version: 66.04
glider: 167
mission: 1
dive: 28
start: 1 29 109 18 6 5
data:
$ID,167
$MISSION,1
$DIVE,28
$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,67
$T_MISSION,80
$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,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,0
$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,-3302.1462
$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,45
$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
$GPS1,175808,4806.775,-12222.009,12,1.1,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.0
$GPS2,180544,4806.844,-12222.073,14,1.2,14,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,HEADING
$TGT_LATLONG,4817.644,-12222.073
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.244
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,341.7,20000,-13.0,-7.463
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.70,-146.6,0.0,0.0,0,97,0.00,0.00,-81.10,0.000,2,0.000,0.000,172,2112,3200
$GC,100,-0.70,-146.6,3.1,-2.0,8,138,10.27,2.25,-22.33,0.000,4,0.278,0.073,2493,3510,3960
$GC,390,-0.70,-146.6,37.9,-12.0,33,396,0.00,2.15,0.00,0.000,6,0.000,0.035,2493,2089,3961
$GC,464,-0.70,-146.6,46.7,-11.8,39,468,0.00,2.28,0.00,0.000,4,0.000,0.061,2492,3510,3961
$GC,587,-0.70,-146.6,61.1,-11.2,46,593,0.00,2.12,0.00,0.000,6,0.000,0.035,2492,2096,3961
$GC,718,-0.70,-146.6,75.2,-10.6,55,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2093,3960
$GC,843,-0.70,-146.6,87.6,-9.9,63,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2093,3961
$GC,968,-0.70,-146.6,99.5,-9.3,71,971,0.00,2.12,0.00,0.000,4,0.000,0.046,2492,696,3960
$GC,1018,-0.70,-146.6,104.5,-10.4,74,1023,0.00,2.17,0.00,0.000,6,0.000,0.047,2491,2105,3960
$STATE,1090,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1090,begin apogee
$GC,1096,-0.20,0.0,111.4,9.4,79,1200,0.57,0.00,101.03,0.708,6,0.150,0.000,2665,2107,3392
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1203,0.70,146.6,114.3,0.0,86,1318,0.90,0.00,109.28,0.683,6,0.106,0.000,2957,2106,2793
$GC,1443,0.70,146.6,92.2,11.3,102,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2106,2792
$GC,1569,0.70,146.6,78.5,10.6,110,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2106,2792
$GC,1692,0.70,146.6,65.1,11.1,118,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2105,2792
$GC,1818,0.70,146.6,52.2,10.2,126,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2106,2792
$GC,1942,0.70,146.6,40.0,9.7,134,1946,0.00,2.20,0.00,0.000,4,0.000,0.058,2956,3510,2792
$GC,1987,0.70,146.6,35.5,10.5,138,1991,0.00,2.12,0.00,0.000,6,0.000,0.036,2957,2103,2792
$GC,2063,0.70,146.6,28.6,9.2,145,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2101,2792
$GC,2127,0.70,146.6,23.0,8.5,151,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2101,2792
$GC,2190,0.70,146.6,18.1,7.6,157,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2101,2792
$GC,2254,0.72,160.6,13.7,7.0,163,2270,0.00,2.25,11.32,0.588,4,0.000,0.057,2957,3519,2736
$GC,2354,0.72,160.6,5.8,8.7,171,2360,0.00,2.15,0.00,0.000,6,0.000,0.035,2957,2093,2736
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2390,begin surface coast
$FINISH,2.9,1.050778
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2472,286.52,0.611,0,0,1148,550.21
$SM_GC,1.49,0.00,0.00,286.52,0.000,0.000,0.611,172,2089,1148,-8.00,-0.31,550.21
$IRIDIUM_FIX,4732.49,-12258.75,250498,181816
$TT8_MAMPS,0.029146
$HUMID,1369
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.5,39.1
$24V_AH,24.3,3.826
$10V_AH,10.8,1.276
$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,19.550,21.825,221.625,286.525,0.000,56.307,103.150,143.848,0.500,0.000,0.000,14.713,362.206,1456.221,609.158,408.681,399.661,0.000,851.471,0.000,402.535,0.000,5.519,0.000
$DEVICE_MAMPS,277.654,72.865,707.941,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,123.096,67.513,113.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9717,181
$CAP_FILE_SIZE,36782,0
$CFSIZE,260165632,257798144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,185316,4807.080,-12222.067,16,3.0,35,18.3