version: 66.04
glider: 166
mission: 1
dive: 4
start: 3 4 109 21 51 14
data:
$ID,166
$MISSION,1
$DIVE,4
$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,67
$T_MISSION,70
$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,-4222.8081
$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,29
$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,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,-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,7
$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,4
$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
$GPS1,214450,4807.188,-12222.678,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.3
$GPS2,215022,4807.147,-12222.692,15,3.2,34,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.180
$KALMAN_X,-12.8,2.6,12.3,573.2,-12.9
$KALMAN_Y,-58.4,-77.5,-90.3,-1348.1,-30.3
$MHEAD_RNG_PITCHd_Wd,138.1,2291,-16.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-97.8,0.0,0.0,0,180,0.00,0.00,-163.20,0.000,2,0.000,0.000,167,2146,3714
$GC,182,-0.78,-97.8,3.7,-3.1,28,202,10.20,2.20,-2.83,0.000,4,0.298,0.072,2381,741,3820
$GC,456,-0.78,-97.8,31.2,-9.8,76,462,0.00,2.20,0.00,0.000,6,0.000,0.058,2377,2153,3820
$GC,529,-0.78,-97.8,38.7,-10.5,89,536,0.00,2.17,0.00,0.000,4,0.000,0.055,2378,739,3821
$GC,766,-0.78,-97.8,64.7,-11.4,131,772,0.00,2.20,0.00,0.000,6,0.000,0.058,2376,2151,3821
$GC,906,-0.78,-97.8,79.8,-10.8,156,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2151,3820
$GC,1053,-0.78,-97.8,94.3,-9.8,181,1059,0.00,2.17,0.00,0.000,4,0.000,0.056,2378,739,3820
$GC,1087,-0.78,-97.8,97.8,-10.1,187,1093,0.00,2.20,0.00,0.000,6,0.000,0.061,2377,2158,3820
$GC,1227,-0.78,-97.8,111.3,-9.9,212,1234,0.00,2.22,0.00,0.000,4,0.000,0.057,2378,737,3820
$STATE,1262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1262,begin apogee
$GC,1267,-0.20,0.0,114.8,10.2,218,1347,0.68,0.00,75.32,0.909,6,0.178,0.000,2579,2155,3420
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1349,0.78,97.8,117.1,0.0,232,1435,0.95,2.35,77.43,0.883,4,0.107,0.065,2892,3563,3020
$GC,1451,0.78,97.8,106.7,14.5,250,1458,0.00,2.28,0.00,0.000,6,0.000,0.048,2902,2155,3021
$GC,1593,0.78,97.8,82.7,17.0,275,1599,0.00,2.25,0.00,0.000,4,0.000,0.056,2913,731,3020
$GC,1620,0.78,97.8,78.0,16.6,280,1627,0.00,2.28,0.00,0.000,6,0.000,0.054,2913,2140,3019
$GC,1762,0.78,97.8,54.6,16.6,305,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2141,3019
$GC,1902,0.78,97.8,31.1,16.7,330,1908,0.00,2.28,0.00,0.000,4,0.000,0.066,2913,3563,3019
$GC,1941,0.78,97.8,23.8,18.5,337,1948,0.00,2.15,0.00,0.000,6,0.000,0.048,2923,2147,3019
$GC,2016,0.78,97.8,11.8,15.8,350,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2147,3019
$STATE,2083,end climb,SURFACE_DEPTH_REACHED
$STATE,2083,begin surface coast
$FINISH,2.0,1.020569
$STATE,2112,end surface coast,CONTROL_FINISHED_OK
$STATE,2112,begin surface
$SM_CCo,2126,217.18,0.808,1,0,1870,380.21
$SM_GC,1.28,0.00,0.00,217.18,0.000,0.000,0.808,160,2146,1870,-7.79,-0.11,380.21
$IRIDIUM_FIX,4748.51,-12221.84,290598,212129
$TT8_MAMPS,0.027612
$HUMID,1451
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,18.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,90.3,30.9
$24V_AH,24.2,0.592
$10V_AH,10.7,0.181
$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,20.100,31.175,152.750,217.175,0.000,23.105,25.942,188.388,6.000,0.000,0.000,35.665,554.572,651.419,513.170,694.508,284.886,32.328,877.152,0.000,665.733,0.000,11.693,0.000
$DEVICE_MAMPS,298.363,72.098,908.895,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.352,258.774,436.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19083,367
$CAP_FILE_SIZE,41534,0
$CFSIZE,260165632,258359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,223122,4806.950,-12222.475,7,4.0,26,18.3