version: 66.04
glider: 165
mission: 1
dive: 17
start: 1 29 109 9 59 30
data:
$ID,165
$MISSION,1
$DIVE,17
$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,-3877.0728
$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,28
$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
$GPS1,095328,4805.384,-12221.507,8,99.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.8
$GPS2,095852,4805.353,-12221.472,13,99.0,32,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.194
$KALMAN_X,6958.6,-411.3,24.3,-4922.0,649.3
$KALMAN_Y,-11985.4,563.0,-24.0,8738.3,-968.7
$MHEAD_RNG_PITCHd_Wd,307.6,5814,-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,11,begin dive
$GC,12,-0.61,-146.6,0.0,0.0,0,150,0.00,0.00,-135.12,0.000,2,0.000,0.000,168,2146,3483
$GC,152,-0.61,-146.6,3.1,-2.1,23,182,10.90,2.33,-12.68,0.000,4,0.273,0.071,2714,747,3961
$GC,294,-0.61,-146.6,20.9,-10.8,49,300,0.00,2.33,0.00,0.000,6,0.000,0.058,2713,2138,3962
$GC,362,-0.61,-146.6,28.9,-10.8,62,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2138,3963
$GC,426,-0.61,-146.6,35.4,-10.2,74,433,0.00,2.38,0.00,0.000,4,0.000,0.069,2713,3558,3963
$GC,475,-0.61,-146.6,40.4,-10.6,83,481,0.00,2.25,0.00,0.000,6,0.000,0.048,2713,2152,3962
$GC,608,-0.61,-146.6,53.5,-9.3,108,615,0.00,2.30,0.00,0.000,4,0.000,0.058,2713,747,3962
$GC,672,-0.61,-146.6,59.9,-10.0,120,679,0.00,2.30,0.00,0.000,6,0.000,0.057,2713,2145,3963
$GC,806,-0.61,-146.6,71.6,-8.2,145,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2145,3963
$GC,934,-0.61,-146.6,81.5,-7.9,169,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2145,3962
$GC,1062,-0.61,-146.6,90.6,-6.8,193,1068,0.00,2.30,0.00,0.000,4,0.000,0.058,2713,741,3963
$GC,1104,-0.61,-146.6,93.8,-7.6,201,1110,0.00,2.30,0.00,0.000,6,0.000,0.057,2713,2147,3962
$GC,1237,-0.61,-146.6,102.8,-6.3,226,1244,0.00,2.33,0.00,0.000,4,0.000,0.069,2713,3558,3963
$GC,1258,-0.61,-146.6,104.1,-6.2,230,1265,0.00,2.25,0.00,0.000,6,0.000,0.048,2713,2145,3962
$GC,1392,-0.61,-146.6,112.2,-6.1,255,1399,0.00,2.35,0.00,0.000,4,0.000,0.067,2713,3562,3962
$STATE,1423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1423,begin apogee
$GC,1428,-0.17,0.0,114.2,6.4,261,1486,0.45,0.00,55.03,0.805,6,0.142,0.000,2856,2191,3665
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1487,0.61,146.6,115.4,0.0,271,1605,0.73,2.50,110.70,0.757,4,0.089,0.065,3111,3616,3066
$GC,1635,0.61,146.6,98.3,17.1,298,1643,0.00,2.38,0.00,0.000,6,0.000,0.050,3121,2208,3065
$GC,1770,0.61,146.6,76.1,16.5,323,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2205,3065
$GC,1898,0.61,146.6,56.2,14.7,347,1904,0.00,2.38,0.00,0.000,4,0.000,0.064,3121,3611,3065
$GC,1930,0.61,146.6,51.0,16.5,353,1936,0.00,2.33,0.00,0.000,6,0.000,0.050,3132,2194,3064
$GC,2063,0.61,146.6,32.1,13.5,378,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2192,3064
$GC,2126,0.61,146.6,23.7,13.1,390,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2192,3065
$GC,2190,0.61,146.6,16.5,11.4,402,2197,0.00,2.35,0.00,0.000,4,0.000,0.064,3132,3605,3065
$GC,2206,0.61,146.6,14.5,11.5,405,2213,0.00,2.28,0.00,0.000,6,0.000,0.050,3142,2204,3064
$GC,2276,0.61,146.6,6.8,10.8,418,2283,0.00,2.35,0.00,0.000,4,0.000,0.064,3142,3610,3065
$STATE,2307,end climb,SURFACE_DEPTH_REACHED
$STATE,2307,begin surface coast
$FINISH,3.1,1.020459
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2359,302.95,0.673,1,0,1421,550.21
$SM_GC,1.39,0.00,0.00,302.95,0.000,0.000,0.673,170,2139,1421,-8.60,-0.31,550.21
$IRIDIUM_FIX,4745.30,-12222.84,250498,090954
$TT8_MAMPS,0.05369
$HUMID,1416
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,18.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.3,38.7
$24V_AH,24.2,2.365
$10V_AH,10.7,0.847
$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,20.450,46.500,165.725,302.950,0.000,28.418,25.949,178.912,1.750,0.000,0.000,35.402,0.000,1115.538,624.262,947.669,302.230,33.307,1016.504,0.000,765.203,0.000,9.911,0.000
$DEVICE_MAMPS,273.052,70.564,804.583,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.590,294.511,495.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,431
$CAP_FILE_SIZE,50552,0
$CFSIZE,260165632,258117632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,290109,104455,4805.561,-12221.654,39,1.6,39,18.3