version: 66.04
glider: 165
mission: 1
dive: 25
start: 1 29 109 17 11 58
data:
$ID,165
$MISSION,1
$DIVE,25
$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,-4044.4314
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,170313,4807.414,-12223.354,7,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.0
$GPS2,171120,4807.501,-12223.402,10,1.4,10,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.206
$KALMAN_X,9067.2,-889.7,-431.8,-8481.0,600.0
$KALMAN_Y,-15648.7,1571.6,424.3,14922.1,-1015.1
$MHEAD_RNG_PITCHd_Wd,313.1,1184,-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,-146.6,0.0,0.0,0,109,0.00,0.00,-94.85,0.000,2,0.000,0.000,172,2142,3551
$GC,111,-0.61,-146.6,3.0,-1.9,16,141,10.77,2.40,-12.23,0.000,4,0.268,0.077,2703,3558,3962
$GC,188,-0.61,-146.6,13.3,-14.2,30,195,0.00,2.28,0.00,0.000,6,0.000,0.048,2703,2152,3962
$GC,257,-0.61,-146.6,19.5,-8.3,43,264,0.00,2.33,0.00,0.000,4,0.000,0.057,2703,743,3962
$GC,503,-0.61,-146.6,43.6,-10.4,89,510,0.00,2.33,0.00,0.000,6,0.000,0.058,2699,2148,3962
$GC,636,-0.61,-146.6,57.0,-9.0,114,643,0.00,2.30,0.00,0.000,4,0.000,0.057,2699,748,3962
$GC,885,-0.61,-146.6,80.4,-9.3,160,891,0.00,2.28,0.00,0.000,6,0.000,0.058,2699,2154,3962
$GC,1018,-0.61,-146.6,91.1,-7.1,185,1024,0.00,2.30,0.00,0.000,4,0.000,0.056,2699,746,3962
$GC,1076,-0.61,-146.6,95.4,-7.2,196,1083,0.00,2.30,0.00,0.000,6,0.000,0.057,2699,2150,3962
$GC,1210,-0.61,-146.6,104.1,-6.2,221,1216,0.00,2.33,0.00,0.000,4,0.000,0.067,2699,3559,3962
$GC,1278,-0.61,-146.6,108.8,-6.8,234,1286,0.00,2.22,0.00,0.000,6,0.000,0.048,2699,2151,3962
$STATE,1384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1384,begin apogee
$GC,1388,-0.17,0.0,116.0,6.5,254,1445,0.50,0.00,54.90,0.797,6,0.142,0.000,2858,2212,3665
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,0.61,146.6,116.8,0.0,264,1565,0.73,2.45,110.57,0.752,4,0.085,0.064,3113,3610,3066
$GC,1580,0.61,146.6,101.7,15.9,288,1587,0.00,2.38,0.00,0.000,6,0.000,0.050,3124,2211,3066
$GC,1713,0.61,146.6,78.6,15.7,313,1720,0.00,2.38,0.00,0.000,4,0.000,0.064,3124,3603,3066
$GC,1745,0.61,146.6,73.1,17.2,319,1752,0.00,2.30,0.00,0.000,6,0.000,0.050,3134,2201,3066
$GC,1878,0.61,146.6,50.9,15.6,344,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2200,3066
$GC,2007,0.61,146.6,31.4,15.2,368,2013,0.00,2.35,0.00,0.000,4,0.000,0.064,3135,3605,3066
$GC,2039,0.61,146.6,26.7,14.9,374,2046,0.00,2.28,0.00,0.000,6,0.000,0.049,3144,2194,3066
$GC,2108,0.61,146.6,16.7,13.8,387,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2191,3066
$GC,2173,0.61,146.6,9.7,10.6,399,2179,0.00,2.35,0.00,0.000,4,0.000,0.063,3144,3605,3066
$STATE,2219,end climb,SURFACE_DEPTH_REACHED
$STATE,2219,begin surface coast
$FINISH,2.5,1.019855
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2267,303.88,0.670,1,0,1422,550.21
$SM_GC,1.53,0.00,0.00,303.88,0.000,0.000,0.670,169,2146,1422,-8.60,-0.11,550.21
$IRIDIUM_FIX,4748.51,-12224.57,250498,171708
$TT8_MAMPS,0.05369
$HUMID,1401
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,19.00
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,80.4,45.5
$24V_AH,24.1,3.361
$10V_AH,10.7,1.212
$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,20.300,41.950,165.475,303.875,0.000,50.866,58.606,241.540,22.000,0.000,0.000,12.903,0.000,1165.046,587.903,883.684,424.605,33.312,955.512,0.000,735.132,0.000,5.524,0.000
$DEVICE_MAMPS,267.683,98.176,796.913,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.580,282.272,475.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22296,414
$CAP_FILE_SIZE,50062,0
$CFSIZE,260165632,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,290109,175519,4807.624,-12223.543,7,1.4,7,18.3