version: 66.04
glider: 167
mission: 1
dive: 20
start: 1 29 109 12 32 8
data:
$ID,167
$MISSION,1
$DIVE,20
$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,-3145.8042
$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,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
$GPS1,122650,4804.881,-12221.126,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.2
$GPS2,123146,4804.891,-12221.111,12,2.3,31,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4815.689,-12221.111
$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,12,begin dive
$GC,14,-1.03,-146.6,0.0,0.0,0,88,0.00,0.00,-71.57,0.000,2,0.000,0.000,171,2082,2996
$GC,91,-1.03,-146.6,3.2,-2.1,7,135,9.90,2.17,-26.95,0.000,4,0.281,0.062,2394,689,3960
$GC,192,-1.03,-146.6,16.7,-19.1,16,196,0.00,2.22,0.00,0.000,6,0.000,0.045,2386,2109,3961
$GC,261,-1.03,-146.6,29.7,-18.6,22,265,0.00,2.20,0.00,0.000,4,0.000,0.045,2385,695,3961
$GC,311,-1.03,-146.6,39.9,-19.2,26,318,0.00,2.22,0.00,0.000,6,0.000,0.046,2383,2096,3961
$GC,379,-1.03,-146.6,52.7,-19.3,31,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2095,3961
$GC,504,-1.03,-146.6,74.8,-17.5,39,508,0.00,2.17,0.00,0.000,4,0.000,0.044,2383,684,3960
$GC,555,-1.03,-146.6,83.2,-16.4,42,559,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,2107,3960
$GC,691,-1.03,-146.6,104.9,-15.9,51,694,0.00,2.17,0.00,0.000,4,0.000,0.044,2376,690,3960
$GC,746,-1.03,-146.6,114.3,-17.1,54,750,0.12,2.17,0.00,0.000,6,0.203,0.046,2399,2098,3960
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,771,begin apogee
$GC,776,-0.20,0.0,118.4,16.1,56,881,0.90,0.00,101.85,0.711,6,0.173,0.000,2662,2100,3392
$STATE,882,end apogee,CONTROL_FINISHED_OK
$STATE,882,begin climb
$GC,884,1.03,146.6,121.9,0.0,63,999,1.23,0.00,109.90,0.685,6,0.104,0.000,3058,2099,2794
$GC,1123,1.03,146.6,89.7,17.6,79,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2099,2793
$GC,1249,1.03,146.6,68.2,16.9,87,1253,0.00,2.28,0.00,0.000,4,0.000,0.059,3058,3518,2793
$GC,1316,1.03,146.6,55.8,17.8,91,1320,0.00,2.20,0.00,0.000,6,0.000,0.038,3061,2093,2793
$GC,1455,1.03,146.6,34.8,15.0,101,1459,0.00,2.17,0.00,0.000,4,0.000,0.050,3061,689,2793
$GC,1482,1.03,146.6,30.4,14.2,103,1489,0.00,2.20,0.00,0.000,6,0.000,0.044,3061,2108,2793
$GC,1552,1.03,146.6,21.5,12.7,110,1556,0.00,2.20,0.00,0.000,4,0.000,0.058,3062,3517,2793
$GC,1586,1.03,146.6,16.7,14.4,113,1590,0.00,2.17,0.00,0.000,6,0.000,0.035,3062,2082,2793
$GC,1656,1.08,190.8,9.1,10.0,119,1697,0.00,2.20,32.67,0.618,4,0.000,0.048,3062,699,2613
$STATE,1711,end climb,SURFACE_DEPTH_REACHED
$STATE,1711,begin surface coast
$FINISH,2.8,1.048757
$STATE,1757,end surface coast,CONTROL_FINISHED_OK
$STATE,1757,begin surface
$SM_CCo,1777,266.85,0.610,0,0,1148,550.21
$SM_GC,1.43,0.00,0.00,266.85,0.000,0.000,0.610,171,2114,1148,-8.01,0.40,550.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,111102
$TT8_MAMPS,0.029146
$HUMID,1368
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,97.4,29.1
$24V_AH,24.3,2.962
$10V_AH,10.8,1.101
$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,20.525,35.225,244.425,266.850,0.000,24.840,23.905,138.042,1.750,0.000,0.000,32.601,282.208,862.866,606.702,335.985,275.264,0.000,820.174,0.000,306.466,0.000,15.801,0.000
$DEVICE_MAMPS,280.722,62.127,711.009,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,85.849,48.066,81.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6595,128
$CAP_FILE_SIZE,33757,0
$CFSIZE,260165632,257966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,130722,4805.147,-12221.224,13,2.3,32,18.3