version: 66.04
glider: 165
mission: 1
dive: 21
start: 1 29 109 13 37 46
data:
$ID,165
$MISSION,1
$DIVE,21
$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,-3966.5835
$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
$GPS1,133206,4806.345,-12222.507,36,1.6,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.5
$GPS2,133708,4806.363,-12222.562,10,2.0,10,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.212
$KALMAN_X,7811.4,-835.7,307.4,-6981.8,158.3
$KALMAN_Y,-13846.8,1605.8,-256.1,11664.7,-431.5
$MHEAD_RNG_PITCHd_Wd,316.3,3514,-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,-146.6,0.0,0.0,0,144,0.00,0.00,-129.75,0.000,2,0.000,0.000,169,2145,3392
$GC,146,-0.61,-146.6,3.0,-2.0,22,177,10.80,2.42,-16.00,0.000,4,0.268,0.077,2708,3562,3962
$GC,416,-0.61,-146.6,31.7,-8.8,72,423,0.00,2.28,0.00,0.000,6,0.000,0.050,2708,2148,3963
$GC,486,-0.61,-146.6,38.3,-9.1,85,493,0.00,2.35,0.00,0.000,4,0.000,0.065,2699,3555,3963
$GC,630,-0.61,-146.6,52.6,-9.4,112,637,0.00,2.28,0.00,0.000,6,0.000,0.049,2699,2148,3963
$GC,764,-0.61,-146.6,65.0,-9.2,137,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2147,3962
$GC,892,-0.61,-146.6,76.1,-8.3,161,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2146,3963
$GC,1020,-0.61,-146.6,85.6,-7.1,185,1026,0.00,2.35,0.00,0.000,4,0.000,0.067,2699,3558,3962
$GC,1040,-0.61,-146.6,87.2,-7.3,189,1047,0.00,2.25,0.00,0.000,6,0.000,0.048,2699,2151,3963
$GC,1174,-0.61,-146.6,96.9,-7.2,214,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2149,3962
$GC,1301,-0.61,-146.6,105.6,-6.6,238,1309,0.00,2.28,0.00,0.000,4,0.000,0.058,2699,745,3963
$GC,1382,-0.61,-146.6,111.6,-7.6,253,1388,0.00,2.28,0.00,0.000,6,0.000,0.057,2699,2138,3963
$STATE,1418,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1418,begin apogee
$GC,1421,-0.17,0.0,114.2,6.9,260,1478,0.50,0.00,55.10,0.804,6,0.144,0.000,2858,2207,3665
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1479,begin climb
$GC,1480,0.61,146.6,115.1,0.0,270,1598,0.73,0.00,110.70,0.752,6,0.085,0.000,3113,2207,3067
$GC,1725,0.61,146.6,83.0,15.5,315,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2207,3066
$GC,1853,0.61,146.6,63.9,14.2,339,1859,0.00,2.35,0.00,0.000,4,0.000,0.065,3113,3602,3066
$GC,1900,0.61,146.6,56.1,16.3,348,1907,0.00,2.30,0.00,0.000,6,0.000,0.051,3124,2207,3065
$GC,2034,0.61,146.6,36.6,13.7,373,2041,0.00,2.35,0.00,0.000,4,0.000,0.064,3124,3605,3065
$GC,2061,0.61,146.6,32.7,14.1,378,2068,0.00,2.30,0.00,0.000,6,0.000,0.051,3134,2196,3065
$GC,2131,0.61,146.6,22.7,14.2,391,2137,0.00,2.35,0.00,0.000,4,0.000,0.063,3134,3604,3065
$GC,2152,0.61,146.6,19.6,14.2,395,2159,0.00,2.28,0.00,0.000,6,0.000,0.049,3144,2204,3065
$GC,2222,0.61,146.6,11.2,11.7,408,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2202,3065
$GC,2285,0.61,146.6,5.3,7.9,420,2292,0.00,2.33,0.00,0.000,4,0.000,0.063,3144,3604,3065
$STATE,2306,end climb,SURFACE_DEPTH_REACHED
$STATE,2306,begin surface coast
$FINISH,5.1,1.019628
$STATE,2375,end surface coast,CONTROL_FINISHED_OK
$STATE,2375,begin surface
$SM_CCo,2377,493.85,0.661,2,0,484,780.05
$SM_GC,1.32,8.18,0.00,0.00,0.040,0.000,0.000,173,2147,478,-8.52,-0.08,781.77
$IRIDIUM_FIX,4748.51,-12212.96,250498,121211
$TT8_MAMPS,0.052156
$HUMID,1428
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,43.8
$24V_AH,24.2,2.894
$10V_AH,10.7,1.034
$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,20.200,37.275,165.800,493.850,0.000,23.958,27.748,181.104,0.750,0.000,0.000,12.125,0.000,1246.665,806.172,932.598,301.010,33.304,1198.153,0.000,777.552,0.000,5.518,0.000
$DEVICE_MAMPS,268.450,104.312,803.816,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.073,303.667,511.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25491,437
$CAP_FILE_SIZE,49432,0
$CFSIZE,260165632,257986560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,290109,142819,4806.640,-12222.759,11,1.7,28,18.3