version: 66.04
glider: 167
mission: 1
dive: 22
start: 1 29 109 13 58 31
data:
$ID,167
$MISSION,1
$DIVE,22
$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,-3196.8118
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,135320,4805.394,-12221.488,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.5
$GPS2,135808,4805.425,-12221.530,16,1.9,16,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4816.224,-12221.530
$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,15,-1.03,-146.6,0.0,0.0,0,129,0.00,0.00,-112.28,0.000,2,0.000,0.000,173,2111,3281
$GC,132,-1.03,-146.6,3.3,-2.7,11,166,9.95,2.25,-16.17,0.000,4,0.284,0.076,2387,3503,3963
$GC,419,-1.03,-146.6,55.5,-17.0,34,423,0.00,2.12,0.00,0.000,6,0.000,0.037,2387,2090,3964
$GC,561,-1.03,-146.6,79.4,-16.2,43,570,0.00,2.28,0.00,0.000,4,0.000,0.062,2384,3509,3963
$GC,616,-1.03,-146.6,88.2,-16.1,46,619,0.00,2.12,0.00,0.000,6,0.000,0.035,2384,2095,3963
$GC,757,-1.03,-146.6,110.0,-15.3,55,761,0.00,2.12,0.00,0.000,4,0.000,0.045,2384,697,3963
$GC,830,-1.03,-146.6,121.7,-16.1,59,834,0.00,2.17,0.00,0.000,6,0.000,0.047,2377,2102,3963
$STATE,839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,839,begin apogee
$GC,845,-0.20,0.0,123.4,16.7,60,950,1.00,0.00,102.10,0.718,6,0.180,0.000,2664,2103,3392
$STATE,951,end apogee,CONTROL_FINISHED_OK
$STATE,951,begin climb
$GC,954,1.03,146.6,126.0,0.0,67,1071,1.17,2.35,109.22,0.690,4,0.080,0.058,3063,3504,2793
$GC,1100,1.03,146.6,110.2,19.7,76,1107,0.00,2.17,0.00,0.000,6,0.000,0.036,3072,2111,2792
$GC,1231,1.03,146.6,85.8,18.9,85,1235,0.00,2.22,0.00,0.000,4,0.000,0.048,3078,696,2792
$GC,1259,1.03,146.6,80.5,19.5,87,1263,0.00,2.22,0.00,0.000,6,0.000,0.044,3079,2107,2792
$GC,1395,1.03,146.6,55.6,17.9,96,1399,0.00,2.22,0.00,0.000,4,0.000,0.058,3079,3507,2792
$GC,1428,1.03,146.6,49.8,17.1,98,1432,0.00,2.17,0.00,0.000,6,0.000,0.037,3079,2089,2792
$GC,1567,1.03,146.6,28.0,15.9,109,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2088,2792
$GC,1630,1.03,150.6,19.9,12.3,115,1642,0.00,2.28,4.38,0.460,4,0.000,0.057,3079,3514,2777
$GC,1669,1.03,150.6,14.1,14.8,118,1676,0.00,2.17,0.00,0.000,6,0.000,0.036,3079,2101,2778
$GC,1740,1.07,180.8,6.2,10.8,125,1763,0.00,0.00,21.33,0.608,2,0.000,0.000,3079,2100,2664
$STATE,1764,end climb,SURFACE_DEPTH_REACHED
$STATE,1764,begin surface coast
$FINISH,3.6,1.051115
$STATE,1812,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1830,274.38,0.610,0,0,1149,550.21
$SM_GC,1.85,0.00,0.00,274.38,0.000,0.000,0.610,171,2097,1149,-8.01,-0.08,550.21
$IRIDIUM_FIX,4745.30,-12222.84,250498,131335
$TT8_MAMPS,0.029146
$HUMID,1377
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,52.6
$24V_AH,24.3,3.194
$10V_AH,10.8,1.146
$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,20.625,30.900,237.025,274.375,0.000,28.084,24.172,142.251,0.500,0.000,0.000,16.515,281.172,877.869,618.001,355.118,283.359,0.000,858.488,0.000,344.516,0.000,5.572,0.000
$DEVICE_MAMPS,283.790,75.933,717.912,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,88.429,48.084,81.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6529,132
$CAP_FILE_SIZE,33121,0
$CFSIZE,260165632,257925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290109,143442,4805.646,-12221.586,14,1.8,30,18.3