version: 66.04
glider: 167
mission: 1
dive: 18
start: 1 29 109 11 4 36
data:
$ID,167
$MISSION,1
$DIVE,18
$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,0
$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,-3096.3152
$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,42
$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
$GPS1,105555,4804.408,-12220.870,10,1.3,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.6
$GPS2,110414,4804.414,-12220.875,14,1.3,14,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4815.213,-12220.875
$TGT_RADIUS,1852.000
$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,341.7,20000,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.03,-146.6,0.0,0.0,0,108,0.00,0.00,-91.82,0.000,2,0.000,0.000,174,2102,2840
$GC,111,-1.03,-146.6,4.7,-6.3,9,155,9.70,2.25,-26.52,0.000,4,0.276,0.071,2386,3509,3963
$GC,223,-1.03,-146.6,20.3,-17.5,19,227,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,2093,3964
$GC,293,-1.03,-146.6,32.3,-17.3,25,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2090,3965
$GC,361,-1.03,-146.6,44.2,-17.4,31,365,0.00,2.28,0.00,0.000,4,0.000,0.060,2382,3514,3964
$GC,390,-1.03,-146.6,49.7,-19.5,33,394,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,2089,3964
$GC,526,-1.03,-146.6,73.6,-17.0,42,529,0.00,2.12,0.00,0.000,4,0.000,0.044,2382,693,3965
$GC,586,-1.03,-146.6,84.2,-17.4,45,593,0.00,2.17,0.00,0.000,6,0.000,0.044,2374,2102,3965
$GC,718,-1.03,-146.6,105.0,-15.9,54,721,0.00,2.15,0.00,0.000,4,0.000,0.041,2374,689,3965
$GC,756,-1.03,-146.6,111.4,-16.2,56,760,0.12,2.17,0.00,0.000,6,0.203,0.044,2396,2102,3965
$STATE,828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,829,begin apogee
$GC,834,-0.20,0.0,122.0,14.2,61,940,0.93,0.00,102.25,0.719,6,0.179,0.000,2663,2102,3392
$STATE,940,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,943,1.03,146.6,124.1,0.0,68,1057,1.20,0.00,109.50,0.690,6,0.104,0.000,3056,2102,2794
$GC,1175,1.03,146.6,95.8,16.7,83,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2102,2793
$GC,1301,1.03,146.6,75.0,16.4,91,1305,0.00,2.25,0.00,0.000,4,0.000,0.058,3056,3509,2792
$GC,1334,1.03,146.6,68.9,17.8,93,1338,0.00,2.15,0.00,0.000,6,0.000,0.036,3061,2109,2792
$GC,1472,1.03,146.6,47.5,15.1,102,1476,0.00,2.20,0.00,0.000,4,0.000,0.051,3062,696,2792
$GC,1516,1.03,146.6,40.9,13.8,104,1523,0.00,2.20,0.00,0.000,6,0.000,0.045,3062,2091,2792
$GC,1655,1.03,146.6,21.5,13.0,117,1659,0.00,2.25,0.00,0.000,4,0.000,0.059,3062,3516,2792
$GC,1739,1.05,163.0,10.6,11.6,124,1761,0.00,2.15,13.20,0.591,6,0.000,0.038,3062,2100,2727
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,4.2,1.051274
$STATE,1887,end surface coast,CONTROL_FINISHED_OK
$STATE,1887,begin surface
$SM_CCo,1890,424.65,0.604,0,0,450,721.67
$SM_GC,1.32,8.23,0.00,0.00,0.061,0.000,0.000,172,2098,445,-7.97,-0.06,722.90
$IRIDIUM_FIX,4748.51,-12217.40,250498,111111
$TT8_MAMPS,0.028379
$HUMID,1356
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,49.8
$24V_AH,24.3,2.753
$10V_AH,10.8,1.060
$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,20.175,30.650,224.950,424.650,0.000,52.190,135.886,156.442,0.500,0.000,0.000,14.641,294.083,1130.325,755.675,329.666,433.361,0.000,977.184,0.000,322.785,0.000,5.547,0.000
$DEVICE_MAMPS,276.120,71.331,718.679,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,92.946,51.137,86.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6582,138
$CAP_FILE_SIZE,34713,0
$CFSIZE,260165632,258007040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,114548,4804.685,-12220.965,10,2.0,14,18.3