version: 66.04
glider: 167
mission: 2
dive: 108
start: 6 8 109 17 35 17
data:
$ID,167
$MISSION,2
$DIVE,108
$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,-6879.0625
$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,79
$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
$GPS1,172950,2416.891,12319.771,9,1.7,9,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-66.5
$GPS2,173455,2416.823,12319.796,10,1.4,15,-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,251.1,21868,-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,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,-29.08,0.000,2,0.000,0.000,142,2425,2526
$GC,49,-1.05,-194.7,3.2,-2.9,4,109,8.32,2.08,-46.70,0.000,4,0.249,0.042,2196,1031,3989
$GC,179,-0.27,-194.7,27.8,-32.2,26,187,0.93,2.08,0.00,0.000,6,0.188,0.031,2451,2435,3990
$GC,526,-0.59,-194.7,59.5,-7.5,87,532,0.25,2.00,0.00,0.000,4,0.057,0.045,2332,3757,3991
$GC,595,-0.33,-194.7,70.1,-18.8,99,602,0.35,1.90,0.00,0.000,6,0.149,0.024,2436,2408,3991
$GC,941,-0.67,-194.7,99.8,-6.6,160,947,0.28,2.05,0.00,0.000,4,0.054,0.045,2312,3751,3992
$GC,1038,-0.44,-194.7,113.8,-16.6,177,1045,0.30,1.83,0.00,0.000,6,0.153,0.025,2401,2446,3992
$GC,1384,-0.70,-194.7,149.6,-8.6,238,1391,0.20,1.98,0.00,0.000,4,0.063,0.045,2303,3754,3993
$GC,1461,-0.55,-194.7,159.8,-14.7,251,1467,0.22,1.80,0.00,0.000,6,0.147,0.025,2370,2468,3993
$GC,1806,-0.76,-194.7,192.8,-10.1,312,1813,0.17,1.95,0.00,0.000,4,0.064,0.045,2282,3752,3994
$GC,1917,-0.63,-194.7,207.6,-14.7,331,1924,0.20,1.75,0.00,0.000,6,0.150,0.025,2341,2503,3994
$GC,2262,-0.78,-194.7,245.0,-11.0,392,2268,0.15,0.00,0.00,0.000,6,0.070,0.000,2274,2503,3995
$GC,2605,-0.65,-194.7,295.4,-13.6,453,2611,0.17,0.00,0.00,0.000,6,0.153,0.000,2329,2503,3995
$STATE,2760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2760,begin apogee
$GC,2766,-0.22,0.0,308.8,8.3,472,2854,0.45,0.00,84.20,0.814,6,0.139,0.000,2472,2503,3531
$STATE,2854,end apogee,CONTROL_FINISHED_OK
$STATE,2854,begin climb
$GC,2857,1.05,194.7,311.7,0.0,481,3009,1.10,2.15,140.15,0.797,4,0.061,0.028,2892,1117,2737
$GC,3266,0.56,194.7,277.5,14.4,531,3274,0.57,2.08,0.00,0.000,6,0.182,0.034,2730,2501,2735
$GC,3612,0.70,307.2,249.1,7.3,592,3700,0.12,2.15,81.40,0.772,4,0.074,0.031,2790,1134,2278
$GC,3857,0.73,331.0,223.1,11.0,635,3882,0.00,2.08,18.30,0.719,6,0.000,0.035,2790,2508,2181
$GC,4219,0.81,400.3,185.9,9.1,699,4278,0.00,2.12,51.30,0.732,4,0.000,0.031,2795,1133,1899
$GC,4302,0.92,404.5,177.2,11.8,713,4314,0.12,2.12,4.72,0.515,6,0.079,0.035,2849,2519,1881
$GC,4654,0.87,404.5,119.7,26.4,775,4661,0.00,1.90,0.00,0.000,4,0.000,0.049,2849,3766,1876
$GC,4798,0.78,407.8,92.9,11.9,800,4804,0.22,1.75,0.00,0.000,6,0.161,0.025,2794,2532,1875
$GC,5142,1.13,512.7,75.1,7.7,861,5230,0.28,1.95,79.72,0.653,4,0.059,0.047,2912,3760,1439
$GC,5309,1.04,512.7,46.0,19.3,890,5315,0.15,1.73,0.00,0.000,6,0.173,0.025,2881,2557,1434
$STATE,5599,end climb,SURFACE_DEPTH_REACHED
$STATE,5600,begin surface coast
$FINISH,1.6,1.005516
$STATE,5618,end surface coast,CONTROL_FINISHED_OK
$STATE,5618,begin surface
$SM_CCo,5695,0.00,0.000,0,0,1429,515.87
$SM_GC,2.44,7.20,0.00,0.00,0.053,0.000,0.000,144,2433,1429,-7.49,0.17,515.87
$IRIDIUM_FIX,2408.65,12319.77,020998,151547
$TT8_MAMPS,0.028379
$HUMID,1577
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.2,132.7
$24V_AH,25.0,21.886
$10V_AH,10.9,13.002
$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,21.775,39.525,459.800,0.000,0.000,29.006,36.863,132.757,0.500,0.000,0.000,15.503,1510.195,2221.701,497.233,1432.699,344.097,0.000,1241.342,0.000,1410.329,0.000,5.797,0.000
$DEVICE_MAMPS,249.275,55.991,813.787,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.024,786.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,945
$CAP_FILE_SIZE,76442,0
$CFSIZE,260165632,216600576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,154.7,1
$GPS,080609,191125,2416.110,12319.317,39,1.2,39,-3.5