version: 66.04
glider: 165
mission: 1
dive: 6
start: 1 29 109 1 36 17
data:
$ID,165
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,130
$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,-3613.6978
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2921
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,3665
$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,-22.272026
$PRESSURE_SLOPE,0.000116182
$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,0
$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,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,013220,4804.797,-12221.125,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.3
$GPS2,013538,4804.760,-12221.085,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.229
$KALMAN_X,1698.6,901.5,340.0,-827.8,2.5
$KALMAN_Y,-2986.8,-1536.1,-566.5,1311.8,-71.1
$MHEAD_RNG_PITCHd_Wd,313.2,7000,-17.5,-10.000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.76,-146.6,0.0,0.0,0,136,0.00,0.00,-122.55,0.000,2,0.000,0.000,181,2153,3077
$GC,138,-0.76,-146.6,3.1,-1.5,21,186,10.30,2.33,-31.17,0.000,4,0.268,0.075,2670,728,3961
$GC,195,-0.76,-146.6,6.4,-8.3,31,202,0.00,2.38,0.00,0.000,6,0.000,0.064,2670,2147,3961
$GC,264,-0.76,-146.6,15.5,-12.6,44,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2147,3961
$GC,328,-0.76,-146.6,24.1,-13.1,56,335,0.00,2.40,0.00,0.000,4,0.000,0.077,2670,3565,3961
$GC,403,-0.76,-146.6,35.3,-14.1,70,410,0.00,2.30,0.00,0.000,6,0.000,0.054,2670,2149,3961
$GC,473,-0.76,-146.6,44.0,-12.1,83,479,0.00,2.40,0.00,0.000,4,0.000,0.075,2670,3564,3961
$GC,488,-0.76,-146.6,46.1,-12.7,86,495,0.00,2.30,0.00,0.000,6,0.000,0.053,2670,2146,3961
$GC,622,-0.76,-146.6,61.9,-11.1,111,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2144,3961
$GC,750,-0.76,-146.6,76.2,-10.9,135,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2144,3962
$GC,879,-0.76,-146.6,90.0,-10.3,159,885,0.00,2.30,0.00,0.000,4,0.000,0.063,2670,741,3961
$GC,921,-0.76,-146.6,94.6,-10.5,167,927,0.00,2.33,0.00,0.000,6,0.000,0.064,2670,2148,3961
$GC,1054,-0.76,-146.6,106.7,-8.8,192,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2148,3961
$GC,1182,-0.76,-146.6,117.9,-9.1,216,1189,0.00,2.35,0.00,0.000,4,0.000,0.075,2670,3560,3961
$GC,1198,-0.76,-146.6,119.3,-9.2,219,1204,0.00,2.28,0.00,0.000,6,0.000,0.053,2670,2146,3961
$STATE,1207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1207,begin apogee
$GC,1211,-0.17,0.0,120.3,9.2,221,1272,0.60,0.00,55.38,0.827,6,0.155,0.000,2858,2205,3664
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1273,0.76,146.6,121.8,0.0,232,1391,0.88,0.00,111.32,0.775,6,0.091,0.000,3161,2205,3066
$GC,1517,0.76,146.6,82.8,18.9,277,1524,0.00,2.42,0.00,0.000,4,0.000,0.071,3161,3607,3065
$GC,1539,0.76,146.6,78.5,20.9,281,1545,0.00,2.35,0.00,0.000,6,0.000,0.054,3171,2207,3065
$GC,1671,0.76,146.6,52.8,18.4,306,1678,0.00,2.38,0.00,0.000,4,0.000,0.069,3171,3601,3064
$GC,1720,0.76,146.6,43.1,20.2,315,1726,0.00,2.33,0.00,0.000,6,0.000,0.054,3181,2195,3065
$GC,1853,0.76,146.6,21.0,14.4,340,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2193,3065
$GC,1917,0.76,146.6,12.6,12.0,352,1924,0.00,2.38,0.00,0.000,4,0.000,0.069,3181,3604,3065
$STATE,1985,end climb,SURFACE_DEPTH_REACHED
$STATE,1985,begin surface coast
$FINISH,3.6,1.020248
$STATE,2001,end surface coast,CONTROL_FINISHED_OK
$STATE,2001,begin surface
$SM_CCo,2017,302.58,0.680,0,0,1421,550.21
$SM_GC,1.66,0.00,0.00,302.58,0.000,0.000,0.680,172,2142,1421,-8.59,-0.23,550.21
$IRIDIUM_FIX,4748.51,-12224.57,250498,010159
$TT8_MAMPS,0.05369
$HUMID,1442
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,18.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,49.6
$24V_AH,24.1,1.108
$10V_AH,10.6,0.411
$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,20.375,37.650,166.700,302.575,0.000,0.000,0.000,0.000,1.250,0.000,0.000,13.421,0.000,916.221,611.563,794.675,40.115,33.316,961.955,0.000,655.787,0.000,5.533,0.000
$DEVICE_MAMPS,267.683,102.778,826.826,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.070,252.572,425.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,368
$CAP_FILE_SIZE,64373,0
$CFSIZE,260165632,258420736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,021546,4804.891,-12221.150,11,2.1,30,18.3