version: 66.04
glider: 167
mission: 1
dive: 17
start: 1 29 109 10 17 0
data:
$ID,167
$MISSION,1
$DIVE,17
$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,-3081.0447
$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,45
$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
$GPS1,101107,4804.290,-12220.718,39,1.0,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.5
$GPS2,101608,4804.253,-12220.702,16,1.1,16,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.244
$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,312.5,5827,-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,15,-1.03,-146.6,0.0,0.0,0,105,0.00,0.00,-88.43,0.000,2,0.000,0.000,172,2093,3525
$GC,108,-1.03,-146.6,4.1,-4.0,7,137,9.65,2.30,-8.18,0.000,4,0.274,0.072,2385,3497,3963
$GC,424,-1.03,-146.6,65.9,-18.0,28,429,0.00,2.15,0.00,0.000,6,0.000,0.037,2385,2077,3963
$GC,569,-1.03,-146.6,88.1,-16.2,37,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2076,3963
$GC,693,-1.03,-146.6,106.8,-15.0,45,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2075,3963
$STATE,754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,754,begin apogee
$GC,759,-0.20,0.0,115.9,14.7,49,865,0.93,0.00,101.88,0.711,6,0.173,0.000,2659,2074,3392
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,868,1.03,146.6,121.4,0.0,56,985,1.20,0.00,109.45,0.685,6,0.106,0.000,3052,2074,2795
$GC,1109,1.03,146.6,89.0,16.6,72,1113,0.00,2.35,0.00,0.000,4,0.000,0.059,3052,3514,2794
$GC,1168,1.03,146.6,77.7,18.8,75,1175,0.00,2.17,0.00,0.000,6,0.000,0.037,3060,2106,2794
$GC,1300,1.03,146.6,55.7,16.5,84,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2104,2794
$GC,1438,1.03,146.6,36.3,14.1,93,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2103,2794
$GC,1508,1.03,146.6,25.4,13.6,100,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2104,2794
$GC,1571,1.03,146.6,17.5,12.7,106,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2103,2794
$GC,1636,1.08,186.7,10.8,10.2,112,1676,0.00,0.00,30.00,0.619,6,0.000,0.000,3060,2103,2630
$STATE,1719,end climb,SURFACE_DEPTH_REACHED
$STATE,1720,begin surface coast
$FINISH,4.0,1.049547
$STATE,1766,end surface coast,CONTROL_FINISHED_OK
$STATE,1766,begin surface
$SM_CCo,1769,408.40,0.603,0,0,449,721.67
$SM_GC,1.39,8.20,0.00,0.00,0.061,0.000,0.000,174,2102,445,-7.96,0.06,722.90
$IRIDIUM_FIX,4745.30,-12222.84,250498,090915
$TT8_MAMPS,0.028379
$HUMID,1360
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,44.0
$24V_AH,24.3,2.620
$10V_AH,10.7,1.036
$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,19.975,8.975,241.325,408.400,0.000,30.562,24.777,150.926,0.500,0.000,0.000,16.152,254.999,784.867,682.812,589.002,295.403,29.237,928.092,0.000,596.620,0.000,5.532,0.000
$DEVICE_MAMPS,273.819,72.098,711.009,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,82.939,383.017,385.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6544,123
$CAP_FILE_SIZE,36531,2
$CFSIZE,260165632,258027520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,105555,4804.408,-12220.870,10,1.3,15,18.3