version: 66.04
glider: 167
mission: 1
dive: 16
start: 1 29 109 9 31 35
data:
$ID,167
$MISSION,1
$DIVE,16
$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,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,45
$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,-3064.2644
$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,41
$R_STBD_OVSHOOT,32
$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
$GPS1,092602,4804.225,-12220.947,13,1.1,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.6
$GPS2,093113,4804.174,-12220.911,10,1.9,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4811.810,-12209.455
$TGT_RADIUS,1852.000
$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,26.7,20000,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-115.88,0.000,2,0.000,0.000,176,2102,3372
$GC,136,-1.03,-146.6,3.9,-3.4,10,166,9.77,2.22,-13.20,0.000,4,0.278,0.061,2390,686,3963
$GC,338,-1.03,-146.6,39.7,-17.6,24,352,0.00,2.22,0.00,0.000,6,0.000,0.047,2384,2089,3964
$GC,414,-1.03,-146.6,51.9,-18.3,29,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2089,3964
$GC,538,-1.03,-146.6,74.0,-17.5,37,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2089,3963
$GC,663,-1.03,-146.6,95.0,-16.5,45,666,0.00,2.15,0.00,0.000,4,0.000,0.047,2384,695,3963
$GC,757,-1.03,-146.6,110.8,-15.2,50,761,0.00,2.20,0.00,0.000,6,0.000,0.048,2384,2109,3964
$STATE,806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,806,begin apogee
$GC,811,-0.20,0.0,117.2,15.8,53,917,0.95,0.00,102.18,0.712,6,0.181,0.000,2660,2111,3392
$STATE,918,end apogee,CONTROL_FINISHED_OK
$STATE,918,begin climb
$GC,920,1.03,146.6,122.1,0.0,60,1035,1.20,0.00,109.70,0.685,6,0.103,0.000,3056,2111,2794
$GC,1159,1.03,146.6,89.4,17.6,75,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2111,2793
$GC,1284,1.03,146.6,69.4,15.5,83,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2110,2793
$GC,1409,1.03,146.6,49.9,15.1,91,1413,0.00,2.22,0.00,0.000,4,0.000,0.048,3060,689,2792
$GC,1444,1.03,146.6,45.8,15.0,93,1448,0.00,2.22,0.00,0.000,6,0.000,0.044,3061,2116,2793
$GC,1592,1.03,146.6,24.3,14.2,105,1596,0.00,2.20,0.00,0.000,4,0.000,0.058,3060,3513,2793
$GC,1715,1.04,156.9,6.3,11.9,113,1740,0.00,2.17,8.77,0.561,6,0.000,0.038,3061,2096,2751
$GC,1809,1.34,395.7,4.6,-1.2,121,1869,0.25,0.00,56.95,0.624,2,0.075,0.000,3163,2093,2429
$STATE,1870,end climb,SURFACE_DEPTH_REACHED
$STATE,1870,begin surface coast
$FINISH,3.3,1.049990
$STATE,2046,end surface coast,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$SM_CCo,2064,232.38,0.613,0,0,1149,550.21
$SM_GC,1.60,0.00,0.00,232.38,0.000,0.000,0.613,172,2093,1149,-8.01,-0.20,550.21
$IRIDIUM_FIX,4745.30,-12222.84,250498,080818
$TT8_MAMPS,0.029146
$HUMID,1390
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,87.2,39.5
$24V_AH,24.3,2.493
$10V_AH,10.7,0.998
$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,21.025,17.625,277.600,232.375,0.000,24.602,26.242,160.056,1.000,0.000,0.000,15.773,284.039,783.435,539.335,708.212,312.810,0.000,845.781,0.000,725.787,0.000,9.915,0.000
$DEVICE_MAMPS,278.421,60.593,711.776,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,95.107,471.934,477.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6496,141
$CAP_FILE_SIZE,41911,5
$CFSIZE,260165632,258039808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,101107,4804.290,-12220.718,39,1.0,39,18.3