version: 66.04
glider: 165
mission: 1
dive: 23
start: 1 29 109 15 28 3
data:
$ID,165
$MISSION,1
$DIVE,23
$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,-4017.2437
$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,20
$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
$GPS1,152232,4806.936,-12222.990,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.4
$GPS2,152725,4806.980,-12223.041,14,1.1,14,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.216
$KALMAN_X,8801.9,-1158.1,-196.8,-7739.1,393.1
$KALMAN_Y,-15477.6,2108.8,318.1,13359.1,-903.1
$MHEAD_RNG_PITCHd_Wd,318.6,2230,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-123.88,0.000,2,0.000,0.000,170,2146,3316
$GC,140,-0.61,-146.6,3.1,-2.0,21,176,10.73,2.38,-20.38,0.000,4,0.266,0.077,2702,3568,3960
$GC,416,-0.61,-146.6,30.6,-10.1,72,423,0.00,2.30,0.00,0.000,6,0.000,0.050,2702,2146,3961
$GC,485,-0.61,-146.6,37.4,-9.8,85,492,0.00,2.38,0.00,0.000,4,0.000,0.067,2698,3558,3961
$GC,661,-0.61,-146.6,55.0,-9.6,118,669,0.00,2.28,0.00,0.000,6,0.000,0.049,2698,2149,3961
$GC,795,-0.61,-146.6,67.4,-9.1,143,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2148,3961
$GC,923,-0.61,-146.6,78.4,-8.5,167,930,0.00,2.30,0.00,0.000,4,0.000,0.058,2698,741,3961
$GC,981,-0.61,-146.6,83.5,-8.5,178,988,0.00,2.33,0.00,0.000,6,0.000,0.058,2698,2156,3961
$GC,1116,-0.61,-146.6,93.6,-7.4,203,1121,0.00,2.30,0.00,0.000,4,0.000,0.068,2698,3562,3961
$GC,1205,-0.61,-146.6,100.0,-7.1,220,1212,0.00,2.25,0.00,0.000,6,0.000,0.048,2698,2156,3961
$GC,1339,-0.61,-146.6,108.7,-6.4,245,1345,0.00,2.28,0.00,0.000,4,0.000,0.058,2698,750,3961
$GC,1386,-0.61,-146.6,112.0,-7.0,254,1394,0.00,2.28,0.00,0.000,6,0.000,0.057,2698,2147,3961
$STATE,1402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1402,begin apogee
$GC,1405,-0.17,0.0,113.1,7.0,257,1462,0.50,0.00,54.88,0.794,6,0.143,0.000,2857,2210,3665
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1464,0.61,146.6,113.9,0.0,267,1582,0.73,2.45,110.68,0.747,4,0.087,0.061,3124,799,3066
$GC,1592,0.61,146.6,99.5,15.8,290,1598,0.00,2.42,0.00,0.000,6,0.000,0.054,3124,2201,3066
$GC,1725,0.61,146.6,77.4,16.2,315,1732,0.00,2.40,0.00,0.000,4,0.000,0.064,3124,3610,3065
$GC,1826,0.61,146.6,59.2,17.5,334,1833,0.00,2.33,0.00,0.000,6,0.000,0.051,3134,2204,3064
$GC,1960,0.61,146.6,37.8,15.1,359,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2202,3065
$GC,2024,0.61,146.6,28.3,14.5,371,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2203,3065
$GC,2088,0.61,146.6,19.2,14.1,383,2095,0.00,2.35,0.00,0.000,4,0.000,0.064,3134,3608,3065
$GC,2110,0.61,146.6,16.4,13.4,387,2117,0.00,2.30,0.00,0.000,6,0.000,0.050,3144,2195,3065
$GC,2179,0.61,146.6,8.3,11.2,400,2186,0.00,2.35,0.00,0.000,4,0.000,0.061,3144,3608,3065
$GC,2190,0.61,146.6,7.2,10.3,402,2197,0.10,2.28,0.00,0.000,6,0.186,0.048,3126,2206,3065
$STATE,2237,end climb,SURFACE_DEPTH_REACHED
$STATE,2237,begin surface coast
$FINISH,4.0,1.019940
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2302,begin surface
$SM_CCo,2316,302.88,0.669,1,0,1421,550.21
$SM_GC,1.51,0.00,0.00,302.88,0.000,0.000,0.669,169,2139,1421,-8.60,-0.34,550.21
$IRIDIUM_FIX,4748.51,-12233.46,250498,141420
$TT8_MAMPS,0.05369
$HUMID,1413
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,18.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.0,32.7
$24V_AH,24.2,3.140
$10V_AH,10.6,1.124
$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,20.275,42.100,165.550,302.875,0.000,29.259,31.256,163.171,2.250,0.000,0.000,16.227,0.000,1095.123,615.831,913.130,291.507,33.298,1000.300,0.000,754.619,0.000,14.251,0.000
$DEVICE_MAMPS,266.149,105.079,793.845,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.070,296.657,499.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22228,423
$CAP_FILE_SIZE,48193,0
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,290109,161234,4807.207,-12223.136,9,99.0,28,18.3