version: 66.04
glider: 167
mission: 1
dive: 21
start: 1 29 109 13 12 58
data:
$ID,167
$MISSION,1
$DIVE,21
$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,-3179.667
$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,37
$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
$GPS1,130722,4805.147,-12221.224,13,2.3,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,131236,4805.163,-12221.229,16,0.9,33,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4815.962,-12221.229
$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,-146.6,0.0,0.0,0,64,0.00,0.00,-47.30,0.000,2,0.000,0.000,171,2114,2415
$GC,67,-1.03,-146.6,3.1,-4.4,5,133,9.65,2.28,-49.80,0.000,4,0.272,0.059,2393,696,3962
$GC,386,-1.03,-146.6,54.5,-17.5,32,390,0.00,2.17,0.00,0.000,6,0.000,0.048,2385,2092,3963
$GC,522,-1.03,-146.6,78.8,-17.6,41,526,0.00,2.17,0.00,0.000,4,0.000,0.046,2384,685,3963
$GC,697,-1.03,-146.6,107.6,-16.3,51,701,0.00,2.20,0.00,0.000,6,0.000,0.048,2377,2102,3962
$STATE,753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,753,begin apogee
$GC,759,-0.20,0.0,116.7,16.1,55,864,1.00,0.00,102.00,0.711,6,0.181,0.000,2663,2103,3392
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,867,1.03,146.6,120.8,0.0,62,982,1.23,0.00,109.93,0.684,6,0.103,0.000,3060,2103,2794
$GC,1106,1.03,146.6,88.2,17.9,78,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2103,2793
$GC,1232,1.03,146.6,66.5,17.1,86,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2103,2793
$GC,1356,1.03,146.6,47.4,14.8,94,1360,0.00,2.25,0.00,0.000,4,0.000,0.059,3060,3515,2793
$GC,1388,1.03,146.6,42.0,16.0,96,1393,0.00,2.17,0.00,0.000,6,0.000,0.037,3062,2099,2793
$GC,1522,1.03,146.6,23.2,13.1,108,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2099,2792
$GC,1586,1.03,146.6,15.4,12.8,114,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2098,2793
$GC,1650,1.10,200.7,9.0,9.4,120,1694,0.00,2.28,39.72,0.621,4,0.000,0.049,3062,689,2572
$STATE,1728,end climb,SURFACE_DEPTH_REACHED
$STATE,1728,begin surface coast
$FINISH,4.5,1.049064
$STATE,1862,end surface coast,CONTROL_FINISHED_OK
$STATE,1862,begin surface
$SM_CCo,1865,398.45,0.608,0,0,450,721.67
$SM_GC,1.43,8.25,0.00,0.00,0.064,0.000,0.000,173,2109,444,-7.96,0.25,722.90
$IRIDIUM_FIX,4745.30,-12204.08,250498,121258
$TT8_MAMPS,0.028379
$HUMID,1355
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,31.3
$24V_AH,24.3,3.090
$10V_AH,10.8,1.125
$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,20.125,17.850,251.650,398.450,0.000,29.410,25.409,148.321,2.000,0.000,0.000,33.233,293.367,1018.516,722.364,387.004,288.641,0.000,943.139,0.000,355.824,0.000,18.695,0.000
$DEVICE_MAMPS,271.518,59.059,711.009,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,93.784,54.228,91.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6562,139
$CAP_FILE_SIZE,31161,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,135320,4805.394,-12221.488,12,1.4,12,18.3