version: 66.04
glider: 166
mission: 1
dive: 9
start: 3 5 109 1 58 56
data:
$ID,166
$MISSION,1
$DIVE,9
$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,-4321.7334
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2646
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2050
$C_ROLL_CLIMB,2250
$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,3
$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
$GPS1,015302,4806.003,-12221.778,13,1.1,13,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.0
$GPS2,015802,4805.962,-12221.716,15,1.7,15,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.002
$KALMAN_X,1881.6,-303.8,-12.5,215.1,844.3
$KALMAN_Y,15.0,650.3,310.8,-4735.1,-3.6
$MHEAD_RNG_PITCHd_Wd,251.2,359,-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,-0.64,-97.8,0.0,0.0,0,175,0.00,0.00,-158.50,0.000,2,0.000,0.000,162,2140,3671
$GC,177,-0.64,-97.8,3.4,-3.2,27,198,11.18,2.20,-4.07,0.000,4,0.318,0.085,2425,3464,3820
$GC,452,-0.64,-97.8,24.8,-7.5,75,459,0.00,2.15,0.00,0.000,6,0.000,0.045,2424,2047,3821
$GC,526,-0.64,-97.8,30.4,-7.4,88,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2047,3822
$GC,600,-0.64,-97.8,36.3,-8.3,101,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2047,3821
$GC,672,-0.64,-97.8,42.6,-8.9,114,679,0.00,2.20,0.00,0.000,4,0.000,0.058,2425,650,3821
$GC,712,-0.64,-97.8,46.4,-9.7,121,718,0.00,2.20,0.00,0.000,6,0.000,0.054,2425,2062,3821
$GC,852,-0.64,-97.8,58.8,-8.3,146,859,0.00,2.22,0.00,0.000,4,0.000,0.068,2424,3458,3821
$GC,875,-0.64,-97.8,60.9,-8.6,150,881,0.00,2.15,0.00,0.000,6,0.000,0.044,2424,2055,3821
$GC,1016,-0.64,-97.8,72.0,-7.8,175,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2055,3821
$GC,1155,-0.64,-97.8,82.9,-7.7,200,1162,0.00,2.20,0.00,0.000,4,0.000,0.057,2424,644,3820
$GC,1219,-0.64,-97.8,88.2,-8.6,211,1225,0.00,2.17,0.00,0.000,6,0.000,0.055,2424,2049,3820
$GC,1359,-0.64,-97.8,99.0,-7.6,236,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2050,3820
$GC,1499,-0.64,-97.8,109.5,-7.5,261,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2050,3820
$STATE,1583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1583,begin apogee
$GC,1587,-0.16,0.0,115.8,7.5,276,1667,0.52,0.00,75.88,0.910,6,0.163,0.000,2585,2253,3420
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1669,0.64,97.8,117.1,0.0,290,1754,0.77,0.00,77.90,0.873,6,0.101,0.000,2845,2253,3021
$GC,1889,0.64,97.8,93.0,12.9,329,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2253,3020
$GC,2028,0.64,97.8,75.3,11.7,354,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2253,3018
$GC,2168,0.64,97.8,58.3,12.2,379,2174,0.00,2.22,0.00,0.000,4,0.000,0.056,2856,836,3019
$GC,2214,0.64,97.8,52.9,12.0,387,2220,0.00,2.22,0.00,0.000,6,0.000,0.056,2856,2255,3019
$GC,2354,0.64,97.8,35.2,13.1,412,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2255,3019
$GC,2428,0.64,97.8,26.0,12.6,425,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2255,3019
$GC,2501,0.64,97.8,17.0,12.0,438,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2255,3019
$GC,2575,0.64,97.8,9.5,9.5,451,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2255,3019
$GC,2648,0.74,179.8,5.8,3.2,464,2720,0.00,2.35,62.75,0.838,4,0.000,0.070,2856,3655,2686
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2730,begin surface coast
$FINISH,1.8,1.018694
$STATE,2873,end surface coast,CONTROL_FINISHED_OK
$STATE,2873,begin surface
$SM_CCo,2889,154.88,0.808,0,0,1870,380.21
$SM_GC,1.90,0.00,0.00,154.88,0.000,0.000,0.808,165,2041,1870,-7.75,-0.25,380.21
$IRIDIUM_FIX,4748.51,-12217.40,300598,010158
$TT8_MAMPS,0.027612
$HUMID,1438
$INTERNAL_PRESSURE,9.25299
$TCM_TEMP,17.90
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,90.1,32.7
$24V_AH,24.1,1.286
$10V_AH,10.7,0.402
$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,20.475,27.175,216.525,154.875,0.000,26.297,25.052,178.224,5.250,0.000,0.000,15.407,745.369,910.673,504.789,916.884,285.101,33.312,981.217,0.000,908.832,0.000,14.608,0.000
$DEVICE_MAMPS,318.305,85.137,910.429,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.832,362.060,611.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,503
$CAP_FILE_SIZE,50487,0
$CFSIZE,260165632,258203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,025040,4805.927,-12222.028,7,3.1,26,18.3