version: 66.04
glider: 165
mission: 1
dive: 16
start: 1 29 109 9 5 28
data:
$ID,165
$MISSION,1
$DIVE,16
$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,67
$T_MISSION,75
$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,-3841.0396
$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
$GPS1,085726,4805.247,-12221.468,12,1.1,12,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.8
$GPS2,090450,4805.185,-12221.416,14,1.2,14,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.202
$KALMAN_X,6457.0,-191.3,-80.4,-4467.7,674.6
$KALMAN_Y,-11401.3,249.0,147.5,7987.6,-1129.4
$MHEAD_RNG_PITCHd_Wd,311.1,6115,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.61,-146.6,0.0,0.0,0,97,0.00,0.00,-83.30,0.000,2,0.000,0.000,172,2139,3305
$GC,99,-0.61,-146.6,3.0,-2.1,14,135,11.00,2.33,-18.12,0.000,4,0.275,0.071,2713,747,3962
$GC,176,-0.61,-146.6,11.3,-8.2,28,183,0.00,2.35,0.00,0.000,6,0.000,0.056,2712,2152,3963
$GC,246,-0.61,-146.6,18.0,-10.3,41,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2153,3963
$GC,309,-0.61,-146.6,25.5,-12.9,53,316,0.00,2.35,0.00,0.000,4,0.000,0.066,2700,3559,3963
$GC,336,-0.61,-146.6,28.3,-10.6,58,343,0.00,2.28,0.00,0.000,6,0.000,0.048,2700,2145,3963
$GC,406,-0.61,-146.6,35.5,-10.5,71,413,0.00,2.38,0.00,0.000,4,0.000,0.067,2698,3558,3962
$GC,438,-0.61,-146.6,39.2,-11.1,77,445,0.00,2.28,0.00,0.000,6,0.000,0.048,2698,2149,3963
$GC,507,-0.61,-146.6,47.0,-11.2,90,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2147,3963
$GC,636,-0.61,-146.6,59.7,-9.4,114,643,0.00,2.30,0.00,0.000,4,0.000,0.057,2698,739,3963
$GC,678,-0.61,-146.6,63.9,-9.9,122,686,0.00,2.33,0.00,0.000,6,0.000,0.056,2698,2154,3963
$GC,812,-0.61,-146.6,75.6,-8.5,147,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2154,3963
$GC,940,-0.61,-146.6,86.0,-8.0,171,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2154,3963
$GC,1069,-0.61,-146.6,95.9,-7.1,195,1075,0.00,2.30,0.00,0.000,4,0.000,0.057,2698,743,3962
$GC,1116,-0.61,-146.6,99.5,-7.6,204,1123,0.00,2.30,0.00,0.000,6,0.000,0.056,2698,2152,3963
$GC,1250,-0.61,-146.6,109.3,-6.6,229,1256,0.00,2.33,0.00,0.000,4,0.000,0.069,2698,3559,3963
$GC,1282,-0.61,-146.6,111.4,-6.7,235,1288,0.00,2.25,0.00,0.000,6,0.000,0.047,2698,2146,3962
$STATE,1339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1339,begin apogee
$GC,1342,-0.17,0.0,115.3,6.7,246,1404,0.50,0.00,55.10,0.802,6,0.146,0.000,2856,2209,3664
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1406,0.61,146.6,116.3,0.0,257,1524,0.73,2.42,110.53,0.754,4,0.085,0.066,3112,3602,3066
$GC,1539,0.61,146.6,101.4,15.7,281,1545,0.00,2.33,0.00,0.000,6,0.000,0.050,3123,2212,3066
$GC,1672,0.61,146.6,78.6,17.6,306,1679,0.00,2.38,0.00,0.000,4,0.000,0.064,3122,3603,3065
$GC,1688,0.61,146.6,75.8,17.2,309,1695,0.00,2.33,0.00,0.000,6,0.000,0.049,3133,2192,3066
$GC,1821,0.61,146.6,53.5,16.0,334,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2190,3065
$GC,1950,0.61,146.6,34.5,14.3,358,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2190,3065
$GC,2014,0.61,146.6,25.8,13.6,370,2021,0.00,2.35,0.00,0.000,4,0.000,0.064,3133,3601,3066
$GC,2046,0.61,146.6,21.1,15.1,376,2053,0.00,2.28,0.00,0.000,6,0.000,0.050,3143,2203,3065
$GC,2115,0.61,146.6,13.0,11.7,389,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2200,3065
$GC,2180,0.61,146.6,5.2,12.2,401,2186,0.00,2.33,0.00,0.000,4,0.000,0.064,3143,3600,3065
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,4.2,1.019602
$STATE,2232,end surface coast,CONTROL_FINISHED_OK
$STATE,2232,begin surface
$SM_CCo,2234,490.15,0.663,1,0,485,780.05
$SM_GC,1.34,8.20,0.00,0.00,0.041,0.000,0.000,168,2146,477,-8.55,-0.11,781.77
$IRIDIUM_FIX,4748.51,-12224.57,250498,090918
$TT8_MAMPS,0.052923
$HUMID,1417
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,18.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.4,44.7
$24V_AH,24.2,2.258
$10V_AH,10.7,0.802
$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,20.425,46.700,165.625,490.150,0.000,48.623,55.056,207.903,1.000,0.000,0.000,16.088,0.000,1214.579,787.144,892.265,383.504,33.320,1162.081,0.000,730.484,0.000,5.521,0.000
$DEVICE_MAMPS,274.586,97.409,801.515,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.338,281.199,473.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22278,411
$CAP_FILE_SIZE,53308,0
$CFSIZE,260165632,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,290109,095328,4805.384,-12221.507,8,99.0,27,18.3