version: 66.04
glider: 167
mission: 2
dive: 120
start: 6 9 109 15 36 5
data:
$ID,167
$MISSION,2
$DIVE,120
$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,-7163.1104
$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,83
$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
$GPS1,152846,2412.438,12318.889,14,4.6,33,-3.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-65.2
$GPS2,153543,2412.358,12319.032,30,1.3,37,-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,252.9,14858,-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,15,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-34.72,0.000,2,0.000,0.000,145,2426,2543
$GC,55,-1.05,-194.7,3.1,-2.6,6,116,8.32,2.03,-43.50,0.000,4,0.247,0.041,2197,1045,3990
$GC,186,-0.28,-194.7,31.5,-33.4,28,193,0.90,2.05,0.00,0.000,6,0.185,0.032,2445,2434,3990
$GC,531,-0.56,-194.7,65.0,-7.2,89,538,0.20,2.00,0.00,0.000,4,0.059,0.045,2348,3760,3992
$GC,612,-0.42,-194.7,76.1,-15.6,103,619,0.20,1.88,0.00,0.000,6,0.151,0.025,2404,2423,3992
$GC,957,-0.54,-194.7,110.0,-10.1,164,963,0.12,2.03,0.00,0.000,4,0.073,0.044,2345,3753,3992
$GC,1009,-0.42,-194.7,117.4,-15.8,173,1016,0.22,1.83,0.00,0.000,6,0.152,0.025,2410,2445,3992
$GC,1354,-0.67,-194.7,146.7,-7.1,234,1361,0.20,1.98,0.00,0.000,4,0.060,0.026,2316,1043,3993
$GC,1385,-0.67,-194.7,150.0,-11.5,239,1392,0.00,2.10,0.00,0.000,6,0.000,0.032,2316,2470,3993
$GC,1730,-0.60,-194.7,198.4,-11.9,300,1735,0.12,0.00,0.00,0.000,6,0.160,0.000,2349,2471,3993
$GC,2074,-0.78,-194.7,229.8,-8.7,361,2080,0.17,1.92,0.00,0.000,4,0.067,0.046,2262,3755,3994
$GC,2205,-0.60,-194.7,248.7,-15.3,384,2212,0.28,1.83,0.00,0.000,6,0.147,0.025,2345,2455,3995
$GC,2551,-0.81,-194.7,277.9,-7.6,445,2558,0.17,2.00,0.00,0.000,4,0.065,0.028,2262,1049,3995
$GC,2610,-0.71,-194.7,284.9,-12.9,455,2617,0.17,2.10,0.00,0.000,6,0.154,0.033,2312,2466,3995
$GC,2950,-0.80,-194.7,319.5,-10.0,499,2954,0.00,1.95,0.00,0.000,4,0.000,0.049,2312,3758,3995
$GC,2978,-0.89,-194.7,322.4,-10.1,501,2985,0.15,1.85,0.00,0.000,6,0.071,0.026,2245,2446,3995
$STATE,3249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3250,begin apogee
$GC,3256,-0.22,0.0,360.5,14.5,527,3343,0.70,0.00,84.40,0.862,6,0.148,0.000,2467,2519,3532
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3347,1.05,194.7,364.7,0.0,536,3499,1.12,2.17,141.20,0.842,4,0.068,0.029,2887,1125,2738
$GC,3757,0.58,194.7,328.0,17.0,572,3763,0.55,2.08,0.00,0.000,6,0.185,0.032,2734,2512,2735
$GC,4082,0.69,282.3,299.1,8.4,603,4153,0.00,2.17,63.55,0.817,4,0.000,0.030,2734,1120,2381
$GC,4188,0.90,334.2,289.5,9.9,621,4235,0.28,2.15,39.55,0.789,6,0.058,0.032,2842,2531,2168
$GC,4575,0.71,334.2,224.1,16.3,689,4581,0.22,1.88,0.00,0.000,4,0.162,0.048,2774,3758,2160
$GC,4729,0.71,334.2,205.2,12.3,716,4736,0.00,1.70,0.00,0.000,6,0.000,0.026,2775,2562,2158
$GC,5073,0.92,403.6,170.1,9.1,777,5133,0.17,1.92,50.12,0.744,4,0.071,0.049,2859,3750,1884
$GC,5151,0.76,403.6,159.8,15.1,790,5159,0.28,1.70,0.00,0.000,6,0.167,0.025,2792,2570,1882
$GC,5499,0.96,408.9,118.7,11.8,851,5511,0.17,2.12,4.50,0.501,4,0.068,0.030,2882,1134,1864
$GC,5580,0.89,408.9,106.8,14.7,865,5586,0.17,2.15,0.00,0.000,6,0.167,0.034,2836,2578,1864
$GC,5924,1.02,438.1,67.4,10.8,926,5955,0.12,0.00,23.05,0.641,6,0.071,0.000,2891,2579,1743
$GC,6292,1.02,438.1,16.4,13.1,991,6298,0.00,1.77,0.00,0.000,4,0.000,0.048,2891,3755,1740
$STATE,6386,end climb,SURFACE_DEPTH_REACHED
$STATE,6386,begin surface coast
$FINISH,1.6,1.021745
$STATE,6393,end surface coast,CONTROL_FINISHED_OK
$STATE,6393,begin surface
$SM_CCo,6472,0.00,0.000,0,0,1738,440.07
$SM_GC,2.56,7.18,0.00,0.00,0.050,0.000,0.000,143,2425,1738,-7.50,-0.06,440.07
$IRIDIUM_FIX,2403.92,12320.44,030998,131321
$TT8_MAMPS,0.028379
$HUMID,1586
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.9,23.181
$10V_AH,10.9,13.669
$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,22.225,51.375,406.375,0.000,0.000,24.475,38.667,204.564,1.750,0.000,0.000,37.357,1639.915,2747.572,476.510,1581.490,447.241,0.000,1276.258,0.000,1527.918,0.000,12.707,0.000
$DEVICE_MAMPS,246.974,82.836,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.241,815.093,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50559,1009
$CAP_FILE_SIZE,87218,0
$CFSIZE,260165632,215982080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,146.3,1
$GPS,090609,172503,2411.308,12318.682,12,3.9,31,-3.4