version: 66.04
glider: 167
mission: 2
dive: 107
start: 6 8 109 15 52 55
data:
$ID,167
$MISSION,2
$DIVE,107
$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,-6862.9341
$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,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
$GPS1,154722,2417.842,12320.070,9,99.0,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-65.6
$GPS2,155234,2417.779,12320.120,16,99.0,35,-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,249.0,23635,-18.3,-12.000
$D_GRID,319
$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,14,-1.05,-194.7,0.0,0.0,0,63,0.00,0.00,-46.95,0.000,2,0.000,0.000,142,2429,2662
$GC,66,-1.05,-194.7,3.4,-3.2,8,121,8.32,2.05,-38.10,0.000,4,0.251,0.044,2198,1021,3990
$GC,278,-0.32,-194.7,60.0,-29.9,45,285,0.82,2.10,0.00,0.000,6,0.174,0.033,2432,2439,3991
$GC,624,-0.63,-194.7,90.3,-7.1,106,630,0.22,2.00,0.00,0.000,4,0.059,0.046,2330,3764,3992
$GC,687,-0.49,-194.7,97.8,-13.5,117,694,0.20,1.90,0.00,0.000,6,0.153,0.025,2387,2419,3991
$GC,1033,-0.68,-194.7,132.4,-5.6,178,1039,0.17,2.05,0.00,0.000,4,0.067,0.045,2303,3766,3992
$GC,1141,-0.45,-194.7,148.2,-17.8,197,1148,0.30,1.88,0.00,0.000,6,0.151,0.024,2392,2425,3992
$GC,1486,-0.77,-194.7,172.2,-5.7,258,1492,0.25,1.95,0.00,0.000,4,0.056,0.027,2279,1050,3993
$GC,1523,-0.68,-194.7,175.4,-10.4,264,1529,0.17,2.08,0.00,0.000,6,0.150,0.032,2326,2462,3993
$GC,1868,-0.76,-194.7,210.1,-8.9,325,1874,0.00,1.95,0.00,0.000,4,0.000,0.048,2325,3761,3993
$GC,1915,-0.86,-194.7,214.6,-10.1,333,1921,0.15,1.83,0.00,0.000,6,0.068,0.025,2258,2460,3993
$GC,2259,-0.68,-194.7,268.4,-15.1,394,2265,0.17,2.00,0.00,0.000,4,0.150,0.027,2316,1053,3994
$GC,2363,-0.78,-194.7,277.4,-6.3,412,2369,0.00,2.05,0.00,0.000,6,0.000,0.033,2316,2441,3993
$GC,2707,-0.91,-194.7,307.6,-9.2,466,2709,0.17,0.00,0.00,0.000,6,0.067,0.000,2242,2443,3993
$STATE,2801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2801,begin apogee
$GC,2808,-0.22,0.0,319.3,14.3,475,2896,0.70,0.00,84.00,0.831,6,0.157,0.000,2462,2510,3532
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2899,1.05,194.7,322.9,0.0,484,3047,1.17,2.00,140.60,0.811,4,0.081,0.048,2882,3741,2737
$GC,3284,0.43,194.7,286.1,16.2,526,3290,0.73,1.77,0.00,0.000,6,0.186,0.026,2688,2498,2735
$GC,3629,0.79,365.1,264.7,5.0,587,3759,0.28,2.12,123.93,0.787,4,0.060,0.031,2813,1142,2042
$GC,3893,0.79,365.1,233.6,12.9,633,3899,0.00,2.05,0.00,0.000,6,0.000,0.034,2813,2486,2036
$GC,4237,0.72,365.1,179.0,13.6,694,4243,0.12,1.95,0.00,0.000,4,0.160,0.048,2780,3764,2032
$GC,4397,0.72,365.1,158.9,13.4,722,4403,0.00,1.77,0.00,0.000,6,0.000,0.028,2786,2522,2031
$GC,4741,0.89,399.0,120.5,10.6,783,4773,0.12,2.00,24.23,0.693,4,0.081,0.048,2841,3766,1903
$GC,4842,0.83,399.0,106.1,15.2,800,4848,0.12,1.75,0.00,0.000,6,0.177,0.025,2815,2544,1901
$GC,5187,0.96,403.8,65.0,11.8,861,5194,0.12,0.00,4.68,0.492,6,0.078,0.000,2872,2542,1884
$GC,5531,0.96,403.8,23.1,12.2,922,5537,0.00,1.88,0.00,0.000,4,0.000,0.048,2872,3768,1883
$GC,5611,0.88,403.8,12.5,13.8,936,5618,0.17,1.73,0.00,0.000,6,0.160,0.025,2833,2541,1883
$STATE,5701,end climb,SURFACE_DEPTH_REACHED
$STATE,5701,begin surface coast
$FINISH,1.7,1.009382
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5738,begin surface
$SM_CCo,5754,14.93,0.586,0,0,1798,425.10
$SM_GC,2.93,0.00,0.00,14.93,0.000,0.000,0.586,142,2425,1798,-7.51,-0.06,425.10
$IRIDIUM_FIX,2408.65,12319.77,020998,141436
$TT8_MAMPS,0.029146
$HUMID,1599
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,24.9,21.777
$10V_AH,10.9,12.950
$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,21.675,42.975,377.425,14.925,0.000,23.597,37.316,123.388,1.250,0.000,0.000,36.435,1558.609,2264.930,456.214,1477.605,332.576,0.000,1199.006,0.000,1432.464,0.000,9.361,0.000
$DEVICE_MAMPS,250.809,104.312,830.661,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,638.055,792.444,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50625,958
$CAP_FILE_SIZE,79489,0
$CFSIZE,260165632,216641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,150.5,1
$GPS,080609,172950,2416.891,12319.771,9,1.7,9,-3.5