version: 66.04
glider: 167
mission: 1
dive: 9
start: 1 29 109 4 19 23
data:
$ID,167
$MISSION,1
$DIVE,9
$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,-2935.4602
$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,49
$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
$GPS1,041246,4803.859,-12220.733,15,4.1,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.5
$GPS2,041828,4803.806,-12220.696,10,2.4,29,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.265
$KALMAN_X,2276.0,729.4,-52.4,-288.6,78.0
$KALMAN_Y,-5345.4,-1598.9,-182.1,1430.8,-382.3
$MHEAD_RNG_PITCHd_Wd,323.3,8776,-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,-75.88,0.000,2,0.000,0.000,174,2087,3076
$GC,96,-1.03,-146.6,3.0,-2.3,13,134,9.80,2.35,-22.00,0.000,4,0.280,0.074,2384,3506,3963
$GC,157,-1.03,-146.6,11.7,-15.9,23,163,0.00,2.12,0.00,0.000,6,0.000,0.035,2384,2100,3963
$GC,233,-1.03,-146.6,25.4,-17.3,36,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2097,3964
$GC,307,-1.03,-146.6,39.4,-17.3,49,313,0.00,2.17,0.00,0.000,4,0.000,0.046,2384,703,3964
$GC,370,-1.03,-146.6,51.2,-18.6,60,376,0.00,2.17,0.00,0.000,6,0.000,0.049,2381,2099,3963
$GC,512,-1.03,-146.6,75.7,-16.5,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2100,3963
$GC,656,-1.03,-146.6,98.9,-16.5,110,662,0.00,2.12,0.00,0.000,4,0.000,0.044,2381,701,3963
$GC,697,-1.03,-146.6,105.3,-14.9,117,703,0.00,2.17,0.00,0.000,6,0.000,0.047,2372,2109,3963
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,775,-0.20,0.0,116.8,15.0,130,882,1.00,0.00,100.93,0.706,6,0.184,0.000,2661,2109,3392
$STATE,882,end apogee,CONTROL_FINISHED_OK
$STATE,882,begin climb
$GC,885,1.03,146.6,120.9,0.0,149,1003,1.20,2.33,108.72,0.679,4,0.103,0.048,3062,697,2793
$GC,1022,1.03,146.6,106.0,17.5,173,1028,0.00,2.28,0.00,0.000,6,0.000,0.044,3062,2102,2793
$GC,1163,1.03,146.6,80.7,17.0,198,1170,0.00,2.25,0.00,0.000,4,0.000,0.058,3062,3509,2792
$GC,1209,1.03,146.6,71.9,20.0,206,1216,0.00,2.15,0.00,0.000,6,0.000,0.035,3062,2106,2792
$GC,1351,1.03,146.6,48.0,17.0,231,1357,0.00,2.25,0.00,0.000,4,0.000,0.057,3062,3517,2792
$GC,1399,1.03,146.6,40.0,17.4,239,1405,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,2083,2792
$GC,1473,1.03,146.6,27.8,14.5,252,1480,0.00,2.15,0.00,0.000,4,0.000,0.048,3077,703,2793
$GC,1514,1.03,146.6,22.2,13.1,259,1521,0.00,2.15,0.00,0.000,6,0.000,0.043,3077,2103,2792
$GC,1590,1.03,146.6,12.3,13.0,272,1597,0.00,2.20,0.00,0.000,4,0.000,0.058,3077,3509,2792
$GC,1620,1.03,146.6,8.5,12.5,277,1627,0.00,2.12,0.00,0.000,6,0.000,0.034,3086,2089,2792
$STATE,1666,end climb,SURFACE_DEPTH_REACHED
$STATE,1666,begin surface coast
$FINISH,3.4,1.052336
$STATE,1727,end surface coast,CONTROL_FINISHED_OK
$STATE,1727,begin surface
$SM_CCo,1745,298.62,0.606,1,0,1149,550.21
$SM_GC,1.44,0.00,0.00,298.62,0.000,0.000,0.606,173,2085,1149,-8.00,-0.42,550.21
$IRIDIUM_FIX,4758.15,-12228.77,250498,030333
$TT8_MAMPS,0.028379
$HUMID,1397
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,35.3
$24V_AH,24.3,1.667
$10V_AH,10.7,0.675
$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,20.425,35.175,209.650,298.625,0.000,24.443,39.264,161.362,1.500,0.000,0.000,32.209,451.260,477.335,586.101,564.171,330.607,33.326,909.531,0.000,539.653,0.000,14.315,0.000
$DEVICE_MAMPS,279.955,73.632,706.407,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,198.906,206.557,348.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16061,296
$CAP_FILE_SIZE,38667,0
$CFSIZE,260165632,258232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290109,045435,4803.885,-12220.826,12,1.8,27,18.3