version: 66.04
glider: 167
mission: 1
dive: 8
start: 1 29 109 3 37 21
data:
$ID,167
$MISSION,1
$DIVE,8
$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,-2902.6208
$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,48
$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
$GPS1,033107,4803.851,-12220.679,11,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.6
$GPS2,033626,4803.789,-12220.624,15,1.6,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.264
$KALMAN_X,2039.3,769.0,15.7,-72.6,107.2
$KALMAN_Y,-4643.2,-1641.8,-247.3,809.5,-427.1
$MHEAD_RNG_PITCHd_Wd,322.7,8846,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-75.90,0.000,2,0.000,0.000,173,2087,3069
$GC,96,-1.03,-146.6,3.1,-2.9,13,133,9.88,0.00,-23.10,0.000,6,0.282,0.000,2393,2086,3964
$GC,203,-1.03,-146.6,18.3,-18.2,31,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2086,3963
$GC,276,-1.03,-146.6,31.5,-19.5,44,283,0.00,2.30,0.00,0.000,4,0.000,0.062,2384,3498,3964
$GC,296,-1.03,-146.6,35.1,-19.2,47,302,0.00,2.12,0.00,0.000,6,0.000,0.036,2384,2091,3964
$GC,370,-1.03,-146.6,49.5,-18.4,60,376,0.00,2.12,0.00,0.000,4,0.000,0.044,2384,696,3964
$GC,411,-1.03,-146.6,56.8,-18.5,67,417,0.00,2.17,0.00,0.000,6,0.000,0.045,2374,2103,3964
$GC,552,-1.03,-146.6,82.3,-17.3,92,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2103,3963
$GC,694,-1.03,-146.6,105.9,-16.2,117,700,0.00,2.15,0.00,0.000,4,0.000,0.044,2374,698,3963
$GC,734,-1.03,-146.6,112.4,-16.2,124,740,0.12,2.15,0.00,0.000,6,0.204,0.048,2395,2099,3963
$STATE,767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,767,begin apogee
$GC,772,-0.20,0.0,117.7,14.1,130,879,0.90,0.00,101.00,0.708,6,0.177,0.000,2661,2100,3392
$STATE,880,end apogee,CONTROL_FINISHED_OK
$STATE,880,begin climb
$GC,882,1.03,146.6,121.5,0.0,149,995,1.20,0.00,108.53,0.681,6,0.104,0.000,3055,2100,2793
$GC,1131,1.03,146.6,87.3,17.6,193,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2100,2793
$GC,1271,1.03,146.6,64.5,15.7,218,1277,0.00,2.20,0.00,0.000,4,0.000,0.050,3061,696,2793
$GC,1300,1.03,146.6,59.9,15.9,223,1306,0.00,2.20,0.00,0.000,6,0.000,0.046,3061,2100,2792
$GC,1442,1.03,146.6,38.1,15.2,248,1449,0.00,2.22,0.00,0.000,4,0.000,0.059,3061,3510,2793
$GC,1489,1.03,146.6,30.6,15.6,256,1495,0.00,2.12,0.00,0.000,6,0.000,0.038,3061,2108,2793
$GC,1564,1.03,146.6,20.6,13.0,269,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2106,2793
$GC,1638,1.04,151.4,11.4,12.2,282,1651,0.00,2.28,5.05,0.488,4,0.000,0.058,3061,3513,2774
$STATE,1701,end climb,SURFACE_DEPTH_REACHED
$STATE,1702,begin surface coast
$FINISH,3.4,1.049995
$STATE,1740,end surface coast,CONTROL_FINISHED_OK
$STATE,1740,begin surface
$SM_CCo,1760,292.67,0.609,0,0,1149,550.21
$SM_GC,1.46,0.00,0.00,292.67,0.000,0.000,0.609,173,2086,1149,-8.00,-0.40,550.21
$IRIDIUM_FIX,4745.30,-12218.40,250498,020226
$TT8_MAMPS,0.029146
$HUMID,1383
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,46.8
$24V_AH,24.3,1.562
$10V_AH,10.7,0.638
$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,20.375,26.225,214.575,292.675,0.000,30.409,28.298,157.684,0.500,0.000,0.000,16.095,451.268,495.798,574.468,551.354,318.131,33.326,897.572,0.000,546.505,0.000,5.539,0.000
$DEVICE_MAMPS,282.256,62.127,707.941,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,201.770,206.622,348.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15963,300
$CAP_FILE_SIZE,37561,0
$CFSIZE,260165632,258256896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,041246,4803.859,-12220.733,15,4.1,34,18.3