version: 66.04
glider: 167
mission: 1
dive: 29
start: 1 29 109 19 1 52
data:
$ID,167
$MISSION,1
$DIVE,29
$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,67
$T_MISSION,80
$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,-3335.8718
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,185316,4807.080,-12222.067,16,3.0,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.0
$GPS2,190134,4807.148,-12222.126,13,3.4,32,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,HEADING
$TGT_LATLONG,4817.947,-12222.126
$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,-13.0,-7.463
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-146.6,0.0,0.0,0,106,0.00,0.00,-88.07,0.000,2,0.000,0.000,173,2090,3442
$GC,109,-0.70,-146.6,3.2,-2.1,7,140,10.43,2.30,-13.15,0.000,4,0.284,0.074,2492,3506,3961
$GC,442,-0.70,-146.6,45.5,-12.3,30,446,0.00,2.15,0.00,0.000,6,0.000,0.037,2492,2086,3962
$GC,579,-0.70,-146.6,60.9,-11.2,39,583,0.00,2.30,0.00,0.000,4,0.000,0.062,2492,3519,3962
$GC,664,-0.70,-146.6,69.9,-10.4,44,668,0.00,2.12,0.00,0.000,6,0.000,0.035,2492,2092,3961
$GC,814,-0.70,-146.6,84.7,-10.3,53,817,0.00,2.10,0.00,0.000,4,0.000,0.044,2492,705,3962
$GC,869,-0.70,-146.6,91.6,-10.7,56,873,0.00,2.17,0.00,0.000,6,0.000,0.047,2492,2111,3962
$STATE,972,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,972,begin apogee
$GC,978,-0.20,0.0,101.8,9.5,63,1082,0.57,0.00,100.68,0.696,6,0.153,0.000,2664,2112,3392
$STATE,1082,end apogee,CONTROL_FINISHED_OK
$STATE,1082,begin climb
$GC,1085,0.70,146.6,104.9,0.0,70,1200,0.90,0.00,109.20,0.673,6,0.104,0.000,2957,2112,2793
$GC,1324,0.70,146.6,82.9,11.3,86,1328,0.00,2.28,0.00,0.000,4,0.000,0.059,2957,3516,2792
$GC,1352,0.70,146.6,79.5,13.4,88,1356,0.00,2.17,0.00,0.000,6,0.000,0.037,2957,2117,2792
$GC,1496,0.70,146.6,64.5,10.6,97,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2115,2792
$GC,1620,0.70,146.6,52.5,9.5,105,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2115,2791
$GC,1744,0.70,146.6,40.6,9.5,113,1748,0.00,2.22,0.00,0.000,4,0.000,0.058,2957,3515,2792
$GC,1782,0.70,146.6,35.9,10.6,116,1796,0.00,2.20,0.00,0.000,6,0.000,0.038,2957,2091,2792
$GC,1863,0.70,146.6,29.2,9.0,123,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2091,2792
$GC,1933,0.70,146.6,22.6,8.4,130,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2091,2792
$GC,1997,0.70,146.6,17.4,8.0,136,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2091,2792
$GC,2061,0.71,152.6,12.6,7.3,142,2079,0.00,0.00,5.82,0.515,6,0.000,0.000,2957,2091,2769
$GC,2146,0.74,181.1,7.7,6.5,149,2176,0.00,2.30,21.15,0.607,4,0.000,0.058,2957,3506,2656
$STATE,2190,end climb,SURFACE_DEPTH_REACHED
$STATE,2190,begin surface coast
$FINISH,2.7,1.048476
$STATE,2264,end surface coast,CONTROL_FINISHED_OK
$STATE,2264,begin surface
$SM_CCo,2283,273.77,0.608,0,0,1149,550.21
$SM_GC,1.48,0.00,0.00,273.77,0.000,0.000,0.608,172,2085,1149,-8.00,-0.42,550.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,191932
$TT8_MAMPS,0.029146
$HUMID,1362
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.5,29.0
$24V_AH,24.3,3.935
$10V_AH,10.7,1.322
$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,19.725,26.500,236.850,273.775,0.000,57.994,51.753,211.491,0.500,0.000,0.000,33.099,323.447,971.171,547.776,803.718,426.111,0.000,859.946,0.000,790.137,0.000,5.492,0.000
$DEVICE_MAMPS,283.790,74.399,696.436,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,106.567,509.499,512.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6503,157
$CAP_FILE_SIZE,47651,1
$CFSIZE,260165632,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,194519,4807.346,-12222.102,8,1.9,13,18.3