version: 66.04
glider: 167
mission: 2
dive: 143
start: 6 11 109 20 8 11
data:
$ID,167
$MISSION,2
$DIVE,143
$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,-7675.3594
$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,81
$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
$GPS1,200204,2414.345,12259.018,9,2.1,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-68.2
$GPS2,200749,2414.364,12259.094,11,1.5,16,-3.4
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,301.0,118040,-18.3,-12.000
$D_GRID,470
$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,-194.7,0.0,0.0,0,49,0.00,0.00,-32.33,0.000,2,0.000,0.000,145,2448,2508
$GC,52,-1.05,-194.7,3.1,-2.7,5,114,8.30,2.05,-45.80,0.000,4,0.245,0.041,2195,1037,3989
$GC,206,-0.24,-194.7,37.3,-32.7,31,213,0.95,2.08,0.00,0.000,6,0.176,0.033,2463,2431,3990
$GC,551,-0.62,-194.7,68.2,-4.2,92,558,0.30,2.00,0.00,0.000,4,0.051,0.045,2330,3754,3992
$GC,637,-0.46,-194.7,79.2,-14.5,107,644,0.22,1.88,0.00,0.000,6,0.146,0.025,2395,2425,3992
$GC,982,-0.61,-194.7,108.5,-6.9,168,988,0.15,2.05,0.00,0.000,4,0.068,0.045,2330,3766,3992
$GC,1096,-0.47,-194.7,125.7,-17.7,188,1103,0.20,1.85,0.00,0.000,6,0.149,0.025,2387,2436,3993
$GC,1441,-0.65,-194.7,155.1,-8.2,249,1449,0.15,2.03,0.00,0.000,4,0.070,0.045,2319,3763,3993
$GC,1545,-0.65,-194.7,167.1,-11.8,267,1551,0.00,1.83,0.00,0.000,6,0.000,0.025,2319,2457,3993
$GC,1889,-0.70,-194.7,204.2,-10.0,328,1895,0.00,1.98,0.00,0.000,4,0.000,0.046,2316,3753,3995
$GC,2039,-0.77,-194.7,219.3,-9.0,354,2045,0.00,1.77,0.00,0.000,6,0.000,0.026,2316,2494,3995
$GC,2382,-0.85,-194.7,248.7,-9.7,415,2389,0.12,2.08,0.00,0.000,4,0.076,0.026,2259,1034,3995
$GC,2413,-0.77,-194.7,252.2,-12.0,420,2419,0.12,2.17,0.00,0.000,6,0.158,0.035,2292,2500,3995
$GC,2757,-0.77,-194.7,282.3,-12.1,481,2764,0.00,2.10,0.00,0.000,4,0.000,0.028,2292,1046,3995
$GC,2788,-0.82,-194.7,286.1,-12.5,486,2794,0.00,2.15,0.00,0.000,6,0.000,0.033,2289,2499,3995
$GC,3119,-0.82,-194.7,326.0,-8.7,526,3123,0.00,1.90,0.00,0.000,4,0.000,0.049,2289,3755,3995
$GC,3295,-0.89,-194.7,340.9,-8.0,541,3302,0.00,1.75,0.00,0.000,6,0.000,0.027,2289,2523,3995
$GC,3622,-0.94,-194.7,373.7,-10.2,572,3626,0.12,1.90,0.00,0.000,4,0.078,0.048,2232,3755,3994
$GC,3667,-0.73,-194.7,379.6,-13.2,576,3671,0.25,1.75,0.00,0.000,6,0.150,0.028,2306,2534,3994
$GC,3997,-0.87,-194.7,406.3,-8.8,607,4002,0.12,2.15,0.00,0.000,4,0.077,0.028,2253,1039,3993
$GC,4031,-0.82,-194.7,410.2,-13.1,609,4039,0.12,2.20,0.00,0.000,6,0.162,0.036,2281,2508,3993
$GC,4356,-0.89,-194.7,448.3,-10.6,640,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2508,3991
