version: 66.04
glider: 167
mission: 2
dive: 639
start: 9 4 109 16 10 9
data:
$ID,167
$MISSION,2
$DIVE,639
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21907.205
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,45
$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
$GPS1,160330,2538.275,12254.632,38,1.1,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-67.2
$GPS2,160949,2538.372,12254.501,10,2.0,16,-3.8
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,320.6,8095,-25.0,-13.200
$D_GRID,468
$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,16,-1.50,-121.7,0.0,0.0,0,40,0.00,0.00,-21.55,0.000,2,0.000,0.000,138,2406,2123
$GC,44,-1.50,-121.7,3.1,-2.4,4,125,8.12,2.10,-64.10,0.000,4,0.232,0.055,2078,3759,3988
$GC,382,-0.96,-121.7,104.0,-25.1,62,389,0.68,1.98,0.00,0.000,6,0.164,0.022,2268,2362,3992
$GC,729,-1.20,-121.7,160.0,-13.7,123,736,0.17,2.17,0.00,0.000,4,0.064,0.044,2188,3753,3995
$GC,993,-1.07,-121.7,208.8,-18.4,169,1000,0.17,1.90,0.00,0.000,6,0.158,0.023,2235,2412,3996
$GC,1341,-1.21,-121.7,261.3,-14.5,230,1348,0.12,2.10,0.00,0.000,4,0.078,0.045,2179,3755,3996
$GC,1499,-1.06,-121.7,293.1,-20.2,257,1506,0.20,1.88,0.00,0.000,6,0.160,0.023,2232,2433,3995
$GC,1835,-1.24,-121.7,341.7,-14.3,291,1840,0.15,2.08,0.00,0.000,4,0.073,0.045,2165,3759,3996
$GC,2023,-1.10,-121.7,380.7,-19.3,307,2028,0.22,1.85,0.00,0.000,6,0.160,0.023,2226,2459,3995
$GC,2355,-1.27,-121.7,430.0,-15.9,338,2359,0.17,2.03,0.00,0.000,4,0.070,0.046,2153,3749,3995
$GC,2511,-1.11,-121.7,461.5,-20.5,351,2517,0.25,1.85,0.00,0.000,6,0.157,0.022,2221,2445,3993
$STATE,2557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2557,begin apogee
$GC,2565,-0.27,0.0,469.1,13.3,356,2662,0.82,0.00,90.53,0.969,6,0.138,0.000,2481,2444,3532
$STATE,2662,end apogee,CONTROL_FINISHED_OK
$STATE,2662,begin climb
$GC,2667,1.50,121.7,470.0,0.0,366,2772,1.55,2.12,95.90,0.941,4,0.050,0.042,3063,3761,3034
$GC,2967,0.60,130.5,452.1,12.6,393,2982,1.17,2.03,8.23,0.798,6,0.216,0.021,2778,2356,2998
$GC,3309,0.80,287.2,439.8,1.8,425,3440,0.17,2.28,121.35,0.937,4,0.075,0.047,2845,3745,2360
$GC,3695,0.80,287.2,383.5,21.7,459,3701,0.00,1.95,0.00,0.000,6,0.000,0.023,2854,2390,2353
$GC,4027,0.84,287.2,310.9,24.6,490,4031,0.00,2.15,0.00,0.000,4,0.000,0.044,2854,3758,2351
$GC,4288,0.79,287.2,242.0,25.7,532,4295,0.00,1.92,0.00,0.000,6,0.000,0.021,2865,2407,2350
$GC,4636,0.79,287.2,181.2,13.3,593,4643,0.00,2.12,0.00,0.000,4,0.000,0.046,2865,3760,2348
$GC,4832,0.78,323.1,158.2,10.6,627,4864,0.15,1.90,26.92,0.768,6,0.178,0.023,2836,2421,2214
$GC,5212,0.99,323.1,94.3,16.7,692,5219,0.17,0.00,0.00,0.000,6,0.069,0.000,2913,2419,2209
$GC,5562,1.22,443.1,51.0,4.5,753,5661,0.17,2.22,92.85,0.681,4,0.071,0.027,2999,992,1724
$GC,5730,1.29,443.1,31.9,13.6,782,5736,0.00,2.22,0.00,0.000,6,0.000,0.031,2999,2443,1718
$STATE,5930,end climb,SURFACE_DEPTH_REACHED
$STATE,5930,begin surface coast
$FINISH,1.9,1.021155
$STATE,5947,end surface coast,CONTROL_FINISHED_OK
$STATE,5947,begin surface
$SM_CCo,5967,22.15,0.618,0,0,1594,475.15
$SM_GC,2.45,0.00,0.00,22.15,0.000,0.000,0.618,139,2456,1594,-7.63,2.06,475.15
$IRIDIUM_FIX,2529.44,12253.02,291198,131300
$TT8_MAMPS,0.029146
$HUMID,1878
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.7,109.607
$10V_AH,10.7,57.159
$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,22.250,40.850,435.775,22.150,0.000,22.895,33.088,164.779,2.750,0.000,0.000,16.234,1352.542,2643.973,493.543,1369.165,503.748,0.000,1204.823,0.000,1337.525,0.000,19.374,0.000
$DEVICE_MAMPS,231.634,55.224,969.488,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.833,628.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44303,820
$CAP_FILE_SIZE,73179,0
$CFSIZE,260165632,176304128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294,239.8,1
$GPS,040909,175055,2538.289,12253.310,9,1.9,14,-3.8