0.00,0.000,6,0.189,0.035,2733,2503,2735
$GC,3718,0.63,245.4,285.9,9.9,574,3759,0.00,0.00,37.12,0.792,6,0.000,0.000,2733,2503,2530
$GC,4098,0.70,249.4,237.0,11.8,641,4110,0.12,1.95,3.80,0.492,4,0.077,0.053,2784,3742,2515
$GC,4307,0.53,273.9,210.5,11.0,678,4333,0.20,1.77,19.35,0.744,6,0.171,0.028,2719,2528,2415
$GC,4673,0.85,375.3,183.1,7.8,742,4755,0.25,2.12,74.50,0.746,4,0.062,0.031,2829,1120,1999
$GC,4784,0.85,375.3,167.1,15.0,761,4790,0.00,2.15,0.00,0.000,6,0.000,0.035,2829,2518,1996
$GC,5127,0.85,375.3,115.7,12.8,822,5133,0.00,1.90,0.00,0.000,4,0.000,0.050,2829,3759,1990
$GC,5168,0.78,375.3,110.2,13.9,829,5175,0.12,1.80,0.00,0.000,6,0.171,0.028,2797,2513,1989
$GC,5513,1.14,519.3,75.5,6.0,890,5625,0.28,2.05,105.18,0.654,4,0.058,0.048,2915,3753,1412
$GC,5681,1.00,519.3,47.6,19.8,919,5688,0.20,1.80,0.00,0.000,6,0.173,0.025,2871,2517,1408
$STATE,6000,end climb,SURFACE_DEPTH_REACHED
$STATE,6000,begin surface coast
$FINISH,1.7,1.011384
$STATE,6024,end surface coast,CONTROL_FINISHED_OK
$STATE,6024,begin surface
$SM_CCo,6100,0.00,0.000,0,0,1402,522.49
$SM_GC,2.37,7.22,0.00,0.00,0.056,0.000,0.000,142,2511,1402,-7.50,2.37,522.49
$IRIDIUM_FIX,2408.65,12319.77,020998,101028
$TT8_MAMPS,0.028379
$HUMID,1583
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.9,21.571
$10V_AH,10.9,12.846
$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,22.025,43.650,464.825,0.000,0.000,30.975,33.418,142.546,1.500,0.000,0.000,40.622,1572.974,2492.518,499.683,1518.161,360.318,0.000,1273.753,0.000,1466.042,0.000,12.782,0.000
$DEVICE_MAMPS,246.207,67.496,846.001,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.382,774.067,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50588,980
$CAP_FILE_SIZE,81669,0
$CFSIZE,260165632,216743936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250, 71.3,1
$GPS,080609,141110,2418.497,12320.162,8,2.6,27,-3.5