version: 66.04
glider: 167
mission: 1
dive: 14
start: 1 29 109 7 57 28
data:
$ID,167
$MISSION,1
$DIVE,14
$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,-3034.7344
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,074832,4804.136,-12221.142,13,1.5,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.8
$GPS2,075632,4804.083,-12221.073,15,1.4,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.262
$KALMAN_X,3382.0,249.9,-198.8,-1236.6,100.0
$KALMAN_Y,-9212.5,-812.2,232.0,4611.5,-361.0
$MHEAD_RNG_PITCHd_Wd,321.3,8106,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,122,0.00,0.00,-103.68,0.000,2,0.000,0.000,175,2104,3069
$GC,125,-1.03,-146.6,3.1,-3.5,18,163,9.82,2.33,-22.67,0.000,4,0.282,0.073,2385,3512,3963
$GC,175,-1.03,-146.6,9.3,-12.2,26,182,0.00,2.20,0.00,0.000,6,0.000,0.036,2385,2089,3964
$GC,250,-1.03,-146.6,22.4,-20.1,39,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2086,3964
$GC,324,-1.03,-146.6,35.6,-17.5,52,331,0.00,2.15,0.00,0.000,4,0.000,0.045,2385,705,3964
$GC,389,-1.03,-146.6,47.6,-19.3,63,395,0.00,2.17,0.00,0.000,6,0.000,0.048,2377,2100,3964
$GC,530,-1.03,-146.6,73.6,-16.7,88,537,0.00,2.17,0.00,0.000,4,0.000,0.044,2377,701,3964
$GC,577,-1.03,-146.6,81.8,-17.1,96,584,0.12,2.15,0.00,0.000,6,0.206,0.045,2399,2099,3964
$GC,720,-1.03,-146.6,102.9,-13.5,121,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2100,3964
$STATE,824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,824,begin apogee
$GC,830,-0.20,0.0,117.9,13.9,140,936,0.88,0.00,101.28,0.710,6,0.175,0.000,2659,2101,3392
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,940,1.03,146.6,120.5,0.0,159,1057,1.15,0.00,109.03,0.685,6,0.079,0.000,3059,2101,2793
$GC,1191,1.03,146.6,89.1,17.8,204,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2100,2792
$GC,1333,1.03,146.6,65.5,15.9,229,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2100,2792
$GC,1473,1.03,146.6,43.8,14.5,254,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2100,2791
$GC,1614,1.03,146.6,23.3,14.8,279,1620,0.00,2.22,0.00,0.000,4,0.000,0.058,3059,3518,2792
$GC,1644,1.03,146.6,19.1,14.4,284,1650,0.00,2.15,0.00,0.000,6,0.000,0.037,3062,2095,2792
$GC,1720,1.05,165.2,9.9,11.4,297,1739,0.00,2.22,14.70,0.594,4,0.000,0.048,3072,694,2718
$STATE,1777,end climb,SURFACE_DEPTH_REACHED
$STATE,1777,begin surface coast
$FINISH,4.4,1.050108
$STATE,1843,end surface coast,CONTROL_FINISHED_OK
$STATE,1843,begin surface
$SM_CCo,1846,422.80,0.604,0,0,450,721.67
$SM_GC,1.35,8.25,0.00,0.00,0.062,0.000,0.000,174,2103,446,-7.96,0.08,722.65
$IRIDIUM_FIX,4748.51,-12224.57,250498,070752
$TT8_MAMPS,0.029146
$HUMID,1366
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,46.4
$24V_AH,24.3,2.259
$10V_AH,10.7,0.897
$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,20.225,22.075,225.000,422.800,0.000,52.618,59.817,204.218,0.500,0.000,0.000,15.545,468.249,680.039,724.329,583.984,422.611,33.359,1064.228,0.000,581.502,0.000,5.539,0.000
$DEVICE_MAMPS,282.256,72.865,710.242,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.928,221.898,374.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19120,318
$CAP_FILE_SIZE,39488,0
$CFSIZE,260165632,258084864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,083754,4804.188,-12221.199,8,1.6,12,18.3