version: 66.04
glider: 165
mission: 1
dive: 22
start: 1 29 109 14 34 14
data:
$ID,165
$MISSION,1
$DIVE,22
$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,-4000.3865
$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,22
$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
$GPS1,142819,4806.640,-12222.759,11,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.8
$GPS2,143336,4806.677,-12222.808,31,1.1,31,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.216
$KALMAN_X,8361.9,-1047.8,65.4,-7383.9,221.5
$KALMAN_Y,-14783.7,1969.8,53.7,12508.8,-632.7
$MHEAD_RNG_PITCHd_Wd,319.0,2860,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.61,-146.6,0.0,0.0,0,138,0.00,0.00,-123.15,0.000,2,0.000,0.000,173,2148,3291
$GC,140,-0.61,-146.6,3.2,-2.1,21,176,10.80,2.35,-19.95,0.000,4,0.269,0.077,2705,3558,3960
$GC,415,-0.61,-146.6,31.5,-9.3,72,422,0.00,2.28,0.00,0.000,6,0.000,0.049,2706,2145,3961
$GC,485,-0.61,-146.6,38.0,-9.1,85,492,0.00,2.35,0.00,0.000,4,0.000,0.065,2698,3546,3961
$GC,693,-0.61,-146.6,58.0,-9.5,124,700,0.00,2.25,0.00,0.000,6,0.000,0.049,2698,2148,3961
$GC,827,-0.61,-146.6,69.6,-8.2,149,834,0.00,2.30,0.00,0.000,4,0.000,0.058,2698,741,3961
$GC,874,-0.61,-146.6,74.2,-9.6,158,882,0.00,2.30,0.00,0.000,6,0.000,0.057,2698,2142,3961
$GC,1009,-0.61,-146.6,85.5,-8.0,183,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2142,3961
$GC,1141,-0.61,-146.6,95.3,-7.3,208,1148,0.00,2.35,0.00,0.000,4,0.000,0.068,2698,3563,3961
$GC,1173,-0.61,-146.6,97.7,-7.5,214,1180,0.00,2.25,0.00,0.000,6,0.000,0.048,2698,2143,3961
$GC,1307,-0.61,-146.6,106.8,-6.4,239,1313,0.00,2.25,0.00,0.000,4,0.000,0.057,2698,750,3961
$STATE,1385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1385,begin apogee
$GC,1390,-0.17,0.0,112.8,7.6,254,1447,0.52,0.00,54.90,0.799,6,0.151,0.000,2861,2208,3665
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1449,0.61,146.6,113.8,0.0,264,1568,0.73,2.42,110.43,0.752,4,0.085,0.061,3127,802,3067
$GC,1578,0.61,146.6,99.8,15.3,287,1584,0.00,2.40,0.00,0.000,6,0.000,0.055,3127,2207,3067
$GC,1710,0.61,146.6,77.0,17.0,312,1717,0.00,2.38,0.00,0.000,4,0.000,0.065,3127,3604,3066
$GC,1774,0.61,146.6,65.2,18.4,324,1782,0.00,2.30,0.00,0.000,6,0.000,0.050,3137,2203,3066
$GC,1909,0.61,146.6,42.7,16.3,349,1915,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,3611,3066
$GC,1940,0.61,146.6,37.2,17.2,355,1947,0.00,2.30,0.00,0.000,6,0.000,0.051,3147,2195,3066
$GC,2010,0.61,146.6,26.1,15.8,368,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2194,3066
$GC,2074,0.61,146.6,17.0,13.8,380,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2194,3066
$GC,2137,0.61,146.6,9.3,12.2,392,2144,0.00,2.35,0.00,0.000,4,0.000,0.063,3148,3604,3066
$STATE,2200,end climb,SURFACE_DEPTH_REACHED
$STATE,2200,begin surface coast
$FINISH,4.7,1.019673
$STATE,2259,end surface coast,CONTROL_FINISHED_OK
$STATE,2259,begin surface
$SM_CCo,2261,493.60,0.661,2,0,485,780.05
$SM_GC,1.20,8.25,0.00,0.00,0.044,0.000,0.000,170,2147,478,-8.55,-0.08,781.77
$IRIDIUM_FIX,4748.51,-12224.57,250498,131301
$TT8_MAMPS,0.052923
$HUMID,1412
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,18.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,85.1,37.7
$24V_AH,24.2,3.034
$10V_AH,10.7,1.080
$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,20.300,42.050,165.325,493.600,0.000,25.782,29.565,173.380,1.750,0.000,0.000,33.174,0.000,1172.056,808.976,906.756,296.791,33.305,1187.300,0.000,739.513,0.000,7.040,0.000
$DEVICE_MAMPS,269.217,77.467,799.214,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.637,289.449,487.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22301,415
$CAP_FILE_SIZE,47246,0
$CFSIZE,260165632,257957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,290109,152232,4806.936,-12222.990,10,1.2,10,18.3