version: 66.04
glider: 166
mission: 1
dive: 8
start: 3 5 109 1 2 50
data:
$ID,166
$MISSION,1
$DIVE,8
$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,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,-4305.6968
$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,30
$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
$GPS1,005706,4806.278,-12221.807,14,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.6
$GPS2,010156,4806.250,-12221.732,15,1.1,15,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.162,-0.111
$KALMAN_X,1198.2,-271.0,-38.4,867.9,648.1
$KALMAN_Y,655.6,313.7,122.2,-4316.9,442.4
$MHEAD_RNG_PITCHd_Wd,217.2,570,-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,13,-0.78,-97.8,0.0,0.0,0,169,0.00,0.00,-152.80,0.000,2,0.000,0.000,166,2144,3562
$GC,171,-0.78,-97.8,3.1,-2.4,26,197,10.55,2.28,-7.55,0.000,4,0.308,0.082,2385,3563,3820
$GC,451,-0.78,-97.8,27.6,-8.7,75,457,0.00,2.15,0.00,0.000,6,0.000,0.045,2385,2144,3820
$GC,525,-0.78,-97.8,34.4,-9.2,88,531,0.00,2.15,0.00,0.000,4,0.000,0.056,2386,745,3821
$GC,559,-0.78,-97.8,38.0,-10.4,94,565,0.00,2.17,0.00,0.000,6,0.000,0.055,2385,2148,3820
$GC,634,-0.78,-97.8,45.5,-9.9,107,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2148,3820
$GC,773,-0.78,-97.8,60.4,-10.9,132,779,0.00,2.20,0.00,0.000,4,0.000,0.056,2385,746,3820
$GC,824,-0.78,-97.8,66.0,-10.8,141,830,0.00,2.20,0.00,0.000,6,0.000,0.055,2385,2158,3820
$GC,965,-0.78,-97.8,80.7,-10.5,166,972,0.00,2.22,0.00,0.000,4,0.000,0.058,2385,744,3819
$GC,1017,-0.78,-97.8,85.9,-10.5,175,1023,0.00,2.17,0.00,0.000,6,0.000,0.054,2385,2150,3820
$GC,1157,-0.78,-97.8,99.4,-9.5,200,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2150,3820
$GC,1297,-0.78,-97.8,112.3,-9.1,225,1303,0.00,2.17,0.00,0.000,4,0.000,0.055,2385,733,3820
$STATE,1330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1330,begin apogee
$GC,1336,-0.20,0.0,115.7,10.0,231,1416,0.65,0.00,75.93,0.899,6,0.176,0.000,2578,2151,3420
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1418,0.78,97.8,117.9,0.0,245,1504,0.95,2.38,78.12,0.871,4,0.104,0.064,2893,3566,3020
$GC,1526,0.78,97.8,106.8,14.4,264,1533,0.00,2.28,0.00,0.000,6,0.000,0.044,2903,2160,3020
$GC,1667,0.78,97.8,83.0,17.0,289,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2159,3019
$GC,1807,0.78,97.8,59.9,16.4,314,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2159,3019
$GC,1947,0.78,97.8,38.2,15.4,339,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2159,3019
$GC,2020,0.78,97.8,26.9,15.7,352,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2159,3018
$GC,2093,0.78,97.8,16.3,14.1,365,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2159,3018
$GC,2167,0.78,97.8,6.5,12.8,378,2174,0.00,2.20,0.00,0.000,4,0.000,0.067,2903,3561,3018
$STATE,2348,end climb,NO_VERTICAL_VELOCITY
$STATE,2348,begin surface
$SM_CCo,2350,506.60,0.785,1,0,455,727.31
$SM_GC,1.07,7.95,0.00,0.00,0.068,0.000,0.000,160,2140,450,-7.75,-0.28,728.54
$IRIDIUM_FIX,4748.51,-12219.12,300598,000018
$TT8_MAMPS,0.026845
$HUMID,1421
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,17.90
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,85.4,36.8
$24V_AH,24.1,1.184
$10V_AH,10.7,0.350
$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,20.100,31.125,154.050,506.600,0.000,24.277,34.704,156.206,5.500,0.000,0.000,16.009,621.550,830.444,807.247,750.084,267.216,33.320,1206.276,0.000,745.811,0.000,10.211,0.000
$DEVICE_MAMPS,307.567,82.069,898.924,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.990,296.632,501.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22276,410
$CAP_FILE_SIZE,44763,0
$CFSIZE,260165632,258244608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050309,015302,4806.003,-12221.778,13,1.1,13,18.3