version: 66.04
glider: 167
mission: 2
dive: 113
start: 6 9 109 2 17 39
data:
$ID,167
$MISSION,2
$DIVE,113
$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,-7013.0664
$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,92
$R_STBD_OVSHOOT,41
$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
$GPS1,021152,2415.351,12320.320,9,2.3,28,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-65.7
$GPS2,021719,2415.300,12320.466,13,1.9,30,-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,271.1,20386,-18.3,-12.000
$D_GRID,352
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-34.55,0.000,2,0.000,0.000,143,2523,2484
$GC,55,-1.05,-194.7,3.0,-2.4,6,117,8.32,2.20,-46.45,0.000,4,0.249,0.041,2199,1042,3990
$GC,215,-0.29,-194.7,39.1,-32.3,33,222,0.88,2.05,0.00,0.000,6,0.182,0.032,2443,2430,3991
$GC,560,-0.57,-194.7,76.6,-8.6,94,566,0.20,2.00,0.00,0.000,4,0.060,0.046,2346,3757,3991
$GC,629,-0.41,-194.7,85.9,-14.6,106,636,0.22,1.88,0.00,0.000,6,0.153,0.024,2410,2419,3991
$GC,974,-0.62,-194.7,117.1,-7.3,167,981,0.17,2.03,0.00,0.000,4,0.062,0.044,2325,3751,3992
$GC,999,-0.62,-194.7,119.9,-11.2,171,1007,0.00,1.85,0.00,0.000,6,0.000,0.025,2326,2425,3992
$GC,1345,-0.54,-194.7,164.6,-12.4,232,1351,0.15,0.00,0.00,0.000,6,0.150,0.000,2367,2422,3993
$GC,1689,-0.74,-194.7,195.2,-8.3,293,1695,0.17,2.03,0.00,0.000,4,0.065,0.046,2276,3754,3994
$GC,1719,-0.68,-194.7,198.5,-11.9,298,1725,0.17,1.85,0.00,0.000,6,0.150,0.025,2327,2432,3994
$GC,2065,-0.68,-194.7,236.4,-9.7,359,2073,0.00,2.03,0.00,0.000,4,0.000,0.047,2326,3762,3994
$GC,2136,-0.75,-194.7,245.3,-12.8,371,2143,0.00,1.88,0.00,0.000,6,0.000,0.025,2325,2427,3994
$GC,2482,-0.84,-194.7,285.5,-10.2,432,2488,0.15,1.95,0.00,0.000,4,0.070,0.028,2259,1054,3994
$GC,2534,-0.70,-194.7,292.1,-13.5,441,2541,0.20,2.05,0.00,0.000,6,0.148,0.034,2318,2441,3994
$STATE,2757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2757,begin apogee
$GC,2764,-0.22,0.0,311.0,7.8,469,2851,0.45,0.00,83.82,0.815,6,0.131,0.000,2467,2531,3532
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2854,1.05,194.7,313.2,0.0,478,3002,1.12,2.15,139.70,0.797,4,0.070,0.028,2886,1123,2738
$GC,3260,0.59,194.7,276.8,12.6,528,3266,0.52,2.05,0.00,0.000,6,0.184,0.032,2740,2508,2735
$GC,3604,0.81,372.8,253.3,4.6,589,3740,0.17,2.15,128.65,0.774,4,0.069,0.028,2816,1134,2011
$GC,3768,0.81,372.8,236.8,13.2,617,3774,0.00,2.10,0.00,0.000,6,0.000,0.033,2816,2504,2008
$GC,4111,0.72,372.8,181.6,16.8,678,4118,0.15,1.90,0.00,0.000,4,0.159,0.047,2776,3755,2002
$GC,4331,0.77,372.8,152.6,12.2,717,4337,0.00,1.70,0.00,0.000,6,0.000,0.026,2776,2545,1999
$GC,4675,1.05,422.8,113.8,9.9,778,4718,0.25,2.10,35.97,0.687,4,0.062,0.030,2898,1112,1806
$GC,4753,0.98,422.8,102.0,15.3,791,4761,0.15,2.12,0.00,0.000,6,0.166,0.033,2859,2528,1803
$GC,5099,1.00,439.8,56.8,11.3,852,5117,0.00,1.92,13.12,0.610,4,0.000,0.047,2859,3758,1738
$GC,5231,1.00,439.8,39.2,13.0,875,5239,0.00,1.77,0.00,0.000,6,0.000,0.025,2865,2500,1736
$STATE,5534,end climb,SURFACE_DEPTH_REACHED
$STATE,5534,begin surface coast
$FINISH,1.7,1.013304
$STATE,5558,end surface coast,CONTROL_FINISHED_OK
$STATE,5558,begin surface
$SM_CCo,5634,0.00,0.000,0,0,1733,441.29
$SM_GC,2.67,7.20,0.00,0.00,0.058,0.000,0.000,142,2495,1733,-7.50,1.92,441.29
$IRIDIUM_FIX,2406.29,12318.47,030998,000015
$TT8_MAMPS,0.028379
$HUMID,1597
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,135.2
$24V_AH,25.0,22.417
$10V_AH,10.9,13.271
$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,20.675,43.825,401.275,0.000,0.000,28.220,34.250,143.767,0.500,0.000,0.000,30.301,1497.450,2223.857,457.151,1433.030,353.247,0.000,1188.309,0.000,1392.348,0.000,5.806,0.000
$DEVICE_MAMPS,248.508,89.739,814.554,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.475,770.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47461,933
$CAP_FILE_SIZE,76120,0
$CFSIZE,260165632,216354816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300,143.5,1
$GPS,090609,035236,2414.542,12320.268,13,1.3,29,-3.5