version: 66.04
glider: 166
mission: 1
dive: 16
start: 3 5 109 8 46 32
data:
$ID,166
$MISSION,1
$DIVE,16
$D_SURF,5
$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,-4
$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,500
$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,-4526.4663
$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,34
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,084102,4807.321,-12223.518,13,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.2
$GPS2,084538,4807.322,-12223.479,15,1.3,15,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.160
$KALMAN_X,3281.7,10.3,-332.9,-3358.9,98.4
$KALMAN_Y,683.3,-24.1,-167.8,-1734.4,-22.7
$MHEAD_RNG_PITCHd_Wd,306.2,1411,-16.6,-7.463
$D_GRID,101
$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,-97.8,0.0,0.0,0,139,0.00,0.00,-122.97,0.000,2,0.000,0.000,153,2034,3653
$GC,141,-0.64,-97.8,3.1,-2.7,21,167,11.05,2.25,-5.12,0.000,4,0.311,0.072,2431,643,3821
$GC,408,-0.64,-97.8,25.8,-8.9,68,415,0.00,2.20,0.00,0.000,6,0.000,0.056,2429,2049,3821
$GC,483,-0.64,-97.8,31.8,-8.1,81,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2049,3821
$GC,556,-0.64,-97.8,38.0,-8.4,94,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2049,3821
$GC,630,-0.64,-97.8,44.2,-8.3,107,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2049,3821
$GC,769,-0.64,-97.8,55.5,-8.3,132,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2049,3821
$GC,910,-0.64,-97.8,66.6,-7.4,157,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2049,3821
$GC,1049,-0.64,-97.8,77.6,-8.1,182,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2049,3821
$GC,1190,-0.64,-97.8,88.7,-8.0,207,1196,0.00,2.22,0.00,0.000,4,0.000,0.068,2428,3463,3820
$GC,1217,-0.64,-97.8,91.1,-8.4,212,1224,0.00,2.17,0.00,0.000,6,0.000,0.045,2429,2047,3820
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1350,-0.16,0.0,101.3,7.5,235,1430,0.52,0.00,76.10,0.894,6,0.166,0.000,2588,2261,3420
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1432,0.64,97.8,103.1,0.0,249,1518,0.77,2.42,78.32,0.859,4,0.102,0.068,2846,3660,3020
$GC,1535,0.64,97.8,94.6,11.2,267,1541,0.00,2.25,0.00,0.000,6,0.000,0.044,2858,2256,3020
$GC,1675,0.64,97.8,76.3,13.1,292,1682,0.00,2.28,0.00,0.000,4,0.000,0.054,2868,815,3019
$GC,1693,0.64,97.8,74.1,13.0,295,1699,0.00,2.30,0.00,0.000,6,0.000,0.059,2868,2251,3019
$GC,1833,0.64,97.8,54.5,13.7,320,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2252,3019
$GC,1973,0.64,97.8,35.7,13.1,345,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2252,3019
$GC,2047,0.64,97.8,26.5,12.9,358,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2252,3019
$GC,2120,0.64,97.8,17.2,12.4,371,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2252,3019
$GC,2194,0.64,97.8,8.7,11.6,384,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2251,3018
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,2.4,1.020133
$STATE,2273,end surface coast,CONTROL_FINISHED_OK
$STATE,2273,begin surface
$SM_CCo,2287,319.35,0.783,3,0,1381,500.17
$SM_GC,1.07,0.00,0.00,319.35,0.000,0.000,0.783,151,2043,1381,-7.78,-0.20,500.17
$IRIDIUM_FIX,4751.72,-12223.57,300598,080832
$TT8_MAMPS,0.027612
$HUMID,1382
$INTERNAL_PRESSURE,9.20416
$TCM_TEMP,18.00
$XPDR_PINGS,24
$24V_AH,24.2,2.276
$10V_AH,10.7,0.742
$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,20.325,18.750,154.425,319.350,0.000,25.130,23.182,156.245,6.000,0.000,0.000,15.521,607.242,727.333,607.164,723.009,252.081,33.331,988.141,0.000,723.275,0.000,0.835,0.000
$DEVICE_MAMPS,310.635,72.098,893.555,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.199,283.303,478.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22246,398
$CAP_FILE_SIZE,41912,0
$CFSIZE,260165632,257982464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050309,093101,4807.495,-12223.616,10,1.6,15,18.3