version: 66.04
glider: 167
mission: 2
dive: 114
start: 6 9 109 3 57 48
data:
$ID,167
$MISSION,2
$DIVE,114
$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,-7027.7705
$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,89
$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
$GPS1,035236,2414.542,12320.268,13,1.3,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-66.5
$GPS2,035726,2414.458,12320.397,13,1.5,13,-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,274.0,19184,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,45,0.00,0.00,-29.15,0.000,2,0.000,0.000,142,2495,2464
$GC,48,-1.05,-194.7,3.1,-2.5,5,111,8.32,2.15,-47.80,0.000,4,0.249,0.040,2196,1041,3989
$GC,197,-0.32,-194.7,35.1,-29.4,30,205,0.88,2.05,0.00,0.000,6,0.186,0.031,2437,2432,3990
$GC,545,-0.55,-194.7,76.2,-9.4,91,551,0.17,2.00,0.00,0.000,4,0.066,0.044,2355,3760,3991
$GC,659,-0.41,-194.7,92.6,-15.4,111,666,0.20,1.88,0.00,0.000,6,0.153,0.025,2412,2428,3991
$GC,1004,-0.68,-194.7,124.2,-6.9,172,1011,0.22,2.03,0.00,0.000,4,0.057,0.044,2306,3760,3992
$GC,1124,-0.57,-194.7,139.6,-12.5,193,1131,0.20,1.85,0.00,0.000,6,0.143,0.025,2365,2436,3992
$GC,1469,-0.72,-194.7,170.4,-7.7,254,1476,0.15,0.00,0.00,0.000,6,0.070,0.000,2298,2434,3993
$GC,1815,-0.62,-194.7,212.1,-11.2,315,1821,0.17,2.00,0.00,0.000,4,0.154,0.044,2346,3751,3993
$GC,1913,-0.78,-194.7,220.7,-8.4,332,1919,0.15,1.85,0.00,0.000,6,0.071,0.025,2278,2435,3993
$GC,2258,-0.64,-194.7,264.5,-11.7,393,2264,0.17,2.03,0.00,0.000,4,0.154,0.045,2330,3762,3994
$GC,2350,-0.77,-194.7,273.7,-8.7,409,2356,0.00,1.88,0.00,0.000,6,0.000,0.026,2329,2433,3993
$GC,2695,-0.91,-194.7,310.6,-11.7,463,2699,0.17,1.98,0.00,0.000,4,0.067,0.028,2245,1053,3993
$STATE,2738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2738,begin apogee
$GC,2746,-0.22,0.0,317.6,16.3,467,2834,0.70,0.00,83.88,0.824,6,0.153,0.000,2466,2509,3532
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2837,1.05,194.7,323.0,0.0,476,2985,1.15,2.05,140.20,0.804,4,0.079,0.047,2879,3765,2738
$GC,3195,0.44,194.7,286.6,17.9,513,3202,0.70,1.80,0.00,0.000,6,0.184,0.025,2690,2514,2735
$GC,3540,0.79,375.4,261.7,4.5,574,3679,0.28,2.12,130.75,0.772,4,0.061,0.030,2815,1114,2000
$GC,3758,0.79,375.4,228.7,16.9,612,3764,0.00,2.10,0.00,0.000,6,0.000,0.031,2815,2500,1996
$GC,4102,0.79,375.4,175.9,14.4,673,4107,0.00,1.92,0.00,0.000,4,0.000,0.048,2815,3762,1991
$GC,4182,0.73,375.4,163.4,15.6,687,4189,0.15,1.83,0.00,0.000,6,0.169,0.025,2783,2480,1990
$GC,4527,0.97,432.5,122.7,9.6,748,4575,0.20,2.00,41.62,0.692,4,0.064,0.029,2883,1118,1766
$GC,4594,0.92,432.5,111.3,20.0,759,4600,0.15,2.08,0.00,0.000,6,0.163,0.033,2844,2489,1764
$GC,4939,1.04,459.7,67.2,10.9,820,4969,0.10,2.00,20.90,0.634,4,0.084,0.048,2887,3758,1655
$GC,5009,0.99,459.7,57.0,16.3,832,5016,0.12,1.85,0.00,0.000,6,0.172,0.025,2864,2477,1654
$GC,5354,1.11,464.9,14.7,11.8,893,5368,0.10,2.00,4.75,0.453,4,0.088,0.048,2908,3746,1635
$STATE,5428,end climb,SURFACE_DEPTH_REACHED
$STATE,5428,begin surface coast
$FINISH,1.7,1.021859
$STATE,5448,end surface coast,CONTROL_FINISHED_OK
$STATE,5448,begin surface
$SM_CCo,5527,0.00,0.000,0,0,1632,466.07
$SM_GC,2.62,7.30,0.00,0.00,0.057,0.000,0.000,144,2416,1632,-7.49,-0.31,466.07
$IRIDIUM_FIX,2408.65,12319.77,030998,020219
$TT8_MAMPS,0.028379
$HUMID,1588
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.4,141.5
$24V_AH,25.0,22.519
$10V_AH,10.9,13.322
$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,21.775,47.575,422.100,0.000,0.000,25.902,33.784,125.301,0.500,0.000,0.000,14.076,1468.274,2160.736,471.396,1391.539,331.479,0.000,1196.523,0.000,1372.184,0.000,5.821,0.000
$DEVICE_MAMPS,249.275,48.321,823.758,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.166,752.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,909
$CAP_FILE_SIZE,77028,0
$CFSIZE,260165632,216305664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296,158.7,1
$GPS,090609,053104,2413.573,12320.018,15,99.0,34,-3.5