version: 66.04
glider: 167
mission: 2
dive: 118
start: 6 9 109 11 34 6
data:
$ID,167
$MISSION,2
$DIVE,118
$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,-7110.75
$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,75
$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
$GPS1,112832,2412.969,12318.459,11,1.6,11,-3.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-65.5
$GPS2,113344,2412.961,12318.534,14,1.7,14,-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,220.7,14997,-18.3,-12.000
$D_GRID,360
$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,14,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-35.30,0.000,2,0.000,0.000,143,2475,2615
$GC,55,-1.05,-194.7,3.4,-3.6,6,114,8.25,2.12,-42.00,0.000,4,0.245,0.040,2202,1026,3990
$GC,201,-0.21,-194.7,36.1,-36.4,31,208,0.98,2.10,0.00,0.000,6,0.189,0.032,2469,2441,3990
$GC,546,-0.59,-194.7,71.5,-6.8,92,553,0.30,1.98,0.00,0.000,4,0.053,0.045,2334,3754,3991
$GC,667,-0.36,-194.7,90.7,-16.6,113,674,0.30,1.88,0.00,0.000,6,0.150,0.024,2421,2416,3992
$GC,1012,-0.65,-194.7,124.1,-7.9,174,1018,0.20,2.05,0.00,0.000,4,0.060,0.045,2328,3761,3992
$GC,1047,-0.59,-194.7,128.1,-13.6,180,1055,0.00,1.85,0.00,0.000,6,0.000,0.025,2328,2436,3992
$GC,1393,-0.59,-194.7,176.9,-11.3,241,1399,0.00,2.00,0.00,0.000,4,0.000,0.044,2320,3757,3993
$GC,1479,-0.59,-194.7,186.6,-11.2,256,1487,0.12,1.80,0.00,0.000,6,0.145,0.025,2354,2465,3993
$GC,1825,-0.82,-194.7,213.9,-6.1,317,1831,0.17,1.98,0.00,0.000,4,0.065,0.045,2271,3763,3995
$GC,1911,-0.74,-194.7,222.8,-10.9,332,1918,0.12,1.80,0.00,0.000,6,0.150,0.025,2305,2473,3995
$GC,2256,-0.74,-194.7,256.4,-10.6,393,2262,0.00,2.03,0.00,0.000,4,0.000,0.028,2305,1044,3995
$GC,2326,-0.82,-194.7,263.7,-10.5,405,2332,0.00,2.10,0.00,0.000,6,0.000,0.032,2303,2471,3995
$GC,2670,-0.87,-194.7,301.0,-9.9,465,2674,0.12,2.05,0.00,0.000,4,0.079,0.027,2246,1063,3995
$GC,2708,-0.75,-194.7,306.0,-13.0,468,2716,0.17,2.08,0.00,0.000,6,0.156,0.034,2297,2453,3995
$GC,3033,-0.80,-194.7,337.7,-9.3,499,3037,0.00,1.98,0.00,0.000,4,0.000,0.048,2289,3764,3995
$GC,3079,-0.80,-194.7,342.1,-10.0,503,3083,0.00,1.85,0.00,0.000,6,0.000,0.027,2289,2455,3995
$STATE,3279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3279,begin apogee
$GC,3285,-0.22,0.0,360.5,8.8,522,3373,0.55,0.00,84.30,0.873,6,0.137,0.000,2468,2522,3531
$STATE,3374,end apogee,CONTROL_FINISHED_OK
$STATE,3374,begin climb
$GC,3376,1.05,194.7,362.1,0.0,531,3530,1.12,2.03,141.38,0.848,4,0.067,0.048,2882,3751,2737
$GC,3788,0.40,194.7,311.6,18.3,567,3795,0.77,1.80,0.00,0.000,6,0.190,0.026,2675,2500,2734
$GC,4123,0.73,314.1,287.9,7.1,614,4217,0.25,2.03,86.97,0.816,4,0.063,0.048,2786,3755,2249
$GC,4335,0.57,314.1,256.1,16.9,651,4342,0.22,1.83,0.00,0.000,6,0.166,0.026,2731,2498,2245
$GC,4680,0.82,372.6,219.2,9.6,712,4729,0.17,2.12,42.70,0.775,4,0.065,0.031,2815,1110,2012
$GC,4763,0.82,372.6,207.0,15.9,726,4769,0.00,2.10,0.00,0.000,6,0.000,0.034,2814,2482,2009
$GC,5107,0.82,372.6,162.8,12.2,787,5113,0.00,1.95,0.00,0.000,4,0.000,0.048,2814,3761,2003
$GC,5170,0.78,372.6,154.7,13.6,798,5176,0.00,1.83,0.00,0.000,6,0.000,0.025,2816,2486,2002
$GC,5514,0.93,449.1,119.4,8.8,859,5579,0.00,2.05,56.35,0.704,4,0.000,0.030,2816,1134,1699
$GC,5586,1.14,492.3,112.2,10.2,871,5629,0.25,2.10,33.15,0.670,6,0.057,0.033,2915,2510,1523
$GC,5970,1.06,492.3,47.5,15.2,938,5976,0.12,0.00,0.00,0.000,6,0.172,0.000,2884,2511,1516
$STATE,6300,end climb,SURFACE_DEPTH_REACHED
$STATE,6300,begin surface coast
$FINISH,1.7,1.021814
$STATE,6317,end surface coast,CONTROL_FINISHED_OK
$STATE,6317,begin surface
$SM_CCo,6394,0.00,0.000,0,0,1513,495.26
$SM_GC,2.31,7.28,0.00,0.00,0.059,0.000,0.000,143,2513,1513,-7.49,2.43,495.26
$IRIDIUM_FIX,2401.56,12320.44,030998,090906
$TT8_MAMPS,0.028379
$HUMID,1595
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.9,22.962
$10V_AH,10.9,13.551
$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,21.500,51.525,444.850,0.000,0.000,31.266,32.429,142.067,1.750,0.000,0.000,14.956,1613.302,2680.443,499.069,1553.396,364.375,0.000,1304.120,0.000,1525.883,0.000,12.708,0.000
$DEVICE_MAMPS,244.673,85.904,872.846,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,664.923,790.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50559,1000
$CAP_FILE_SIZE,84837,0
$CFSIZE,260165632,216088576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281, 39.8,1
$GPS,090609,132154,2413.039,12318.795,40,1.9,40,-3.4