version: 66.04
glider: 167
mission: 1
dive: 7
start: 1 29 109 2 55 46
data:
$ID,167
$MISSION,1
$DIVE,7
$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,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-2885.8972
$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,31
$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
$GPS1,024744,4803.866,-12220.634,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.8
$GPS2,025450,4803.779,-12220.562,15,2.0,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.261
$KALMAN_X,1776.4,796.4,109.3,145.0,11.0
$KALMAN_Y,-3959.7,-1661.4,-343.8,226.8,-217.0
$MHEAD_RNG_PITCHd_Wd,321.2,8898,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,174,2086,3232
$GC,102,-1.03,-146.6,3.6,-4.4,14,139,9.88,2.22,-17.45,0.000,4,0.281,0.061,2396,693,3963
$GC,146,-1.03,-146.6,9.7,-10.8,21,152,0.00,2.20,0.00,0.000,6,0.000,0.047,2388,2098,3963
$GC,222,-1.03,-146.6,22.4,-17.3,34,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2099,3963
$GC,296,-1.03,-146.6,36.3,-19.7,47,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2099,3964
$GC,371,-1.03,-146.6,49.7,-18.0,60,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2099,3964
$GC,512,-1.03,-146.6,73.6,-17.7,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2099,3964
$GC,652,-1.03,-146.6,96.2,-15.7,110,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2099,3963
$STATE,792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,792,begin apogee
$GC,797,-0.20,0.0,117.1,14.4,135,904,0.93,0.00,101.20,0.711,6,0.177,0.000,2659,2098,3392
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,907,1.03,146.6,121.0,0.0,154,1020,1.23,0.00,108.57,0.684,6,0.107,0.000,3059,2098,2794
$GC,1155,1.03,146.6,86.5,17.2,198,1161,0.00,2.28,0.00,0.000,4,0.000,0.058,3059,3512,2793
$GC,1207,1.03,146.6,76.8,19.4,207,1213,0.00,2.17,0.00,0.000,6,0.000,0.038,3061,2098,2793
$GC,1348,1.03,146.6,53.4,15.5,232,1355,0.00,2.25,0.00,0.000,4,0.000,0.058,3061,3510,2793
$GC,1400,1.03,146.6,44.6,17.0,241,1406,0.00,2.17,0.00,0.000,6,0.000,0.038,3061,2092,2793
$GC,1542,1.03,146.6,24.0,13.2,266,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2091,2793
$GC,1616,1.03,149.8,14.4,12.3,279,1629,0.00,2.33,3.97,0.433,4,0.000,0.058,3061,3527,2780
$STATE,1701,end climb,SURFACE_DEPTH_REACHED
$STATE,1701,begin surface coast
$FINISH,2.8,1.050177
$STATE,1743,end surface coast,CONTROL_FINISHED_OK
$STATE,1743,begin surface
$SM_CCo,1762,293.58,0.611,0,0,1149,550.21
$SM_GC,1.41,0.00,0.00,293.58,0.000,0.000,0.611,173,2086,1149,-8.00,-0.40,550.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,020226
$TT8_MAMPS,0.029146
$HUMID,1406
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,46.2
$24V_AH,24.3,1.458
$10V_AH,10.7,0.602
$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,20.275,17.825,213.750,293.575,0.000,29.313,28.920,244.295,0.500,0.000,0.000,15.929,447.942,511.329,569.250,553.120,419.169,33.351,887.479,0.000,547.858,0.000,5.537,0.000
$DEVICE_MAMPS,281.489,61.360,711.009,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,202.713,207.532,349.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15999,301
$CAP_FILE_SIZE,37187,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290109,033107,4803.851,-12220.679,11,1.7,28,18.3