version: 66.04
glider: 165
mission: 1
dive: 15
start: 1 29 109 8 21 41
data:
$ID,165
$MISSION,1
$DIVE,15
$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,-3824.3225
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,081626,4805.154,-12221.414,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.6
$GPS2,082102,4805.115,-12221.381,14,1.1,14,18.3
$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,5968.1,15.6,-129.6,-4093.1,469.2
$KALMAN_Y,-10592.5,-88.1,215.4,7319.4,-826.9
$MHEAD_RNG_PITCHd_Wd,312.5,6248,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-82.75,0.000,2,0.000,0.000,176,2141,3319
$GC,97,-0.76,-146.6,3.2,-3.0,14,133,10.88,2.40,-18.08,0.000,4,0.277,0.077,2658,3558,3961
$GC,153,-0.76,-146.6,9.7,-9.9,24,160,0.00,2.28,0.00,0.000,6,0.000,0.048,2658,2155,3962
$GC,223,-0.76,-146.6,18.0,-13.8,37,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2153,3962
$GC,286,-0.76,-146.6,27.3,-13.4,49,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2152,3962
$GC,350,-0.76,-146.6,35.3,-12.7,61,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2152,3962
$GC,414,-0.76,-146.6,43.7,-12.8,73,421,0.00,2.38,0.00,0.000,4,0.000,0.069,2657,3561,3963
$GC,430,-0.76,-146.6,45.8,-13.1,76,437,0.00,2.28,0.00,0.000,6,0.000,0.048,2657,2146,3962
$GC,564,-0.76,-146.6,62.0,-11.4,101,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2144,3963
$GC,692,-0.76,-146.6,76.1,-10.5,125,698,0.00,2.30,0.00,0.000,4,0.000,0.058,2656,741,3962
$GC,734,-0.76,-146.6,81.0,-11.5,133,740,0.00,2.33,0.00,0.000,6,0.000,0.058,2656,2150,3962
$GC,867,-0.76,-146.6,93.9,-9.0,158,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2150,3962
$GC,995,-0.76,-146.6,106.1,-9.4,182,1002,0.00,2.33,0.00,0.000,4,0.000,0.070,2657,3558,3962
$GC,1033,-0.76,-146.6,109.6,-9.8,189,1039,0.00,2.28,0.00,0.000,6,0.000,0.049,2656,2143,3962
$STATE,1079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1079,begin apogee
$GC,1082,-0.17,0.0,113.7,8.6,198,1144,0.65,0.00,55.12,0.796,6,0.161,0.000,2856,2206,3664
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1146,0.76,146.6,114.8,0.0,209,1263,0.88,2.45,110.60,0.753,4,0.087,0.065,3160,3605,3066
$GC,1289,0.76,146.6,94.8,21.6,235,1295,0.00,2.35,0.00,0.000,6,0.000,0.051,3171,2211,3066
$GC,1422,0.76,146.6,66.4,20.8,260,1429,0.00,2.38,0.00,0.000,4,0.000,0.064,3171,3604,3066
$GC,1449,0.76,146.6,60.7,21.4,265,1455,0.00,2.30,0.00,0.000,6,0.000,0.050,3180,2197,3066
$GC,1582,0.76,146.6,34.7,18.1,290,1589,0.00,2.38,0.00,0.000,4,0.000,0.063,3181,3605,3066
$GC,1614,0.76,146.6,28.7,18.3,296,1621,0.00,2.30,0.00,0.000,6,0.000,0.049,3191,2198,3065
$GC,1684,0.76,146.6,16.9,14.1,309,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2197,3066
$GC,1747,0.76,146.6,7.6,15.2,321,1754,0.00,2.35,0.00,0.000,4,0.000,0.063,3191,3605,3066
$STATE,1767,end climb,SURFACE_DEPTH_REACHED
$STATE,1768,begin surface coast
$FINISH,2.5,1.018924
$STATE,1789,end surface coast,CONTROL_FINISHED_OK
$STATE,1789,begin surface
$SM_CCo,1804,304.70,0.670,1,0,1422,550.21
$SM_GC,1.46,0.00,0.00,304.70,0.000,0.000,0.670,172,2140,1422,-8.59,-0.28,550.21
$IRIDIUM_FIX,4748.51,-12217.40,250498,070702
$TT8_MAMPS,0.05369
$HUMID,1400
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,43.2
$24V_AH,24.2,2.114
$10V_AH,10.7,0.757
$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,21.025,37.500,165.725,304.700,0.000,25.594,27.029,154.525,1.750,0.000,0.000,16.663,0.000,818.447,581.348,724.588,266.836,33.321,895.299,0.000,587.784,0.000,5.516,0.000
$DEVICE_MAMPS,276.887,98.943,796.146,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.061,226.005,380.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19136,329
$CAP_FILE_SIZE,42781,0
$CFSIZE,260165632,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,290109,085726,4805.247,-12221.468,12,1.1,12,18.3