version: 66.04
glider: 166
mission: 1
dive: 10
start: 3 5 109 2 56 45
data:
$ID,166
$MISSION,1
$DIVE,10
$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,-4356.6255
$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
$GPS1,025040,4805.927,-12222.028,7,3.1,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.0
$GPS2,025552,4805.897,-12221.972,14,99.0,33,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.178,0.083
$KALMAN_X,2006.9,-101.6,123.8,-560.1,732.1
$KALMAN_Y,-296.3,743.7,405.0,-4736.7,-358.4
$MHEAD_RNG_PITCHd_Wd,276.7,4632,-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,-0.64,-97.8,0.0,0.0,0,94,0.00,0.00,-77.32,0.000,2,0.000,0.000,166,2042,3448
$GC,96,-0.64,-97.8,3.0,-2.2,13,127,11.20,2.33,-11.00,0.000,4,0.319,0.082,2429,3454,3821
$GC,251,-0.64,-97.8,17.3,-6.9,40,258,0.00,2.15,0.00,0.000,6,0.000,0.045,2428,2044,3821
$GC,327,-0.64,-97.8,22.7,-7.3,53,333,0.00,2.17,0.00,0.000,4,0.000,0.057,2428,641,3821
$GC,357,-0.64,-97.8,25.3,-8.1,58,363,0.00,2.20,0.00,0.000,6,0.000,0.054,2429,2056,3821
$GC,430,-0.64,-97.8,31.3,-7.7,71,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2056,3821
$GC,504,-0.64,-97.8,37.2,-8.4,84,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2056,3821
$GC,577,-0.64,-97.8,43.5,-8.5,97,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2055,3821
$GC,716,-0.64,-97.8,55.5,-8.5,122,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2055,3822
$GC,856,-0.64,-97.8,67.3,-8.6,147,862,0.00,2.20,0.00,0.000,4,0.000,0.061,2428,642,3822
$GC,895,-0.64,-97.8,71.1,-9.4,154,902,0.00,2.22,0.00,0.000,6,0.000,0.054,2428,2055,3821
$GC,1036,-0.64,-97.8,82.8,-8.3,179,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2055,3821
$GC,1177,-0.64,-97.8,94.0,-7.8,204,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2055,3821
$GC,1318,-0.64,-97.8,104.6,-7.3,229,1324,0.00,2.17,0.00,0.000,4,0.000,0.058,2428,646,3821
$GC,1341,-0.64,-97.8,106.4,-7.6,233,1346,0.00,2.17,0.00,0.000,6,0.000,0.054,2428,2057,3821
$GC,1481,-0.64,-97.8,117.2,-7.7,258,1487,0.00,2.22,0.00,0.000,4,0.000,0.067,2428,3462,3821
$GC,1509,-0.64,-97.8,119.4,-7.7,263,1515,0.00,2.12,0.00,0.000,6,0.000,0.046,2428,2048,3821
$STATE,1525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1525,begin apogee
$GC,1529,-0.16,0.0,120.8,7.7,266,1609,0.52,0.00,76.43,0.923,6,0.162,0.000,2589,2263,3420
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1611,0.64,97.8,122.2,0.0,280,1696,0.77,0.00,78.35,0.879,6,0.100,0.000,2847,2262,3020
$GC,1831,0.64,97.8,99.1,13.5,319,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2263,3020
$GC,1970,0.64,97.8,81.0,12.4,344,1976,0.00,2.28,0.00,0.000,4,0.000,0.055,2859,842,3020
$GC,2010,0.64,97.8,75.9,13.0,351,2016,0.00,2.22,0.00,0.000,6,0.000,0.056,2858,2248,3020
$GC,2150,0.64,97.8,57.8,12.1,376,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2248,3020
$GC,2290,0.64,97.8,40.1,12.8,401,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2249,3020
$GC,2430,0.64,97.8,22.6,12.1,426,2436,0.00,2.22,0.00,0.000,4,0.000,0.057,2869,841,3020
$GC,2459,0.64,97.8,19.4,11.6,431,2465,0.00,2.20,0.00,0.000,6,0.000,0.056,2869,2254,3020
$GC,2533,0.64,97.8,11.0,10.9,444,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2255,3019
$GC,2606,0.75,184.8,7.0,3.0,457,2679,0.00,2.38,66.95,0.838,4,0.000,0.067,2869,3658,2666
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,3.2,1.020484
$STATE,2724,end surface coast,CONTROL_FINISHED_OK
$STATE,2724,begin surface
$SM_CCo,2741,152.02,0.806,0,0,1870,380.21
$SM_GC,1.46,0.00,0.00,152.02,0.000,0.000,0.806,158,2059,1870,-7.77,0.25,380.21
$IRIDIUM_FIX,4748.51,-12221.84,300598,020250
$TT8_MAMPS,0.027612
$HUMID,1416
$INTERNAL_PRESSURE,9.24322
$TCM_TEMP,17.90
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,85.5,41.9
$24V_AH,24.1,1.389
$10V_AH,10.7,0.451
$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,20.700,36.200,221.725,152.025,0.000,23.017,26.150,170.205,5.000,0.000,0.000,34.263,729.850,870.494,465.361,880.778,274.547,33.303,917.434,0.000,857.556,0.000,7.376,0.000
$DEVICE_MAMPS,319.072,82.069,922.701,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,321.830,328.375,554.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,477
$CAP_FILE_SIZE,51852,0
$CFSIZE,260165632,258170880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,034604,4806.041,-12222.284,13,99.0,32,18.3