version: 66.04
glider: 165
mission: 1
dive: 18
start: 1 29 109 10 50 22
data:
$ID,165
$MISSION,1
$DIVE,18
$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,-3888.3997
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,104455,4805.561,-12221.654,39,1.6,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.6
$GPS2,104944,4805.533,-12221.627,9,1.4,9,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.191
$KALMAN_X,7316.8,-571.0,137.3,-5424.7,660.0
$KALMAN_Y,-12522.4,846.8,-173.1,9474.0,-940.5
$MHEAD_RNG_PITCHd_Wd,306.1,5430,-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,-146.6,0.0,0.0,0,109,0.00,0.00,-94.35,0.000,2,0.000,0.000,171,2139,3561
$GC,110,-0.61,-146.6,3.1,-2.0,16,136,10.80,2.35,-11.15,0.000,4,0.268,0.070,2713,739,3961
$GC,172,-0.61,-146.6,11.0,-10.4,27,179,0.00,2.35,0.00,0.000,6,0.000,0.056,2713,2143,3962
$GC,242,-0.61,-146.6,18.0,-10.5,40,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2144,3963
$GC,306,-0.61,-146.6,25.3,-12.3,52,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2144,3962
$GC,369,-0.61,-146.6,32.9,-10.5,64,376,0.00,2.38,0.00,0.000,4,0.000,0.068,2713,3559,3963
$GC,396,-0.61,-146.6,35.6,-10.0,69,403,0.00,2.28,0.00,0.000,6,0.000,0.048,2713,2144,3963
$GC,466,-0.61,-146.6,42.7,-10.1,82,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2142,3962
$GC,594,-0.61,-146.6,55.0,-9.1,106,602,0.00,2.30,0.00,0.000,4,0.000,0.057,2713,741,3963
$GC,659,-0.61,-146.6,61.1,-9.7,118,666,0.00,2.33,0.00,0.000,6,0.000,0.056,2713,2153,3963
$GC,793,-0.61,-146.6,72.4,-7.7,143,799,0.00,2.33,0.00,0.000,4,0.000,0.069,2713,3555,3962
$GC,824,-0.61,-146.6,75.0,-7.8,149,831,0.00,2.22,0.00,0.000,6,0.000,0.048,2713,2154,3963
$GC,958,-0.61,-146.6,84.8,-7.2,174,964,0.00,2.35,0.00,0.000,4,0.000,0.067,2713,3562,3962
$GC,984,-0.61,-146.6,86.8,-7.4,179,991,0.00,2.28,0.00,0.000,6,0.000,0.048,2713,2144,3962
$GC,1117,-0.61,-146.6,95.9,-6.2,204,1124,0.00,2.28,0.00,0.000,4,0.000,0.057,2713,739,3963
$GC,1181,-0.61,-146.6,100.4,-7.4,216,1189,0.00,2.30,0.00,0.000,6,0.000,0.056,2713,2151,3963
$GC,1316,-0.61,-146.6,109.0,-6.2,241,1322,0.00,2.33,0.00,0.000,4,0.000,0.069,2713,3561,3963
$GC,1347,-0.61,-146.6,110.9,-5.9,247,1353,0.00,2.25,0.00,0.000,6,0.000,0.048,2712,2148,3963
$STATE,1425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1425,begin apogee
$GC,1429,-0.17,0.0,115.8,6.4,262,1486,0.45,0.00,54.90,0.798,6,0.143,0.000,2856,2210,3665
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1488,0.61,146.6,116.6,0.0,272,1605,0.73,0.00,110.50,0.749,6,0.080,0.000,3114,2210,3067
$GC,1732,0.61,146.6,83.3,15.9,317,1739,0.00,2.40,0.00,0.000,4,0.000,0.066,3114,3607,3066
$GC,1786,0.61,146.6,74.3,17.3,327,1792,0.00,2.30,0.00,0.000,6,0.000,0.051,3125,2208,3066
$GC,1918,0.61,146.6,52.8,15.6,352,1926,0.00,2.35,0.00,0.000,4,0.000,0.064,3125,3601,3066
$GC,1951,0.61,146.6,47.5,16.4,358,1958,0.00,2.30,0.00,0.000,6,0.000,0.050,3135,2198,3066
$GC,2085,0.61,146.6,27.8,14.3,383,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2197,3066
$GC,2149,0.61,146.6,19.9,11.6,395,2156,0.00,2.35,0.00,0.000,4,0.000,0.064,3135,3604,3066
$GC,2170,0.61,146.6,17.2,11.8,399,2177,0.00,2.28,0.00,0.000,6,0.000,0.050,3145,2202,3066
$GC,2240,0.61,146.6,9.1,11.0,412,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2201,3066
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$FINISH,2.7,1.019463
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2318,begin surface
$SM_CCo,2332,303.95,0.670,1,0,1421,550.21
$SM_GC,1.42,0.00,0.00,303.95,0.000,0.000,0.670,177,2144,1421,-8.58,-0.14,550.21
$IRIDIUM_FIX,4748.51,-12224.57,250498,101028
$TT8_MAMPS,0.052923
$HUMID,1428
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.1,45.7
$24V_AH,24.2,2.471
$10V_AH,10.7,0.891
$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,20.250,46.425,165.400,303.950,0.000,23.726,25.781,173.440,1.250,0.000,0.000,10.698,0.000,1115.247,605.072,914.664,293.285,33.298,990.367,0.000,756.615,0.000,5.522,0.000
$DEVICE_MAMPS,267.683,97.409,797.680,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,287.311,287.321,483.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25518,427
$CAP_FILE_SIZE,51527,0
$CFSIZE,260165632,258084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,290109,113507,4805.790,-12221.859,8,1.5,26,18.3