version: 66.04
glider: 166
mission: 1
dive: 3
start: 3 4 109 20 57 22
data:
$ID,166
$MISSION,1
$DIVE,3
$D_SURF,2
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-4186.5137
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2650
$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,33
$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
$GPS1,205307,4807.458,-12222.835,12,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.2
$GPS2,205631,4807.427,-12222.860,10,1.2,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,-0.197
$KALMAN_X,19.2,16.9,16.3,313.8,21.6
$KALMAN_Y,-106.4,-90.5,-86.7,-768.3,-119.1
$MHEAD_RNG_PITCHd_Wd,137.6,2849,-21.7,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.99,-97.8,0.0,0.0,0,104,0.00,0.00,-88.03,0.000,2,0.000,0.000,177,2142,3577
$GC,106,-0.99,-97.8,3.2,-4.5,15,132,9.27,2.22,-8.02,0.000,4,0.282,0.073,2321,742,3820
$GC,385,-0.99,-97.8,33.8,-12.1,64,392,0.00,2.17,0.00,0.000,6,0.000,0.058,2317,2151,3821
$GC,459,-0.99,-97.8,43.5,-13.3,77,465,0.00,2.17,0.00,0.000,4,0.000,0.055,2318,744,3821
$GC,717,-0.99,-97.8,79.0,-13.7,123,723,0.00,2.20,0.00,0.000,6,0.000,0.057,2317,2160,3821
$GC,858,-0.99,-97.8,97.0,-12.4,148,864,0.00,2.20,0.00,0.000,4,0.000,0.058,2318,749,3821
$STATE,964,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,965,begin apogee
$GC,970,-0.20,0.0,110.8,12.6,167,1050,0.90,0.00,75.43,0.919,6,0.194,0.000,2576,2151,3420
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1052,0.99,97.8,113.7,0.0,181,1137,1.17,2.33,76.95,0.872,4,0.108,0.063,2954,3559,3021
$GC,1216,0.99,97.8,87.1,22.1,210,1223,0.00,2.20,0.00,0.000,6,0.000,0.045,2963,2146,3020
$GC,1357,0.99,97.8,57.7,20.4,235,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2146,3020
$GC,1498,0.99,97.8,30.1,18.4,260,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2146,3020
$GC,1571,0.99,97.8,16.5,18.9,273,1578,0.00,2.22,0.00,0.000,4,0.000,0.068,2958,3562,3020
$GC,1611,0.99,97.8,8.6,19.0,280,1618,0.00,2.15,0.00,0.000,6,0.000,0.046,2967,2147,3020
$STATE,1668,end climb,SURFACE_DEPTH_REACHED
$STATE,1668,begin surface coast
$FINISH,2.9,1.020624
$STATE,1713,end surface coast,CONTROL_FINISHED_OK
$STATE,1713,begin surface
$SM_CCo,1715,428.55,0.665,58,1,1101,568.36
$SM_CCo,2437,158.55,0.640,21,0,455,727.31
$SM_GC,1.11,8.05,0.00,0.00,0.070,0.000,0.000,155,2145,452,-7.76,-0.14,728.05
$IRIDIUM_FIX,4748.51,-12319.95,290598,202020
$TT8_MAMPS,0.026845
$HUMID,1454
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,17.90
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,80.4,40.0
$24V_AH,24.2,0.489
$10V_AH,10.7,0.141
$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,19.400,22.100,152.375,587.100,0.000,0.000,0.000,0.000,7.250,0.000,0.000,16.000,460.051,632.925,1208.699,548.861,25.674,31.413,1500.857,0.000,545.902,0.000,5.521,0.000
$DEVICE_MAMPS,282.256,72.865,918.866,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.492,213.784,360.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16063,298
$CAP_FILE_SIZE,47873,8
$CFSIZE,260165632,258375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,79,0
$GPS,040309,214450,4807.188,-12222.678,11,1.6,11,18.3