version: 66.04
glider: 167
mission: 1
dive: 19
start: 1 29 109 11 51 13
data:
$ID,167
$MISSION,1
$DIVE,19
$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,-3112.5767
$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,28
$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
$GPS1,114548,4804.685,-12220.965,10,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.4
$GPS2,115050,4804.699,-12220.963,15,2.0,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4815.498,-12220.963
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.03,-146.6,0.0,0.0,0,138,0.00,0.00,-120.85,0.000,2,0.000,0.000,173,2098,3491
$GC,141,-1.03,-146.6,3.9,-3.8,12,167,9.90,2.22,-10.05,0.000,4,0.283,0.060,2393,696,3963
$GC,419,-1.03,-146.6,58.5,-18.3,34,426,0.00,2.20,0.00,0.000,6,0.000,0.048,2385,2102,3964
$GC,553,-1.03,-146.6,80.5,-16.7,43,557,0.00,2.17,0.00,0.000,4,0.000,0.045,2384,693,3964
$GC,722,-1.03,-146.6,108.5,-16.7,53,726,0.00,2.20,0.00,0.000,6,0.000,0.048,2384,2107,3964
$STATE,779,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,779,begin apogee
$GC,784,-0.20,0.0,117.5,15.9,57,890,0.98,0.00,102.25,0.710,6,0.183,0.000,2662,2108,3392
$STATE,891,end apogee,CONTROL_FINISHED_OK
$STATE,891,begin climb
$GC,893,1.03,146.6,121.5,0.0,64,1007,1.23,0.00,110.03,0.686,6,0.102,0.000,3060,2108,2794
$GC,1131,1.03,146.6,89.2,17.5,80,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2108,2791
$GC,1256,1.03,146.6,67.8,16.8,88,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2108,2792
$GC,1381,1.03,146.6,48.6,15.1,96,1385,0.00,2.22,0.00,0.000,4,0.000,0.048,3061,691,2792
$GC,1436,1.03,146.6,40.6,13.9,99,1442,0.00,2.20,0.00,0.000,6,0.000,0.045,3061,2104,2792
$GC,1575,1.04,153.3,22.1,12.1,112,1587,0.00,2.22,6.43,0.530,4,0.000,0.058,3062,3515,2766
$GC,1655,1.04,153.3,11.4,12.9,119,1659,0.00,2.17,0.00,0.000,6,0.000,0.037,3061,2087,2766
$GC,1725,1.10,206.1,4.5,9.5,125,1729,0.00,0.00,2.10,0.168,2,0.000,0.000,3062,2085,2761
$STATE,1730,end climb,SURFACE_DEPTH_REACHED
$STATE,1730,begin surface coast
$FINISH,3.4,1.048744
$STATE,1778,end surface coast,CONTROL_FINISHED_OK
$STATE,1779,begin surface
$SM_CCo,1796,291.73,0.612,0,0,1148,550.21
$SM_GC,1.68,0.00,0.00,291.73,0.000,0.000,0.612,171,2082,1148,-8.01,-0.51,550.21
$IRIDIUM_FIX,4745.30,-12220.12,250498,111121
$TT8_MAMPS,0.029146
$HUMID,1389
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,45.5
$24V_AH,24.3,2.858
$10V_AH,10.8,1.080
$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,20.300,17.625,220.800,291.725,0.000,22.731,32.002,154.623,0.500,0.000,0.000,15.634,270.218,893.050,631.235,326.817,290.952,0.000,832.864,0.000,321.507,0.000,6.986,0.000
$DEVICE_MAMPS,283.023,59.826,710.242,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,87.296,48.235,80.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6554,130
$CAP_FILE_SIZE,29594,0
$CFSIZE,260165632,257994752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,122650,4804.881,-12221.126,13,2.0,13,18.3