version: 66.04
glider: 165
mission: 1
dive: 9
start: 1 29 109 4 0 36
data:
$ID,165
$MISSION,1
$DIVE,9
$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,-3674.7932
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,035458,4804.860,-12221.168,10,3.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.2
$GPS2,035958,4804.815,-12221.142,9,3.4,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.227
$KALMAN_X,3036.2,903.6,11.0,-1897.7,284.8
$KALMAN_Y,-5308.6,-1546.8,-53.2,3214.8,-520.7
$MHEAD_RNG_PITCHd_Wd,312.5,6875,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.76,-146.6,0.0,0.0,0,102,0.00,0.00,-88.53,0.000,2,0.000,0.000,175,2142,3419
$GC,104,-0.76,-146.6,3.5,-4.1,15,135,10.43,2.40,-14.90,0.000,4,0.262,0.084,2668,3562,3960
$GC,155,-0.76,-146.6,9.7,-10.4,24,162,0.00,2.30,0.00,0.000,6,0.000,0.051,2667,2151,3960
$GC,224,-0.76,-146.6,17.6,-11.5,37,231,0.00,2.35,0.00,0.000,4,0.000,0.058,2668,735,3960
$GC,235,-0.76,-146.6,18.9,-12.5,39,242,0.00,2.35,0.00,0.000,6,0.000,0.058,2660,2140,3960
$GC,305,-0.76,-146.6,29.2,-14.7,52,311,0.00,2.40,0.00,0.000,4,0.000,0.071,2655,3562,3960
$GC,459,-0.76,-146.6,49.8,-12.9,81,466,0.00,2.28,0.00,0.000,6,0.000,0.051,2655,2149,3960
$GC,592,-0.76,-146.6,65.8,-11.9,106,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2147,3960
$GC,721,-0.76,-146.6,80.0,-10.0,130,731,0.00,2.30,0.00,0.000,4,0.000,0.060,2654,741,3960
$GC,793,-0.76,-146.6,87.7,-10.3,143,800,0.00,2.33,0.00,0.000,6,0.000,0.058,2646,2153,3961
$GC,927,-0.76,-146.6,100.0,-8.7,168,934,0.00,2.35,0.00,0.000,4,0.000,0.071,2643,3563,3960
$GC,969,-0.76,-146.6,104.2,-9.8,176,977,0.08,2.28,0.00,0.000,6,0.179,0.050,2666,2147,3960
$GC,1104,-0.76,-146.6,115.6,-8.2,201,1110,0.00,2.25,0.00,0.000,4,0.000,0.059,2666,742,3960
$STATE,1166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1166,begin apogee
$GC,1172,-0.17,0.0,121.3,8.9,213,1233,0.65,0.00,55.05,0.808,6,0.163,0.000,2858,2208,3664
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1235,0.76,146.6,122.6,0.0,224,1352,0.88,0.00,111.03,0.759,6,0.087,0.000,3161,2208,3066
$GC,1479,0.76,146.6,82.9,20.5,269,1485,0.00,2.40,0.00,0.000,4,0.000,0.068,3161,3608,3065
$GC,1558,0.76,146.6,65.4,21.7,284,1565,0.00,2.33,0.00,0.000,6,0.000,0.053,3172,2214,3065
$GC,1692,0.76,146.6,39.9,17.3,309,1699,0.00,2.35,0.00,0.000,4,0.000,0.066,3172,3604,3066
$GC,1714,0.76,146.6,35.9,19.5,313,1721,0.00,2.30,0.00,0.000,6,0.000,0.052,3182,2202,3065
$GC,1783,0.76,146.6,23.4,16.8,326,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2200,3065
$GC,1847,0.76,146.6,14.4,13.2,338,1854,0.00,2.38,0.00,0.000,4,0.000,0.067,3182,3610,3065
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,3.3,1.020197
$STATE,1953,end surface coast,CONTROL_FINISHED_OK
$STATE,1953,begin surface
$SM_CCo,1969,302.10,0.672,0,0,1421,550.21
$SM_GC,1.45,0.00,0.00,302.10,0.000,0.000,0.672,172,2145,1421,-8.59,-0.17,550.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,030357
$TT8_MAMPS,0.052923
$HUMID,1436
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,18.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.6,50.5
$24V_AH,24.1,1.476
$10V_AH,10.6,0.532
$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,20.650,42.100,166.075,302.100,0.000,31.371,29.013,156.015,1.250,0.000,0.000,31.128,0.000,919.271,583.610,790.916,276.852,33.319,919.715,0.000,636.881,0.000,5.572,0.000
$DEVICE_MAMPS,262.314,83.603,807.651,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.874,243.381,409.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19094,358
$CAP_FILE_SIZE,43073,0
$CFSIZE,260165632,258367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290109,043916,4804.888,-12221.226,11,3.2,30,18.3