version: 66.04
glider: 167
mission: 2
dive: 116
start: 6 9 109 7 35 59
data:
$ID,167
$MISSION,2
$DIVE,116
$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,-7062.2402
$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,84
$R_STBD_OVSHOOT,39
$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
$GPS1,073031,2413.135,12319.046,8,1.8,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-63.2
$GPS2,073537,2413.094,12319.133,11,1.7,16,-3.4
$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,250.4,15892,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.05,-194.7,0.0,0.0,0,57,0.00,0.00,-39.88,0.000,2,0.000,0.000,140,2455,2514
$GC,60,-1.05,-194.7,3.1,-2.0,7,121,8.38,2.08,-43.97,0.000,4,0.250,0.041,2194,1042,3989
$GC,208,-0.25,-194.7,36.5,-35.7,32,215,0.93,2.08,0.00,0.000,6,0.175,0.032,2457,2443,3990
$GC,554,-0.60,-194.7,70.3,-6.6,93,560,0.25,1.98,0.00,0.000,4,0.056,0.046,2343,3755,3991
$GC,618,-0.47,-194.7,78.0,-14.4,104,624,0.17,1.88,0.00,0.000,6,0.150,0.024,2392,2417,3991
$GC,963,-0.57,-194.7,112.9,-9.4,165,969,0.00,2.05,0.00,0.000,4,0.000,0.045,2386,3766,3992
$GC,1032,-0.80,-194.7,119.1,-8.4,177,1038,0.28,1.83,0.00,0.000,6,0.057,0.025,2269,2456,3992
$GC,1376,-0.53,-194.7,178.2,-16.5,238,1383,0.30,1.98,0.00,0.000,4,0.155,0.044,2358,3757,3993
$GC,1498,-0.72,-194.7,190.1,-8.4,259,1506,0.12,1.80,0.00,0.000,6,0.074,0.025,2299,2471,3993
$GC,1844,-0.72,-194.7,229.6,-9.0,320,1850,0.00,2.03,0.00,0.000,4,0.000,0.028,2299,1042,3994
$GC,1924,-0.72,-194.7,238.1,-10.2,334,1930,0.00,2.08,0.00,0.000,6,0.000,0.031,2295,2458,3994
$GC,2267,-0.72,-194.7,278.2,-10.9,395,2274,0.00,2.03,0.00,0.000,4,0.000,0.027,2294,1046,3994
$GC,2354,-0.72,-194.7,286.9,-10.2,410,2360,0.00,2.05,0.00,0.000,6,0.000,0.031,2289,2445,3994
$GC,2687,-0.72,-194.7,317.0,-5.7,452,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2446,3995
$GC,3004,-0.72,-194.7,347.5,-12.6,482,3008,0.00,2.03,0.00,0.000,4,0.000,0.028,2289,1038,3994
$GC,3133,-0.72,-194.7,361.4,-9.2,493,3139,0.00,2.08,0.00,0.000,6,0.000,0.034,2288,2437,3994
$GC,3459,-0.72,-194.7,394.8,-11.8,524,3462,0.00,2.00,0.00,0.000,4,0.000,0.028,2288,1051,3993
$GC,3508,-0.72,-194.7,397.8,-5.8,528,3514,0.00,2.03,0.00,0.000,6,0.000,0.035,2288,2419,3993
$STATE,3523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3523,begin apogee
$GC,3529,-0.22,0.0,398.7,5.4,530,3617,0.57,0.00,84.32,0.897,6,0.133,0.000,2478,2517,3532
$STATE,3617,end apogee,CONTROL_FINISHED_OK
$STATE,3617,begin climb
$GC,3620,1.05,194.7,400.2,0.0,539,3771,1.10,2.00,142.18,0.874,4,0.059,0.049,2889,3748,2738
$GC,4026,0.40,194.7,349.5,19.7,575,4032,0.80,1.77,0.00,0.000,6,0.191,0.025,2675,2497,2735
$GC,4352,0.76,346.3,324.2,5.7,605,4466,0.32,0.00,111.25,0.832,6,0.058,0.000,2805,2497,2119
$GC,4795,0.68,346.3,257.6,15.6,669,4801,0.15,2.00,0.00,0.000,4,0.159,0.031,2773,1127,2112
$GC,4882,0.81,384.7,248.4,10.4,684,4917,0.00,2.08,28.58,0.778,6,0.000,0.035,2773,2515,1962
$GC,5255,0.91,384.7,198.7,14.9,750,5260,0.17,0.00,0.00,0.000,6,0.070,0.000,2845,2515,1956
$GC,5598,0.83,384.7,144.5,14.0,811,5605,0.12,1.90,0.00,0.000,4,0.163,0.049,2813,3766,1954
$GC,5729,0.83,384.7,125.9,13.0,834,5736,0.00,1.77,0.00,0.000,6,0.000,0.026,2815,2509,1953
$GC,6073,1.01,430.7,88.2,10.1,895,6115,0.15,2.00,33.67,0.680,4,0.070,0.048,2882,3759,1774
$GC,6173,0.87,430.7,73.6,16.0,912,6180,0.22,1.77,0.00,0.000,6,0.166,0.026,2829,2518,1772
$GC,6518,1.15,486.3,37.8,9.7,973,6566,0.20,2.00,41.85,0.627,4,0.064,0.048,2917,3758,1548
$GC,6601,1.00,486.3,25.4,18.0,987,6609,0.20,1.77,0.00,0.000,6,0.166,0.025,2871,2519,1545
$STATE,6777,end climb,SURFACE_DEPTH_REACHED
$STATE,6777,begin surface coast
$FINISH,1.7,0.997802
$STATE,6799,end surface coast,CONTROL_FINISHED_OK
$STATE,6799,begin surface
$SM_CCo,6876,0.00,0.000,0,0,1539,488.88
$SM_GC,2.42,7.28,0.00,0.00,0.058,0.000,0.000,141,2515,1539,-7.50,2.49,488.88
$IRIDIUM_FIX,2403.92,12315.20,030998,050530
$TT8_MAMPS,0.028379
$HUMID,1593
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.9,130.7
$24V_AH,24.9,22.745
$10V_AH,10.9,13.438
$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,21.725,51.125,441.850,0.000,0.000,27.600,35.220,132.926,2.250,0.000,0.000,16.440,1673.098,3041.407,514.692,1597.044,359.752,0.000,1328.572,0.000,1566.638,0.000,17.485,0.000
$DEVICE_MAMPS,250.042,79.768,897.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.333,802.189,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53748,1022
$CAP_FILE_SIZE,87271,0
$CFSIZE,260165632,216182784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 80.1,1
$GPS,090609,093137,2412.721,12318.618,28,1.2,28,-3.4