version: 66.04
glider: 166
mission: 1
dive: 13
start: 3 5 109 6 0 32
data:
$ID,166
$MISSION,1
$DIVE,13
$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,-4423.9453
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,055136,4806.592,-12222.765,10,1.4,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.8
$GPS2,055938,4806.626,-12222.820,15,1.9,15,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.165
$KALMAN_X,2314.2,207.9,203.9,-2309.7,61.0
$KALMAN_Y,715.9,182.8,-178.3,-3256.9,-25.1
$MHEAD_RNG_PITCHd_Wd,308.9,2932,-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,-97.8,0.0,0.0,0,182,0.00,0.00,-164.75,0.000,2,0.000,0.000,151,2052,3720
$GC,184,-0.64,-97.8,3.6,-3.1,28,204,10.95,2.22,-2.58,0.000,4,0.311,0.076,2418,3459,3819
$GC,458,-0.64,-97.8,29.6,-8.4,76,464,0.00,2.15,0.00,0.000,6,0.000,0.045,2417,2044,3821
$GC,531,-0.64,-97.8,35.8,-8.3,89,537,0.00,2.25,0.00,0.000,4,0.000,0.067,2415,3466,3821
$GC,638,-0.64,-97.8,45.6,-9.2,108,645,0.00,2.20,0.00,0.000,6,0.000,0.046,2416,2045,3820
$GC,779,-0.64,-97.8,58.3,-8.8,133,785,0.00,2.17,0.00,0.000,4,0.000,0.058,2416,638,3820
$GC,807,-0.64,-97.8,60.9,-9.1,138,814,0.00,2.22,0.00,0.000,6,0.000,0.059,2415,2049,3820
$GC,948,-0.64,-97.8,73.3,-8.3,163,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2049,3820
$GC,1091,-0.64,-97.8,85.2,-8.3,188,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2049,3820
$GC,1232,-0.64,-97.8,96.1,-7.6,213,1238,0.00,2.22,0.00,0.000,4,0.000,0.067,2414,3468,3821
$GC,1288,-0.64,-97.8,100.4,-7.7,223,1294,0.00,2.15,0.00,0.000,6,0.000,0.046,2415,2049,3820
$GC,1428,-0.64,-97.8,111.1,-7.6,248,1435,0.00,2.20,0.00,0.000,4,0.000,0.057,2416,640,3821
$STATE,1524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1524,begin apogee
$GC,1530,-0.16,0.0,119.5,9.2,265,1610,0.57,0.00,76.68,0.913,6,0.166,0.000,2589,2249,3420
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1612,0.64,97.8,120.5,0.0,279,1698,0.75,2.40,78.57,0.874,4,0.100,0.056,2853,843,3020
$GC,1720,0.64,97.8,112.7,10.3,298,1727,0.00,2.35,0.00,0.000,6,0.000,0.056,2853,2249,3020
$GC,1861,0.64,97.8,94.6,13.4,323,1867,0.00,2.25,0.00,0.000,4,0.000,0.055,2863,839,3020
$GC,1895,0.64,97.8,90.3,12.7,329,1901,0.00,2.25,0.00,0.000,6,0.000,0.056,2862,2252,3019
$GC,2035,0.64,97.8,72.4,12.9,354,2042,0.00,2.28,0.00,0.000,4,0.000,0.067,2862,3654,3019
$GC,2058,0.64,97.8,69.2,13.3,358,2065,0.00,2.20,0.00,0.000,6,0.000,0.044,2873,2248,3019
$GC,2200,0.64,97.8,49.9,13.6,383,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2248,3019
$GC,2341,0.64,97.8,31.2,12.9,408,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2249,3019
$GC,2414,0.64,97.8,21.3,13.7,421,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2249,3019
$GC,2488,0.64,97.8,11.7,13.3,434,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2249,3019
$GC,2560,0.64,97.8,4.1,8.3,447,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2249,3019
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,4.4,1.020772
$STATE,2652,end surface coast,CONTROL_FINISHED_OK
$STATE,2652,begin surface
$SM_CCo,2654,513.38,0.783,3,0,454,727.31
$SM_GC,1.13,7.93,0.00,0.00,0.070,0.000,0.000,161,2042,450,-7.74,-0.20,728.54
$IRIDIUM_FIX,4751.72,-12226.29,300598,060624
$TT8_MAMPS,0.026845
$HUMID,1406
$INTERNAL_PRESSURE,9.1065
$TCM_TEMP,17.90
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,85.2,41.0
$24V_AH,24.1,1.893
$10V_AH,10.7,0.607
$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,20.200,36.375,155.250,513.375,0.000,46.251,52.746,241.669,6.000,0.000,0.000,15.492,704.473,1004.881,838.063,839.404,398.401,33.313,1277.367,0.000,833.967,0.000,9.938,0.000
$DEVICE_MAMPS,310.635,75.933,912.730,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.380,321.048,542.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25494,463
$CAP_FILE_SIZE,52466,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050309,065622,4806.930,-12223.046,12,99.0,31,18.3