$STATE,4578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4578,begin apogee
$GC,4583,-0.22,0.0,470.6,10.0,661,4671,0.55,0.00,84.75,0.976,6,0.137,0.000,2463,2509,3532
$STATE,4672,end apogee,CONTROL_FINISHED_OK
$STATE,4672,begin climb
$GC,4674,1.05,194.7,474.9,0.0,670,4826,1.12,2.00,144.27,0.951,4,0.058,0.049,2883,3757,2738
$GC,5081,0.38,194.7,427.8,16.9,705,5089,0.80,1.80,0.00,0.000,6,0.191,0.027,2670,2513,2734
$GC,5407,0.76,370.8,403.2,4.7,736,5548,0.30,2.20,130.85,0.918,4,0.060,0.032,2802,1122,2019
$GC,5622,0.76,370.8,375.1,15.7,755,5629,0.00,2.12,0.00,0.000,6,0.000,0.035,2802,2499,2014
$GC,5950,0.68,370.8,326.6,13.5,786,5952,0.15,0.00,0.00,0.000,6,0.160,0.000,2763,2500,2009
$GC,6271,0.79,383.8,288.7,11.5,825,6284,0.10,0.00,9.27,0.771,6,0.088,0.000,2803,2500,1966
$GC,6622,0.79,383.8,236.9,15.5,887,6628,0.00,2.05,0.00,0.000,4,0.000,0.033,2809,1116,1963
$GC,6769,0.79,383.8,215.5,14.1,913,6776,0.00,2.08,0.00,0.000,6,0.000,0.037,2810,2494,1962
$GC,7114,0.79,383.8,168.2,12.1,974,7119,0.00,1.95,0.00,0.000,4,0.000,0.053,2809,3767,1960
$GC,7160,0.87,454.3,163.5,9.1,982,7219,0.00,1.83,53.85,0.767,6,0.000,0.027,2813,2507,1680
$GC,7558,1.13,523.3,116.5,9.1,1052,7618,0.22,2.08,52.28,0.709,4,0.062,0.030,2917,1111,1396
$GC,7661,1.08,523.3,101.3,16.8,1069,7668,0.00,2.17,0.00,0.000,6,0.000,0.037,2917,2514,1393
$GC,8006,1.08,523.3,33.9,17.4,1130,8012,0.00,1.92,0.00,0.000,4,0.000,0.052,2917,3759,1390
$GC,8030,1.08,523.3,29.7,17.4,1134,8036,0.12,1.80,0.00,0.000,6,0.173,0.026,2892,2511,1389
$STATE,8237,end climb,SURFACE_DEPTH_REACHED
$STATE,8237,begin surface coast
$FINISH,1.7,1.021361
$STATE,8266,end surface coast,CONTROL_FINISHED_OK
$STATE,8266,begin surface
$SM_CCo,8344,0.00,0.000,0,0,1384,526.66
$SM_GC,2.40,7.38,0.00,0.00,0.063,0.000,0.000,144,2409,1384,-7.49,-0.54,526.66
$IRIDIUM_FIX,2403.92,12259.45,050998,181806
$TT8_MAMPS,0.028379
$HUMID,1642
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.1,148.8
$24V_AH,24.7,25.984
$10V_AH,10.9,15.129
$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,21.900,63.700,475.275,0.000,0.000,30.568,32.720,171.752,2.250,0.000,0.000,16.556,1932.774,3933.635,534.294,1868.428,423.697,0.000,1487.757,0.000,1830.304,0.000,17.535,0.000
$DEVICE_MAMPS,244.673,85.904,976.391,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,786.377,888.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59957,1176
$CAP_FILE_SIZE,102091,0
$CFSIZE,260165632,214667264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,350.5,1
$GPS,110609,222831,2415.934,12257.962,42,1.2,42,-3.4