version: 66.04
glider: 167
mission: 1
dive: 11
start: 1 29 109 5 41 15
data:
$ID,167
$MISSION,1
$DIVE,11
$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,-2966.2529
$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,43
$R_STBD_OVSHOOT,30
$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
$GPS1,053514,4803.929,-12220.931,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.2
$GPS2,054020,4803.888,-12220.900,15,1.4,15,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.269
$KALMAN_X,2698.8,584.7,-177.6,-693.8,78.3
$KALMAN_Y,-6866.1,-1390.2,22.3,2691.1,-447.5
$MHEAD_RNG_PITCHd_Wd,326.3,8525,-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,-76.03,0.000,2,0.000,0.000,174,2079,3103
$GC,96,-1.03,-146.6,3.1,-1.7,13,133,9.90,0.00,-21.67,0.000,6,0.282,0.000,2396,2077,3963
$GC,202,-1.03,-146.6,18.5,-17.4,31,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2077,3963
$GC,276,-1.03,-146.6,31.5,-16.3,44,283,0.00,2.15,0.00,0.000,4,0.000,0.046,2396,703,3964
$GC,339,-1.03,-146.6,42.2,-16.6,55,345,0.00,2.17,0.00,0.000,6,0.000,0.046,2388,2100,3963
$GC,482,-1.03,-146.6,66.0,-16.5,80,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2100,3964
$GC,625,-1.03,-146.6,88.6,-15.3,105,631,0.00,2.15,0.00,0.000,4,0.000,0.044,2388,696,3964
$GC,643,-1.03,-146.6,91.5,-15.8,108,649,0.00,2.17,0.00,0.000,6,0.000,0.046,2384,2108,3962
$GC,785,-1.03,-146.6,112.7,-14.4,133,790,0.00,2.17,0.00,0.000,4,0.000,0.044,2384,687,3963
$STATE,795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,795,begin apogee
$GC,803,-0.20,0.0,114.5,14.1,135,909,0.98,0.00,100.78,0.707,6,0.189,0.000,2656,2103,3392
$STATE,910,end apogee,CONTROL_FINISHED_OK
$STATE,910,begin climb
$GC,912,1.03,146.6,119.1,0.0,154,1025,1.23,0.00,108.43,0.681,6,0.107,0.000,3057,2103,2794
$GC,1160,1.03,146.6,84.9,17.0,198,1166,0.00,2.25,0.00,0.000,4,0.000,0.058,3057,3504,2793
$GC,1212,1.03,146.6,75.4,19.3,207,1218,0.00,2.15,0.00,0.000,6,0.000,0.035,3062,2102,2793
$GC,1354,1.03,146.6,51.1,16.5,232,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2101,2793
$GC,1495,1.03,146.6,29.7,14.5,257,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2101,2793
$GC,1569,1.03,146.6,19.2,12.6,270,1575,0.00,2.20,0.00,0.000,4,0.000,0.050,3061,696,2793
$GC,1587,1.04,150.9,16.8,12.3,273,1600,0.00,2.17,4.43,0.457,6,0.000,0.044,3062,2109,2778
$GC,1670,1.05,165.5,7.3,11.7,287,1688,0.00,2.20,12.32,0.581,4,0.000,0.057,3062,3506,2717
$STATE,1710,end climb,SURFACE_DEPTH_REACHED
$STATE,1710,begin surface coast
$FINISH,3.7,1.052089
$STATE,1778,end surface coast,CONTROL_FINISHED_OK
$STATE,1778,begin surface
$SM_CCo,1798,283.90,0.607,0,0,1148,550.21
$SM_GC,1.49,0.00,0.00,283.90,0.000,0.000,0.607,172,2084,1148,-8.00,-0.45,550.21
$IRIDIUM_FIX,4745.30,-12220.12,250498,050558
$TT8_MAMPS,0.029146
$HUMID,1379
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,43.1
$24V_AH,24.3,1.874
$10V_AH,10.7,0.746
$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,20.500,26.175,225.950,283.900,0.000,31.200,27.578,146.285,0.500,0.000,0.000,15.152,458.165,510.764,572.527,560.446,305.478,33.334,898.824,0.000,557.828,0.000,5.532,0.000
$DEVICE_MAMPS,282.256,58.292,707.174,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,205.893,214.718,362.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16004,306
$CAP_FILE_SIZE,37390,0
$CFSIZE,260165632,258170880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290109,061644,4803.992,-12221.022,10,1.3,10,18.3