version: 66.04
glider: 166
mission: 1
dive: 12
start: 3 5 109 4 55 15
data:
$ID,166
$MISSION,1
$DIVE,12
$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,450
$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,-4407.8242
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,044852,4806.285,-12222.523,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.6
$GPS2,045422,4806.292,-12222.531,16,2.4,35,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.158
$KALMAN_X,2043.6,229.0,345.8,-1843.3,189.6
$KALMAN_Y,418.2,326.5,-11.2,-3890.5,-151.4
$MHEAD_RNG_PITCHd_Wd,305.4,3648,-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,-97.8,0.0,0.0,0,146,0.00,0.00,-129.65,0.000,2,0.000,0.000,164,2044,3129
$GC,148,-0.64,-97.8,3.3,-2.7,22,192,10.85,2.28,-25.15,0.000,4,0.309,0.082,2429,3457,3818
$GC,445,-0.64,-97.8,25.5,-7.5,74,452,0.00,2.15,0.00,0.000,6,0.000,0.044,2429,2038,3819
$GC,519,-0.64,-97.8,31.4,-8.2,87,525,0.00,2.25,0.00,0.000,4,0.000,0.072,2428,3460,3819
$GC,611,-0.64,-97.8,39.1,-8.6,103,617,0.00,2.12,0.00,0.000,6,0.000,0.044,2429,2051,3819
$GC,683,-0.64,-97.8,45.4,-8.2,116,690,0.00,2.20,0.00,0.000,4,0.000,0.058,2430,650,3819
$GC,724,-0.64,-97.8,49.1,-9.4,123,730,0.00,2.17,0.00,0.000,6,0.000,0.058,2428,2049,3819
$GC,864,-0.64,-97.8,61.6,-8.8,148,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2050,3819
$GC,1004,-0.64,-97.8,73.8,-8.9,173,1010,0.00,2.22,0.00,0.000,4,0.000,0.067,2428,3465,3819
$GC,1066,-0.64,-97.8,79.4,-8.8,184,1072,0.00,2.17,0.00,0.000,6,0.000,0.045,2429,2047,3819
$GC,1211,-0.64,-97.8,90.4,-7.4,209,1217,0.00,2.17,0.00,0.000,4,0.000,0.058,2429,634,3819
$GC,1234,-0.64,-97.8,92.5,-7.5,213,1240,0.00,2.20,0.00,0.000,6,0.000,0.054,2428,2060,3819
$GC,1374,-0.64,-97.8,103.3,-7.7,238,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2059,3819
$GC,1514,-0.64,-97.8,113.9,-7.8,263,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2059,3819
$STATE,1535,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1535,begin apogee
$GC,1539,-0.16,0.0,115.4,7.1,267,1619,0.52,0.00,76.20,0.923,6,0.163,0.000,2588,2251,3420
$STATE,1620,end apogee,CONTROL_FINISHED_OK
$STATE,1620,begin climb
$GC,1621,0.64,97.8,117.0,0.0,281,1706,0.77,0.00,78.35,0.874,6,0.102,0.000,2846,2251,3020
$GC,1840,0.64,97.8,94.9,11.6,320,1847,0.00,2.28,0.00,0.000,4,0.000,0.054,2856,845,3020
$GC,1857,0.64,97.8,92.7,11.5,323,1864,0.00,2.28,0.00,0.000,6,0.000,0.057,2856,2256,3019
$GC,1998,0.64,97.8,74.8,12.7,348,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2256,3019
$GC,2138,0.64,97.8,57.5,12.4,373,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2256,3019
$GC,2277,0.64,97.8,40.1,12.2,398,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2256,3018
$GC,2417,0.64,97.8,22.7,12.2,423,2424,0.00,2.20,0.00,0.000,4,0.000,0.056,2866,838,3018
$GC,2446,0.64,97.8,19.3,11.7,428,2453,0.00,2.20,0.00,0.000,6,0.000,0.057,2867,2252,3019
$GC,2521,0.64,97.8,10.4,11.9,441,2527,0.00,2.20,0.00,0.000,4,0.000,0.067,2867,3657,3019
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,5.5,1.020740
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2676,516.05,0.782,5,0,454,727.31
$SM_GC,1.21,7.90,0.00,0.00,0.068,0.000,0.000,156,2052,450,-7.74,0.06,728.54
$IRIDIUM_FIX,4748.51,-12221.84,300598,030355
$TT8_MAMPS,0.026845
$HUMID,1389
$INTERNAL_PRESSURE,9.1065
$TCM_TEMP,17.90
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,90.4,31.7
$24V_AH,24.1,1.722
$10V_AH,10.7,0.555
$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,20.050,36.025,154.550,516.050,0.000,24.606,27.118,183.065,7.000,0.000,0.000,36.334,711.957,958.685,840.960,867.266,290.445,33.309,1278.517,0.000,840.563,0.000,11.877,0.000
$DEVICE_MAMPS,309.101,82.069,923.468,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.152,328.237,554.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25368,468
$CAP_FILE_SIZE,50972,0
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,050309,055136,4806.592,-12222.765,10,1.4,26,18.3