version: 66.04
glider: 166
mission: 1
dive: 26
start: 3 5 109 17 53 32
data:
$ID,166
$MISSION,1
$DIVE,26
$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,-4732.0371
$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,24
$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
$GPS1,174708,4808.068,-12223.747,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.3
$GPS2,175238,4808.083,-12223.732,15,1.8,15,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.181,-0.023
$KALMAN_X,3465.7,-249.2,202.2,-4131.4,-240.3
$KALMAN_Y,-1641.9,-711.9,-215.2,2731.3,16.1
$MHEAD_RNG_PITCHd_Wd,79.1,918,-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,14,-0.53,-97.8,0.0,0.0,0,145,0.00,0.00,-126.90,0.000,6,0.000,0.000,151,2045,3820
$GC,147,-0.53,-97.8,3.6,-3.2,22,167,11.38,2.30,0.00,0.000,4,0.315,0.064,2465,3460,3821
$GC,279,-0.53,-97.8,20.0,-8.0,45,286,0.00,2.17,0.00,0.000,6,0.000,0.045,2461,2041,3822
$GC,354,-0.53,-97.8,25.6,-7.8,58,360,0.00,2.17,0.00,0.000,4,0.000,0.057,2461,644,3822
$GC,377,-0.53,-97.8,27.8,-8.0,62,383,0.00,2.20,0.00,0.000,6,0.000,0.055,2466,2052,3821
$GC,452,-0.53,-97.8,33.3,-7.4,75,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2052,3822
$GC,525,-0.53,-97.8,38.9,-7.5,88,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2052,3821
$GC,597,-0.53,-97.8,44.2,-7.2,101,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2052,3821
$GC,737,-0.53,-97.8,54.1,-7.0,126,743,0.00,2.22,0.00,0.000,4,0.000,0.056,2461,646,3821
$GC,777,-0.53,-97.8,57.1,-7.8,133,783,0.00,2.20,0.00,0.000,6,0.000,0.055,2465,2057,3821
$GC,917,-0.53,-97.8,67.1,-7.2,158,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2057,3821
$GC,1057,-0.53,-97.8,76.8,-6.8,183,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2057,3821
$GC,1198,-0.53,-97.8,86.2,-6.5,208,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2057,3821
$GC,1338,-0.53,-97.8,95.5,-6.5,233,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2057,3821
$STATE,1464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1468,-0.16,0.0,103.4,6.2,256,1548,0.40,0.00,75.93,0.889,6,0.147,0.000,2587,2259,3420
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1551,0.53,97.8,104.7,0.0,270,1635,0.68,0.00,78.05,0.864,6,0.103,0.000,2811,2259,3020
$GC,1770,0.53,97.8,86.5,9.3,309,1776,0.00,2.28,0.00,0.000,4,0.000,0.056,2819,842,3019
$GC,1798,0.53,97.8,83.9,9.4,314,1804,0.00,2.30,0.00,0.000,6,0.000,0.058,2819,2252,3018
$GC,1939,0.53,97.8,69.6,10.3,339,1945,0.00,2.28,0.00,0.000,4,0.000,0.068,2818,3661,3018
$GC,1967,0.53,97.8,66.4,10.8,344,1974,0.00,2.20,0.00,0.000,6,0.000,0.044,2830,2260,3018
$GC,2109,0.53,97.8,51.2,10.5,369,2115,0.00,2.22,0.00,0.000,4,0.000,0.056,2843,839,3018
$GC,2154,0.53,97.8,46.2,10.9,377,2160,0.00,2.22,0.00,0.000,6,0.000,0.056,2842,2252,3018
$GC,2294,0.53,97.8,30.9,10.8,402,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2252,3018
$GC,2367,0.53,97.8,23.0,10.9,415,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2252,3017
$GC,2441,0.53,97.8,15.5,10.3,428,2447,0.00,2.20,0.00,0.000,4,0.000,0.057,2853,835,3017
$GC,2475,0.53,97.8,11.9,10.3,434,2482,0.12,2.20,0.00,0.000,6,0.179,0.059,2822,2250,3017
$GC,2550,0.53,97.8,5.3,8.5,447,2557,0.00,2.22,0.00,0.000,4,0.000,0.074,2821,3660,3016
$STATE,2562,end climb,SURFACE_DEPTH_REACHED
$STATE,2562,begin surface coast
$FINISH,3.8,1.022509
$STATE,2567,end surface coast,CONTROL_FINISHED_OK
$STATE,2567,begin surface
$SM_CCo,2584,318.55,0.795,2,0,1381,500.17
$SM_GC,1.07,0.00,0.00,318.55,0.000,0.000,0.795,150,2051,1381,-7.77,0.03,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300598,161652
$TT8_MAMPS,0.027612
$HUMID,1396
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,17.80
$XPDR_PINGS,23
$24V_AH,24.1,3.518
$10V_AH,10.7,1.217
$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,20.325,36.225,153.975,318.550,0.000,22.795,28.306,198.357,5.750,0.000,0.000,15.984,693.327,825.794,620.430,811.139,308.719,33.326,1049.225,0.000,809.571,0.000,0.835,0.000
$DEVICE_MAMPS,315.237,73.632,888.953,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.795,307.892,519.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25380,450
$CAP_FILE_SIZE,49410,0
$CFSIZE,260165632,257658880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050309,184307,4808.040,-12223.349,30,1.1,30,18.3