version: 66.04
glider: 166
mission: 1
dive: 2
start: 3 4 109 20 3 58
data:
$ID,166
$MISSION,1
$DIVE,2
$D_SURF,3
$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,50
$T_MISSION,60
$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,380
$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,-4111.8926
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$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,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-28.361515
$PRESSURE_SLOPE,0.0001160501
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,195936,4807.802,-12223.052,12,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.7
$GPS2,200307,4807.772,-12223.055,14,1.2,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.238
$KALMAN_X,10.0,10.0,10.0,94.5,24.2
$KALMAN_Y,-47.4,-47.4,-47.4,-265.6,-114.3
$MHEAD_RNG_PITCHd_Wd,138.0,3532,-17.5,-10.000
$D_GRID,105
$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,12,begin dive
$GC,14,-0.88,-146.6,0.0,0.0,0,139,0.00,0.00,-121.62,0.000,2,0.000,0.000,173,2151,3715
$GC,141,-0.88,-146.6,3.7,-6.4,21,166,10.10,2.22,-7.22,0.000,4,0.302,0.071,2373,738,3962
$GC,420,-0.88,-146.6,37.3,-13.0,70,426,0.00,2.17,0.00,0.000,6,0.000,0.058,2371,2148,3963
$GC,493,-0.88,-146.6,47.1,-12.5,83,499,0.00,2.17,0.00,0.000,4,0.000,0.058,2371,738,3963
$GC,723,-0.88,-146.6,77.1,-12.7,124,730,0.00,2.20,0.00,0.000,6,0.000,0.057,2371,2141,3963
$GC,866,-0.88,-146.6,93.8,-11.5,149,872,0.00,2.15,0.00,0.000,4,0.000,0.056,2372,740,3963
$STATE,960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,960,begin apogee
$GC,966,-0.20,0.0,105.5,12.6,166,1073,0.75,0.00,102.28,0.897,6,0.175,0.000,2597,2162,3420
$STATE,1074,end apogee,CONTROL_FINISHED_OK
$STATE,1074,begin climb
$GC,1075,0.88,146.6,107.6,0.0,185,1198,1.05,0.00,114.53,0.850,6,0.107,0.000,2949,2162,2821
$GC,1333,0.88,146.6,61.4,22.2,231,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2162,2820
$GC,1472,0.88,146.6,31.4,20.8,256,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2162,2820
$GC,1546,0.88,146.6,16.5,21.2,269,1553,0.00,2.20,0.00,0.000,4,0.000,0.067,2949,3560,2820
$GC,1593,0.88,146.6,6.0,22.8,277,1599,0.00,2.15,0.00,0.000,6,0.000,0.048,2960,2143,2820
$STATE,1609,end climb,SURFACE_DEPTH_REACHED
$STATE,1609,begin surface coast
$FINISH,1.1,1.019855
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1641,205.30,0.672,27,0,1869,380.21
$SM_GC,1.29,0.00,0.00,205.30,0.000,0.000,0.672,163,2142,1869,-7.84,-0.23,380.21
$IRIDIUM_FIX,4751.72,-12223.57,290598,202047
$TT8_MAMPS,0.027612
$HUMID,1443
$INTERNAL_PRESSURE,9.27252
$TCM_TEMP,18.00
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,80.6,38.3
$24V_AH,24.3,0.316
$10V_AH,10.7,0.094
$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,20.200,17.525,216.800,205.300,0.000,0.000,0.000,0.000,11.500,0.000,0.000,31.858,410.285,472.984,628.641,536.519,22.491,30.181,930.506,0.000,516.706,0.000,5.518,0.000
$DEVICE_MAMPS,302.198,71.331,897.390,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,188.106,200.471,338.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16011,283
$CAP_FILE_SIZE,44085,0
$CFSIZE,260165632,258412544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,27,0
$GPS,040309,203744,4807.580,-12222.845,12,1.2,12,18.3