version: 66.04
glider: 166
mission: 1
dive: 24
start: 3 5 109 15 59 7
data:
$ID,166
$MISSION,1
$DIVE,24
$D_SURF,5
$D_FLARE,3
$D_TGT,121
$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,110
$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,-4703.8716
$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,38
$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,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
$GPS1,155306,4807.938,-12224.169,15,0.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.0
$GPS2,155813,4807.908,-12224.211,9,1.0,15,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,0.128
$KALMAN_X,3677.1,-228.4,307.8,-5056.7,-54.6
$KALMAN_Y,-1479.3,-701.7,-161.6,2181.9,-268.2
$MHEAD_RNG_PITCHd_Wd,17.1,312,-16.3,-6.020
$D_GRID,103
$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,-0.60,-69.9,0.0,0.0,0,139,0.00,0.00,-121.40,0.000,6,0.000,0.000,158,2032,3705
$GC,141,-0.63,-97.8,3.1,-3.5,21,161,10.65,2.28,-3.20,0.000,4,0.301,0.077,2441,3459,3819
$GC,166,-0.63,-97.8,9.0,-13.8,25,173,0.00,2.15,0.00,0.000,6,0.000,0.044,2438,2059,3821
$GC,240,-0.63,-97.8,16.0,-8.6,38,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3821
$GC,313,-0.63,-97.8,21.4,-7.2,51,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3821
$GC,385,-0.63,-97.8,27.0,-7.9,64,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3820
$GC,460,-0.63,-97.8,32.7,-7.9,77,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3821
$GC,532,-0.63,-97.8,38.5,-8.1,90,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3821
$GC,607,-0.63,-97.8,43.8,-7.4,103,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2059,3821
$GC,746,-0.63,-97.8,54.2,-7.5,128,752,0.00,2.22,0.00,0.000,4,0.000,0.059,2438,648,3820
$GC,819,-0.63,-97.8,60.1,-8.0,141,825,0.00,2.20,0.00,0.000,6,0.000,0.056,2444,2055,3820
$GC,959,-0.63,-97.8,70.9,-7.4,166,966,0.00,2.22,0.00,0.000,4,0.000,0.058,2440,644,3821
$GC,1001,-0.63,-97.8,74.1,-8.1,173,1007,0.00,2.20,0.00,0.000,6,0.000,0.056,2445,2060,3821
$GC,1141,-0.63,-97.8,85.0,-7.5,198,1147,0.00,2.22,0.00,0.000,4,0.000,0.057,2440,643,3821
$GC,1186,-0.63,-97.8,88.6,-8.1,206,1193,0.00,2.20,0.00,0.000,6,0.000,0.055,2447,2045,3821
$GC,1327,-0.63,-97.8,99.1,-7.2,231,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2045,3820
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1385,-0.16,0.0,103.0,7.1,241,1465,0.45,0.00,75.85,0.894,6,0.157,0.000,2584,2249,3420
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1467,0.63,97.8,104.8,0.0,255,1553,0.77,2.38,78.05,0.858,4,0.105,0.067,2840,3651,3020
$GC,1564,0.63,97.8,97.4,10.4,272,1570,0.00,2.30,0.00,0.000,6,0.000,0.044,2852,2246,3020
$GC,1705,0.63,97.8,80.3,12.0,297,1711,0.00,2.25,0.00,0.000,4,0.000,0.054,2864,830,3019
$GC,1739,0.63,97.8,76.2,12.3,303,1745,0.00,2.28,0.00,0.000,6,0.000,0.056,2863,2249,3019
$GC,1879,0.63,97.8,58.4,12.6,328,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2249,3019
$GC,2019,0.63,97.8,40.4,12.5,353,2025,0.00,2.22,0.00,0.000,4,0.000,0.054,2875,831,3018
$GC,2081,0.63,97.8,32.5,12.6,364,2088,0.00,2.22,0.00,0.000,6,0.000,0.056,2874,2252,3018
$GC,2156,0.63,97.8,23.2,12.7,377,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2252,3018
$GC,2229,0.63,97.8,13.9,12.6,390,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2252,3018
$GC,2303,0.63,97.8,5.5,11.4,403,2309,0.00,2.20,0.00,0.000,4,0.000,0.056,2885,835,3018
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,1.2,1.021258
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2381,319.52,0.783,3,0,1381,500.17
$SM_GC,1.12,0.00,0.00,319.52,0.000,0.000,0.783,150,2054,1381,-7.77,0.11,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300598,151543
$TT8_MAMPS,0.027612
$HUMID,1381
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,16.80
$XPDR_PINGS,19
$24V_AH,24.1,3.267
$10V_AH,10.7,1.117
$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,19.725,35.800,153.900,319.525,0.000,26.324,24.148,183.706,4.750,0.000,0.000,15.229,641.575,738.060,623.435,752.293,285.135,33.318,1027.427,0.000,750.490,0.000,0.835,0.000
$DEVICE_MAMPS,300.664,76.700,893.555,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.931,290.443,490.525,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22261,414
$CAP_FILE_SIZE,47139,0
$CFSIZE,260165632,257736704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050309,164508,4808.057,-12224.064,13,1.7,13,18.3