version: 66.04
glider: 165
mission: 1
dive: 12
start: 1 29 109 6 11 29
data:
$ID,165
$MISSION,1
$DIVE,12
$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,-3736.5125
$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,25
$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
$GPS1,060407,4804.982,-12221.291,6,1.3,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.8
$GPS2,061050,4804.937,-12221.253,9,2.0,9,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.230
$KALMAN_X,4512.8,576.9,-185.6,-2986.5,402.2
$KALMAN_Y,-8009.0,-1016.9,270.9,5281.1,-752.4
$MHEAD_RNG_PITCHd_Wd,313.8,6611,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-93.88,0.000,2,0.000,0.000,173,2136,3532
$GC,109,-0.76,-146.6,3.4,-4.2,16,139,11.00,2.42,-11.77,0.000,4,0.281,0.081,2657,3556,3961
$GC,143,-0.76,-146.6,8.5,-12.1,22,150,0.00,2.33,0.00,0.000,6,0.000,0.049,2657,2142,3961
$GC,212,-0.76,-146.6,16.5,-12.9,35,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2141,3962
$GC,276,-0.76,-146.6,25.9,-13.9,47,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2141,3962
$GC,340,-0.76,-146.6,33.7,-11.6,59,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2141,3962
$GC,405,-0.76,-146.6,41.8,-12.8,71,411,0.00,2.40,0.00,0.000,4,0.000,0.070,2657,3560,3962
$GC,430,-0.76,-146.6,45.2,-13.3,76,438,0.00,2.30,0.00,0.000,6,0.000,0.049,2657,2145,3962
$GC,565,-0.76,-146.6,61.2,-11.9,101,571,0.00,2.30,0.00,0.000,4,0.000,0.058,2657,741,3962
$GC,607,-0.76,-146.6,66.3,-11.8,109,613,0.00,2.33,0.00,0.000,6,0.000,0.058,2657,2149,3962
$GC,743,-0.76,-146.6,80.4,-10.6,134,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2149,3962
$GC,875,-0.76,-146.6,93.1,-9.2,159,881,0.00,2.30,0.00,0.000,4,0.000,0.058,2657,744,3962
$GC,900,-0.76,-146.6,95.7,-9.6,164,908,0.00,2.30,0.00,0.000,6,0.000,0.058,2657,2147,3962
$GC,1035,-0.76,-146.6,107.7,-8.8,189,1041,0.00,2.35,0.00,0.000,4,0.000,0.070,2657,3562,3962
$GC,1055,-0.76,-146.6,109.8,-9.6,193,1062,0.00,2.28,0.00,0.000,6,0.000,0.049,2657,2145,3962
$STATE,1161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1161,begin apogee
$GC,1164,-0.17,0.0,119.1,8.8,213,1225,0.65,0.00,55.12,0.803,6,0.163,0.000,2856,2207,3664
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1227,0.76,146.6,120.2,0.0,224,1345,0.88,2.45,110.68,0.758,4,0.089,0.066,3160,3605,3066
$GC,1375,0.76,146.6,98.8,22.3,251,1382,0.00,2.35,0.00,0.000,6,0.000,0.051,3170,2213,3066
$GC,1508,0.76,146.6,70.6,20.2,276,1516,0.00,2.38,0.00,0.000,4,0.000,0.065,3170,3602,3066
$GC,1546,0.76,146.6,62.5,21.8,283,1553,0.00,2.33,0.00,0.000,6,0.000,0.051,3180,2198,3066
$GC,1680,0.76,146.6,36.1,18.7,308,1686,0.00,2.38,0.00,0.000,4,0.000,0.064,3180,3604,3065
$GC,1722,0.76,146.6,28.0,19.6,316,1729,0.00,2.30,0.00,0.000,6,0.000,0.051,3190,2200,3065
$GC,1792,0.76,146.6,16.1,13.3,329,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2199,3066
$GC,1855,0.76,146.6,7.1,14.7,341,1862,0.00,2.35,0.00,0.000,4,0.000,0.065,3190,3604,3066
$STATE,1881,end climb,SURFACE_DEPTH_REACHED
$STATE,1881,begin surface coast
$FINISH,2.9,1.019680
$STATE,1908,end surface coast,CONTROL_FINISHED_OK
$STATE,1908,begin surface
$SM_CCo,1924,304.23,0.669,1,0,1422,550.21
$SM_GC,1.57,0.00,0.00,304.23,0.000,0.000,0.669,174,2139,1422,-8.59,-0.31,550.21
$IRIDIUM_FIX,4745.30,-12220.12,250498,050559
$TT8_MAMPS,0.052923
$HUMID,1410
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,48.3
$24V_AH,24.2,1.796
$10V_AH,10.7,0.644
$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,21.100,42.275,165.800,304.225,0.000,58.249,64.217,157.495,1.500,0.000,0.000,10.956,0.000,938.105,595.910,760.923,341.955,33.318,928.226,0.000,624.346,0.000,5.530,0.000
$DEVICE_MAMPS,281.489,98.943,803.049,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.777,238.264,401.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19080,351
$CAP_FILE_SIZE,45129,0
$CFSIZE,260165632,258277376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,290109,064928,4805.032,-12221.333,8,2.3,27,18.3