version: 66.04
glider: 166
mission: 1
dive: 25
start: 3 5 109 16 53 38
data:
$ID,166
$MISSION,1
$DIVE,25
$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,-4715.4253
$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,29
$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,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
$GPS1,164508,4808.057,-12224.064,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.4
$GPS2,165244,4808.051,-12224.108,10,1.3,10,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.179,0.033
$KALMAN_X,3463.1,-212.4,316.7,-4742.3,-212.6
$KALMAN_Y,-1572.6,-731.1,-213.2,2618.5,-141.6
$MHEAD_RNG_PITCHd_Wd,61.1,1374,-13.2,-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,-0.53,-97.8,0.0,0.0,0,145,0.00,0.00,-125.75,0.000,6,0.000,0.000,150,2054,3819
$GC,147,-0.53,-97.8,3.8,-3.4,22,160,11.32,0.00,0.00,0.000,6,0.315,0.000,2464,2054,3820
$GC,229,-0.53,-97.8,15.1,-7.5,36,235,0.00,2.25,0.00,0.000,4,0.000,0.069,2475,3457,3821
$GC,280,-0.53,-97.8,18.6,-6.8,45,286,0.00,2.17,0.00,0.000,6,0.000,0.046,2468,2040,3822
$GC,355,-0.53,-97.8,23.4,-6.6,58,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2040,3821
$GC,427,-0.53,-97.8,28.5,-6.8,71,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2040,3822
$GC,502,-0.53,-97.8,33.5,-6.9,84,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2040,3821
$GC,574,-0.53,-97.8,39.2,-7.5,97,581,0.00,2.25,0.00,0.000,4,0.000,0.067,2475,3463,3821
$GC,608,-0.53,-97.8,41.5,-7.0,103,614,0.00,2.17,0.00,0.000,6,0.000,0.051,2472,2040,3821
$GC,750,-0.53,-97.8,51.1,-6.6,128,756,0.00,2.15,0.00,0.000,4,0.000,0.055,2472,640,3821
$GC,791,-0.53,-97.8,54.0,-7.4,135,797,0.00,2.20,0.00,0.000,6,0.000,0.054,2477,2055,3821
$GC,931,-0.53,-97.8,63.2,-6.4,160,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2055,3821
$GC,1071,-0.53,-97.8,72.2,-6.4,185,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2055,3821
$GC,1211,-0.53,-97.8,80.9,-6.3,210,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2055,3821
$GC,1351,-0.53,-97.8,89.4,-6.1,235,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2055,3821
$GC,1490,-0.53,-97.8,97.7,-6.1,260,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2055,3821
$STATE,1578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1578,begin apogee
$GC,1582,-0.16,0.0,103.0,5.9,276,1662,0.38,0.00,75.75,0.895,6,0.146,0.000,2592,2259,3420
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1664,0.53,97.8,104.4,0.0,290,1749,0.65,0.00,77.90,0.856,6,0.100,0.000,2809,2259,3020
$GC,1884,0.53,97.8,86.7,9.3,329,1890,0.00,2.28,0.00,0.000,4,0.000,0.055,2819,841,3019
$GC,1906,0.53,97.8,84.5,9.4,333,1912,0.00,2.28,0.00,0.000,6,0.000,0.054,2819,2255,3018
$GC,2046,0.53,97.8,71.0,9.4,358,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2255,3018
$GC,2187,0.53,97.8,57.8,9.5,383,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2255,3018
$GC,2327,0.53,97.8,44.9,9.6,408,2334,0.00,2.20,0.00,0.000,4,0.000,0.055,2829,841,3018
$GC,2378,0.53,97.8,40.0,9.3,417,2384,0.00,2.22,0.00,0.000,6,0.000,0.055,2828,2258,3018
$GC,2519,0.53,97.8,26.1,9.9,442,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2258,3018
$GC,2592,0.53,97.8,19.1,9.5,455,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2258,3018
$GC,2665,0.53,97.8,12.4,9.1,468,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2258,3017
$GC,2739,0.53,97.8,6.0,8.8,481,2745,0.00,2.20,0.00,0.000,4,0.000,0.069,2828,3658,3017
$STATE,2755,end climb,SURFACE_DEPTH_REACHED
$STATE,2755,begin surface coast
$FINISH,1.6,1.021353
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2846,316.77,0.798,1,0,1381,500.17
$SM_GC,1.21,0.00,0.00,316.77,0.000,0.000,0.798,150,2044,1381,-7.78,-0.17,500.17
$IRIDIUM_FIX,4748.51,-12226.29,300598,161658
$TT8_MAMPS,0.027612
$HUMID,1382
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,17.90
$XPDR_PINGS,14
$24V_AH,24.1,3.394
$10V_AH,10.7,1.170
$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,20.075,27.200,153.650,316.775,0.000,48.811,55.333,218.870,3.500,0.000,0.000,10.925,763.581,990.165,611.862,893.309,382.914,33.321,1069.675,0.000,896.657,0.000,1.139,0.000
$DEVICE_MAMPS,315.237,72.098,895.089,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.470,345.666,583.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28614,497
$CAP_FILE_SIZE,52636,0
$CFSIZE,260165632,257695744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050309,174708,4808.068,-12223.747,10,1.9,10,18.3