version: 66.04
glider: 165
mission: 1
dive: 26
start: 1 29 109 18 0 52
data:
$ID,165
$MISSION,1
$DIVE,26
$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,75
$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,-4060.4187
$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,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
$GPS1,175519,4807.624,-12223.543,7,1.4,7,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.7
$GPS2,180013,4807.668,-12223.576,13,1.1,13,18.3
$SPEED_LIMITS,0.129,0.172
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,0.161
$KALMAN_X,9037.2,-705.1,-387.6,-8896.0,652.4
$KALMAN_Y,-15819.1,1339.1,360.2,15701.5,-1115.6
$MHEAD_RNG_PITCHd_Wd,320.4,807,-19.5,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.74,-73.3,0.0,0.0,0,108,0.00,0.00,-94.85,0.000,2,0.000,0.000,170,2146,3603
$GC,109,-0.74,-73.3,3.4,-2.6,16,135,10.57,2.42,-10.30,0.000,4,0.265,0.077,2670,3558,3962
$GC,374,-0.74,-73.3,34.7,-10.8,65,381,0.00,2.30,0.00,0.000,6,0.000,0.048,2670,2145,3962
$GC,443,-0.74,-73.3,42.5,-11.4,78,450,0.00,2.38,0.00,0.000,4,0.000,0.066,2670,3559,3962
$GC,593,-0.74,-73.3,59.8,-11.2,106,601,0.00,2.28,0.00,0.000,6,0.000,0.048,2670,2148,3962
$GC,727,-0.74,-73.3,73.6,-9.8,131,734,0.00,2.28,0.00,0.000,4,0.000,0.057,2670,745,3962
$GC,753,-0.74,-73.3,76.4,-10.5,136,761,0.00,2.30,0.00,0.000,6,0.000,0.055,2670,2144,3962
$GC,888,-0.74,-73.3,89.6,-9.4,161,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2144,3962
$GC,1020,-0.74,-73.3,100.3,-8.2,186,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2144,3962
$GC,1147,-0.74,-73.3,110.4,-7.9,210,1155,0.00,2.33,0.00,0.000,4,0.000,0.067,2670,3558,3962
$STATE,1157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1157,begin apogee
$GC,1162,-0.17,0.0,111.3,7.9,212,1220,0.60,0.00,54.92,0.788,6,0.151,0.000,2858,2191,3665
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1221,0.74,73.3,112.6,0.0,222,1284,0.85,2.38,56.15,0.746,4,0.084,0.059,3165,796,3365
$GC,1293,0.74,73.3,106.0,11.6,235,1300,0.00,2.42,0.00,0.000,6,0.000,0.054,3165,2205,3365
$GC,1426,0.74,73.3,83.9,17.9,260,1433,0.00,2.38,0.00,0.000,4,0.000,0.063,3165,3608,3364
$GC,1453,0.74,73.3,79.3,17.0,265,1460,0.00,2.30,0.00,0.000,6,0.000,0.051,3175,2209,3364
$GC,1586,0.74,73.3,58.2,15.1,290,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2207,3364
$GC,1714,0.74,73.3,39.6,13.6,314,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2207,3364
$GC,1779,0.74,73.3,31.4,12.6,326,1786,0.00,2.35,0.00,0.000,4,0.000,0.064,3175,3611,3364
$GC,1827,0.74,73.3,25.2,12.6,335,1834,0.00,2.28,0.00,0.000,6,0.000,0.050,3185,2195,3364
$GC,1897,0.74,73.3,17.7,10.0,348,1904,0.00,2.35,0.00,0.000,4,0.000,0.061,3185,3610,3364
$GC,1918,0.74,73.3,15.7,9.5,352,1925,0.10,2.28,0.00,0.000,6,0.212,0.049,3169,2203,3364
$GC,1988,0.78,101.4,11.6,5.5,365,2014,0.00,2.40,21.80,0.715,4,0.000,0.063,3169,3611,3251
$GC,2253,0.91,209.6,5.7,0.0,414,2326,0.08,2.28,68.55,0.703,2,0.087,0.049,3211,2205,2873
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,2.3,1.019503
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2434,268.27,0.667,0,0,1422,550.21
$SM_GC,1.41,0.00,0.00,268.27,0.000,0.000,0.667,176,2147,1422,-8.58,-0.08,550.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,171711
$TT8_MAMPS,0.05369
$HUMID,1413
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,18.90
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,85.0,35.5
$24V_AH,24.2,3.467
$10V_AH,10.6,1.258
$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,21.000,41.925,201.425,268.275,0.000,22.927,27.770,174.500,5.000,0.000,0.000,15.360,0.000,1175.081,570.309,957.013,293.644,33.303,966.319,0.000,799.017,0.000,7.030,0.000
$DEVICE_MAMPS,264.615,88.972,788.476,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,299.150,331.393,558.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25447,444
$CAP_FILE_SIZE,48763,0
$CFSIZE,260165632,257830912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290109,184640,4807.852,-12223.634,7,99.0,26,18.3