version: 66.04
glider: 167
mission: 2
dive: 115
start: 6 9 109 5 36 36
data:
$ID,167
$MISSION,2
$DIVE,115
$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,-7045.1733
$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,40
$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
$GPS1,053104,2413.573,12320.018,15,99.0,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-65.6
$GPS2,053614,2413.479,12320.104,16,1.9,16,-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,277.1,17585,-18.3,-12.000
$D_GRID,398
$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,11,begin dive
$GC,14,-1.05,-194.7,0.0,0.0,0,48,0.00,0.00,-31.98,0.000,2,0.000,0.000,144,2416,2429
$GC,51,-1.05,-194.7,3.0,-2.0,5,114,8.27,2.08,-48.65,0.000,4,0.245,0.042,2197,1023,3989
$GC,217,-0.29,-194.7,40.7,-30.4,33,225,0.88,2.10,0.00,0.000,6,0.177,0.032,2445,2438,3990
$GC,564,-0.58,-194.7,69.8,-8.6,94,570,0.22,2.00,0.00,0.000,4,0.058,0.045,2342,3764,3991
$GC,741,-0.38,-194.7,102.8,-19.5,125,749,0.28,1.90,0.00,0.000,6,0.148,0.024,2422,2404,3992
$GC,1088,-0.80,-194.7,132.3,-5.0,186,1095,0.32,2.08,0.00,0.000,4,0.052,0.045,2275,3768,3992
$GC,1255,-0.52,-194.7,155.4,-15.2,215,1261,0.32,1.85,0.00,0.000,6,0.148,0.024,2374,2443,3993
$GC,1600,-0.74,-194.7,185.0,-8.2,276,1607,0.17,2.00,0.00,0.000,4,0.066,0.045,2289,3757,3993
$GC,1659,-0.57,-194.7,193.1,-16.4,286,1665,0.22,1.83,0.00,0.000,6,0.142,0.025,2356,2450,3994
$GC,2003,-0.77,-194.7,223.4,-8.3,347,2010,0.17,2.00,0.00,0.000,4,0.065,0.047,2274,3758,3993
$GC,2117,-0.61,-194.7,240.1,-15.0,367,2123,0.25,1.80,0.00,0.000,6,0.144,0.025,2349,2473,3994
$GC,2461,-0.79,-194.7,269.8,-7.6,428,2468,0.17,2.03,0.00,0.000,4,0.069,0.027,2266,1049,3994
$GC,2503,-0.69,-194.7,274.4,-11.4,435,2516,0.20,2.12,0.00,0.000,6,0.146,0.033,2321,2495,3994
$GC,2850,-0.73,-194.7,305.6,-11.0,491,2854,0.00,1.92,0.00,0.000,4,0.000,0.048,2316,3783,3994
$GC,2889,-0.78,-194.7,310.0,-11.5,494,2895,0.00,1.83,0.00,0.000,6,0.000,0.025,2317,2479,3994
$GC,3216,-0.78,-194.7,348.1,-18.6,525,3219,0.00,1.95,0.00,0.000,4,0.000,0.049,2316,3753,3993
$GC,3232,-0.86,-194.7,350.6,-12.9,526,3238,0.12,1.77,0.00,0.000,6,0.078,0.028,2261,2504,3993
$STATE,3438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3438,begin apogee
$GC,3444,-0.22,0.0,387.0,17.1,546,3531,0.65,0.00,84.20,0.884,6,0.150,0.000,2466,2503,3532
$STATE,3532,end apogee,CONTROL_FINISHED_OK
$STATE,3532,begin climb
$GC,3535,1.05,194.7,390.3,0.0,555,3683,1.15,2.08,141.62,0.860,4,0.070,0.029,2893,1130,2739
$GC,3941,0.59,194.7,353.7,24.5,590,3948,0.55,2.08,0.00,0.000,6,0.183,0.035,2739,2514,2735
$GC,4266,0.60,253.0,310.5,9.6,621,4313,0.00,1.95,42.78,0.815,4,0.000,0.049,2739,3762,2499
$GC,4349,0.55,255.6,301.6,11.9,628,4352,0.00,1.80,0.00,0.000,6,0.000,0.026,2746,2524,2497
$GC,4691,0.62,307.9,266.7,9.8,687,4738,0.00,2.10,40.97,0.792,4,0.000,0.031,2746,1113,2275
$GC,4837,0.86,364.4,251.9,9.7,712,4885,0.20,2.12,42.38,0.776,6,0.066,0.033,2828,2519,2045
$GC,5224,0.77,364.4,190.8,12.1,780,5230,0.12,0.00,0.00,0.000,6,0.163,0.000,2796,2520,2038
$GC,5568,0.79,379.2,146.3,11.4,841,5581,0.00,0.00,10.85,0.669,6,0.000,0.000,2796,2520,1985
$GC,5919,1.06,469.0,106.7,8.3,903,5995,0.22,1.98,67.20,0.689,4,0.063,0.050,2894,3754,1617
$GC,6108,0.94,469.0,78.7,16.1,936,6114,0.20,1.77,0.00,0.000,6,0.167,0.025,2850,2514,1612
$GC,6452,1.14,493.0,40.1,11.0,997,6477,0.17,2.03,18.08,0.608,4,0.067,0.029,2936,1120,1520
$STATE,6689,end climb,SURFACE_DEPTH_REACHED
$STATE,6689,begin surface coast
$FINISH,1.8,1.021919
$STATE,6708,end surface coast,CONTROL_FINISHED_OK
$STATE,6708,begin surface
$SM_CCo,6787,0.00,0.000,0,0,1513,495.51
$SM_GC,2.32,7.43,0.00,0.00,0.058,0.000,0.000,140,2455,1513,-7.50,0.79,495.51
$IRIDIUM_FIX,2406.29,12321.74,030998,040457
$TT8_MAMPS,0.028379
$HUMID,1592
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.2,135.9
$24V_AH,24.9,22.632
$10V_AH,10.9,13.381
$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,22.325,51.150,448.075,0.000,0.000,24.512,43.678,129.291,1.250,0.000,0.000,16.772,1698.015,2921.664,495.827,1621.558,366.363,0.000,1326.030,0.000,1590.673,0.000,10.831,0.000
$DEVICE_MAMPS,245.440,49.855,883.584,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.417,824.358,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53813,1042
$CAP_FILE_SIZE,87624,0
$CFSIZE,260165632,216236032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,187.4,1
$GPS,090609,073031,2413.135,12319.046,8,1.8,14,-3.4