version: 66.04
glider: 167
mission: 1
dive: 12
start: 1 29 109 6 23 20
data:
$ID,167
$MISSION,1
$DIVE,12
$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,-3000.7378
$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,33
$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
$GPS1,061644,4803.992,-12221.022,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.9
$GPS2,062225,4803.961,-12220.989,15,1.3,32,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,0.270
$KALMAN_X,2897.4,484.3,-206.8,-872.2,80.4
$KALMAN_Y,-7626.3,-1227.4,110.4,3334.3,-460.1
$MHEAD_RNG_PITCHd_Wd,326.7,8354,-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,-81.45,0.000,2,0.000,0.000,173,2084,3255
$GC,102,-1.03,-146.6,3.7,-4.4,14,134,9.77,2.35,-15.82,0.000,4,0.278,0.073,2387,3506,3962
$GC,162,-1.03,-146.6,14.2,-16.6,24,169,0.00,2.17,0.00,0.000,6,0.000,0.035,2387,2094,3963
$GC,237,-1.03,-146.6,27.9,-18.2,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2091,3964
$GC,311,-1.03,-146.6,40.8,-17.8,50,318,0.00,2.15,0.00,0.000,4,0.000,0.043,2387,708,3963
$GC,352,-1.03,-146.6,48.7,-19.8,57,358,0.00,2.17,0.00,0.000,6,0.000,0.048,2384,2101,3963
$GC,493,-1.03,-146.6,73.3,-17.1,82,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2100,3963
$GC,636,-1.03,-146.6,96.6,-15.5,107,642,0.00,2.15,0.00,0.000,4,0.000,0.043,2384,694,3962
$GC,699,-1.03,-146.6,106.4,-15.6,118,705,0.00,2.17,0.00,0.000,6,0.000,0.045,2376,2112,3962
$STATE,771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,771,begin apogee
$GC,777,-0.20,0.0,117.9,14.9,131,883,0.98,0.00,100.95,0.708,6,0.181,0.000,2659,2113,3391
$STATE,884,end apogee,CONTROL_FINISHED_OK
$STATE,884,begin climb
$GC,886,1.03,146.6,121.3,0.0,150,999,1.20,0.00,108.25,0.690,6,0.105,0.000,3053,2113,2794
$GC,1134,1.03,146.6,89.9,18.5,194,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2113,2793
$GC,1275,1.03,146.6,66.8,16.3,219,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2113,2793
$GC,1415,1.03,146.6,44.8,14.8,244,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2113,2793
$GC,1556,1.03,146.6,24.3,14.9,269,1563,0.00,2.20,0.00,0.000,4,0.000,0.058,3054,3514,2793
$GC,1586,1.03,146.6,19.8,15.7,274,1592,0.00,2.12,0.00,0.000,6,0.000,0.035,3061,2098,2793
$GC,1662,1.05,162.5,11.0,11.6,287,1681,0.00,2.25,12.50,0.585,4,0.000,0.056,3061,3511,2731
$STATE,1725,end climb,SURFACE_DEPTH_REACHED
$STATE,1725,begin surface coast
$FINISH,4.0,1.051537
$STATE,1776,end surface coast,CONTROL_FINISHED_OK
$STATE,1778,begin surface
$SM_CCo,1781,423.23,0.601,0,0,451,721.67
$SM_GC,1.32,8.15,0.00,0.00,0.058,0.000,0.000,173,2095,446,-7.97,-0.14,722.65
$IRIDIUM_FIX,4748.51,-12224.57,250498,050541
$TT8_MAMPS,0.029146
$HUMID,1365
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,41.9
$24V_AH,24.3,2.001
$10V_AH,10.7,0.784
$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,20.100,22.025,221.700,423.225,0.000,25.549,31.462,164.058,1.000,0.000,0.000,33.854,459.205,609.416,702.601,581.062,321.637,33.334,1028.216,0.000,559.107,0.000,9.921,0.000
$DEVICE_MAMPS,278.421,72.865,707.941,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.739,211.758,356.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15919,307
$CAP_FILE_SIZE,37442,0
$CFSIZE,260165632,258146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,070304,4804.051,-12221.103,14,2.6,33,18.3