version: 66.04
glider: 167
mission: 1
dive: 6
start: 1 29 109 2 11 59
data:
$ID,167
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,500
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,550
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2869.3413
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,174
$PITCH_MAX,3944
$C_PITCH,2733
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3392
$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,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.577106
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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,0.0042613237
$SEABIRD_T_H,0.000318543
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,020658,4803.844,-12220.581,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.8
$GPS2,021105,4803.788,-12220.546,17,1.9,26,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.265
$KALMAN_X,1523.8,782.5,220.9,317.6,-45.3
$KALMAN_Y,-3346.8,-1598.3,-442.8,-326.4,-164.9
$MHEAD_RNG_PITCHd_Wd,323.2,8894,-21.2,-12.500
$D_GRID,150
$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,-1.03,-146.6,0.0,0.0,0,121,0.00,0.00,-103.82,0.000,2,0.000,0.000,182,2088,3011
$GC,124,-1.03,-146.6,3.1,-2.0,18,167,9.70,2.30,-23.98,0.000,4,0.284,0.076,2387,3500,3963
$GC,174,-1.03,-146.6,9.0,-10.1,26,180,0.00,2.12,0.00,0.000,6,0.000,0.037,2387,2090,3963
$GC,250,-1.03,-146.6,21.5,-18.2,39,256,0.00,2.12,0.00,0.000,4,0.000,0.046,2387,693,3963
$GC,298,-1.03,-146.6,30.5,-19.9,47,304,0.00,2.17,0.00,0.000,6,0.000,0.049,2384,2096,3963
$GC,372,-1.03,-146.6,45.3,-19.7,60,378,0.00,2.15,0.00,0.000,4,0.000,0.044,2384,691,3964
$GC,424,-1.03,-146.6,54.8,-17.9,69,430,0.00,2.17,0.00,0.000,6,0.000,0.047,2377,2103,3964
$GC,565,-1.03,-146.6,80.0,-17.7,94,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2104,3964
$GC,712,-1.03,-146.6,104.1,-16.4,119,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2103,3964
$STATE,800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,800,begin apogee
$GC,806,-0.20,0.0,118.4,15.3,135,912,0.98,0.00,101.28,0.723,6,0.184,0.000,2660,2104,3392
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,915,1.03,146.6,122.7,0.0,154,1033,1.23,0.00,108.82,0.692,6,0.110,0.000,3059,2103,2794
$GC,1169,1.03,146.6,87.6,17.3,199,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2103,2793
$GC,1309,1.03,146.6,64.3,15.0,224,1315,0.00,2.25,0.00,0.000,4,0.000,0.060,3059,3517,2793
$GC,1378,1.03,146.6,51.9,18.4,236,1384,0.00,2.15,0.00,0.000,6,0.000,0.040,3059,2111,2792
$GC,1520,1.03,146.6,30.4,13.3,261,1526,0.00,2.22,0.00,0.000,4,0.000,0.051,3062,696,2792
$GC,1538,1.03,146.6,28.1,13.2,264,1544,0.00,2.17,0.00,0.000,6,0.000,0.044,3061,2107,2793
$GC,1613,1.03,146.6,18.1,13.6,277,1619,0.00,2.20,0.00,0.000,4,0.000,0.059,3061,3509,2792
$GC,1659,1.03,146.6,11.9,13.6,285,1665,0.00,2.15,0.00,0.000,6,0.000,0.038,3062,2088,2792
$STATE,1733,end climb,SURFACE_DEPTH_REACHED
$STATE,1733,begin surface coast
$FINISH,3.1,1.050112
$STATE,1783,end surface coast,CONTROL_FINISHED_OK
$STATE,1785,begin surface
$SM_CCo,1802,295.55,0.614,0,0,1148,550.21
$SM_GC,1.43,0.00,0.00,295.55,0.000,0.000,0.614,173,2085,1148,-8.00,-0.42,550.21
$IRIDIUM_FIX,4745.30,-12222.84,250498,020209
$TT8_MAMPS,0.029146
$HUMID,1406
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.0,46.8
$24V_AH,24.3,1.349
$10V_AH,10.7,0.566
$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,20.325,26.200,210.100,295.550,0.000,0.000,0.000,0.000,0.500,0.000,0.000,26.750,450.804,504.522,595.880,576.676,56.298,33.323,932.828,0.000,561.930,0.000,5.559,0.000
$DEVICE_MAMPS,283.790,75.933,723.281,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.213,214.835,362.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16001,307
$CAP_FILE_SIZE,50817,0
$CFSIZE,260165632,258289664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,024744,4803.866,-12220.634,10,2.0,10,18.3