version: 66.04
glider: 166
mission: 1
dive: 11
start: 3 5 109 3 52 14
data:
$ID,166
$MISSION,1
$DIVE,11
$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,-4370.8584
$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,22
$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
$GPS1,034604,4806.041,-12222.284,13,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.0
$GPS2,035120,4806.030,-12222.269,13,1.4,13,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.132
$KALMAN_X,1900.4,150.8,317.3,-1266.4,447.4
$KALMAN_Y,18.1,531.2,218.8,-4409.9,-295.8
$MHEAD_RNG_PITCHd_Wd,293.9,4230,-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,-97.8,0.0,0.0,0,88,0.00,0.00,-71.22,0.000,2,0.000,0.000,161,2059,3349
$GC,89,-0.64,-97.8,3.4,-3.3,12,121,11.15,2.25,-13.02,0.000,4,0.315,0.073,2427,637,3817
$GC,329,-0.64,-97.8,28.1,-8.2,54,335,0.00,2.22,0.00,0.000,6,0.000,0.056,2425,2062,3818
$GC,404,-0.64,-97.8,34.1,-7.8,67,410,0.00,2.20,0.00,0.000,4,0.000,0.067,2426,3459,3819
$GC,426,-0.64,-97.8,36.0,-7.8,71,433,0.00,2.17,0.00,0.000,6,0.000,0.044,2426,2026,3818
$GC,499,-0.64,-97.8,42.1,-8.0,84,506,0.00,2.17,0.00,0.000,4,0.000,0.060,2426,647,3818
$GC,562,-0.64,-97.8,47.6,-9.2,95,568,0.00,2.20,0.00,0.000,6,0.000,0.054,2426,2060,3818
$GC,702,-0.64,-97.8,59.4,-7.9,120,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2061,3818
$GC,843,-0.64,-97.8,71.0,-8.1,145,849,0.00,2.20,0.00,0.000,4,0.000,0.058,2426,644,3818
$GC,882,-0.64,-97.8,74.5,-9.1,152,888,0.00,2.22,0.00,0.000,6,0.000,0.055,2426,2054,3818
$GC,1025,-0.64,-97.8,85.8,-7.8,177,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2055,3818
$GC,1165,-0.64,-97.8,96.0,-7.2,202,1171,0.00,2.17,0.00,0.000,4,0.000,0.057,2426,640,3818
$GC,1216,-0.64,-97.8,99.9,-7.9,211,1222,0.00,2.17,0.00,0.000,6,0.000,0.055,2426,2051,3818
$GC,1356,-0.64,-97.8,110.7,-7.5,236,1362,0.00,2.22,0.00,0.000,4,0.000,0.066,2426,3456,3818
$GC,1403,-0.64,-97.8,114.4,-8.1,244,1409,0.00,2.10,0.00,0.000,6,0.000,0.045,2426,2050,3818
$STATE,1413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1413,begin apogee
$GC,1417,-0.16,0.0,115.3,7.8,246,1497,0.52,0.00,75.75,0.911,6,0.164,0.000,2587,2254,3420
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1499,0.64,97.8,117.1,0.0,260,1584,0.77,0.00,77.88,0.877,6,0.104,0.000,2845,2254,3021
$GC,1719,0.64,97.8,94.3,13.0,299,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2254,3020
$GC,1858,0.64,97.8,76.6,12.3,324,1865,0.00,2.25,0.00,0.000,4,0.000,0.054,2856,845,3020
$GC,1894,0.64,97.8,72.4,12.5,330,1900,0.00,2.20,0.00,0.000,6,0.000,0.055,2856,2246,3020
$GC,2035,0.64,97.8,54.4,12.7,355,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2246,3020
$GC,2176,0.64,97.8,36.4,12.9,380,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2246,3020
$GC,2249,0.64,97.8,27.0,12.6,393,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2246,3020
$GC,2323,0.64,97.8,18.5,11.3,406,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2245,3020
$GC,2395,0.64,97.8,10.2,11.0,419,2402,0.00,2.17,0.00,0.000,4,0.000,0.057,2867,841,3020
$GC,2656,0.82,243.8,7.4,-0.1,465,2682,0.12,2.17,20.65,0.832,2,0.087,0.056,2916,2254,2917
$STATE,2683,end climb,NO_VERTICAL_VELOCITY
$STATE,2683,begin surface
$SM_CCo,2685,500.95,0.770,9,0,455,727.31
$SM_GC,0.98,8.02,0.00,0.00,0.069,0.000,0.000,160,2043,450,-7.73,-0.20,728.30
$IRIDIUM_FIX,4745.30,-12119.36,300598,030328
$TT8_MAMPS,0.026845
$HUMID,1406
$INTERNAL_PRESSURE,9.09673
$TCM_TEMP,17.80
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,85.2,36.6
$24V_AH,24.1,1.556
$10V_AH,10.7,0.502
$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,20.600,35.775,174.275,500.950,0.000,25.905,22.636,195.426,5.750,0.000,0.000,13.602,731.052,973.623,816.566,846.951,299.952,33.302,1247.411,0.000,842.139,0.000,10.230,0.000
$DEVICE_MAMPS,315.237,72.865,911.196,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,317.648,328.243,554.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25447,469
$CAP_FILE_SIZE,52537,0
$CFSIZE,260165632,258138112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,050309,044852,4806.285,-12222.523,11,2.3,30,18.3