version: 66.04
glider: 167
mission: 1
dive: 4
start: 1 29 109 0 3 31
data:
$ID,167
$MISSION,1
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,615
$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,-2656.4954
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,174
$PITCH_MAX,3944
$C_PITCH,2728
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3392
$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,-14.577106
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,1
$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,0.0042613237
$SEABIRD_T_H,0.000318543
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,235901,4804.323,-12220.712,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.8
$GPS2,000238,4804.257,-12220.673,12,1.9,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,0.248
$KALMAN_X,1016.9,616.4,446.3,601.4,9.7
$KALMAN_Y,-1876.4,-1140.5,-787.4,-1020.7,4.5
$MHEAD_RNG_PITCHd_Wd,324.3,1433,-17.5,-10.000
$D_GRID,110
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-146.6,0.0,0.0,0,122,0.00,0.00,-104.10,0.000,2,0.000,0.000,169,2089,2975
$GC,125,-0.88,-146.6,3.3,-2.6,18,168,9.82,0.00,-27.90,0.000,6,0.281,0.000,2437,2096,3964
$GC,237,-0.88,-146.6,15.7,-14.5,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2096,3964
$GC,311,-0.88,-146.6,27.8,-15.9,50,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2096,3964
$GC,385,-0.88,-146.6,39.8,-14.9,63,392,0.00,2.15,0.00,0.000,4,0.000,0.048,2437,690,3964
$GC,482,-0.88,-146.6,55.5,-16.1,80,488,0.00,2.20,0.00,0.000,6,0.000,0.048,2431,2120,3964
$GC,625,-0.88,-146.6,76.8,-14.4,105,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2121,3963
$GC,768,-0.88,-146.6,96.5,-13.3,130,774,0.00,2.17,0.00,0.000,4,0.000,0.045,2431,687,3963
$GC,810,-0.88,-146.6,102.2,-14.0,137,816,0.00,2.17,0.00,0.000,6,0.000,0.048,2425,2102,3964
$STATE,870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,870,begin apogee
$GC,876,-0.20,0.0,110.3,12.3,148,983,0.77,0.00,100.85,0.730,6,0.171,0.000,2656,2103,3392
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,0.88,146.6,113.7,0.0,167,1099,1.05,0.00,108.82,0.696,6,0.111,0.000,2999,2103,2793
$GC,1234,0.88,146.6,86.1,13.4,211,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2103,2793
$GC,1375,0.88,146.6,67.7,12.4,236,1381,0.00,2.25,0.00,0.000,4,0.000,0.060,2999,3518,2792
$GC,1427,0.88,146.6,60.5,13.8,245,1433,0.00,2.20,0.00,0.000,6,0.000,0.040,3005,2090,2792
$GC,1568,0.88,146.6,42.7,12.1,270,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2089,2793
$GC,1710,0.88,146.6,26.1,11.5,295,1717,0.00,2.15,0.00,0.000,4,0.000,0.052,3005,692,2793
$GC,1763,0.88,148.1,20.7,9.9,304,1769,0.00,2.17,0.00,0.000,6,0.000,0.045,3005,2112,2792
$GC,1839,0.93,189.7,14.0,8.1,317,1875,0.00,0.00,31.88,0.623,6,0.000,0.000,3005,2111,2616
$GC,1944,1.02,262.9,6.2,6.6,335,2005,0.15,2.28,53.30,0.627,4,0.084,0.058,3062,3515,2320
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,2.7,1.050677
$STATE,2016,end surface coast,CONTROL_FINISHED_OK
$STATE,2016,begin surface
$SM_CCo,2036,263.88,0.609,0,0,884,615.21
$SM_GC,1.39,0.00,0.00,263.88,0.000,0.000,0.609,176,2089,884,-7.98,-0.31,615.21
$IRIDIUM_FIX,4748.51,-12221.84,250498,000028
$TT8_MAMPS,0.029146
$HUMID,1417
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,48.7
$24V_AH,24.4,1.074
$10V_AH,10.7,0.471
$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,20.300,22.000,294.850,263.875,0.000,0.000,0.000,0.000,0.500,0.000,0.000,12.296,497.802,564.105,618.719,633.953,56.951,32.333,996.827,0.000,631.782,0.000,5.544,0.000
$DEVICE_MAMPS,281.489,59.826,730.184,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.562,247.547,417.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19155,347
$CAP_FILE_SIZE,63512,0
$CFSIZE,260165632,258338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290109,004258,4804.376,-12220.813,10,3.4,29,18.3