version: 66.04
glider: 166
mission: 1
dive: 27
start: 3 5 109 18 48 56
data:
$ID,166
$MISSION,1
$DIVE,27
$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,-4749.0386
$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,26
$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
$GPS1,184307,4808.040,-12223.349,30,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.4
$GPS2,184802,4808.043,-12223.318,16,1.6,16,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.156,-0.049
$KALMAN_X,3591.0,-287.4,10.4,-3516.3,-138.7
$KALMAN_Y,-1805.9,-617.1,-139.1,2651.7,88.9
$MHEAD_RNG_PITCHd_Wd,89.3,402,-15.4,-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,-0.58,-76.6,0.0,0.0,0,139,0.00,0.00,-122.60,0.000,6,0.000,0.000,145,2051,3733
$GC,141,-0.60,-97.8,3.1,-3.6,21,161,11.00,2.28,-2.53,0.000,4,0.307,0.081,2447,3459,3819
$GC,414,-0.60,-97.8,28.4,-8.4,69,421,0.00,2.17,0.00,0.000,6,0.000,0.047,2444,2039,3820
$GC,488,-0.60,-97.8,34.5,-7.8,82,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2039,3820
$GC,562,-0.60,-97.8,40.0,-8.1,95,568,0.00,2.25,0.00,0.000,4,0.000,0.068,2447,3460,3819
$GC,579,-0.60,-97.8,41.6,-8.1,98,585,0.00,2.17,0.00,0.000,6,0.000,0.045,2444,2054,3820
$GC,720,-0.60,-97.8,52.4,-7.4,123,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2054,3819
$GC,859,-0.60,-97.8,63.0,-7.7,148,866,0.00,2.22,0.00,0.000,4,0.000,0.058,2442,638,3820
$GC,888,-0.60,-97.8,65.4,-8.0,153,894,0.00,2.20,0.00,0.000,6,0.000,0.060,2450,2054,3819
$GC,1028,-0.60,-97.8,75.4,-6.9,178,1035,0.00,2.20,0.00,0.000,4,0.000,0.067,2449,3460,3819
$GC,1073,-0.60,-97.8,78.6,-7.1,186,1080,0.00,2.17,0.00,0.000,6,0.000,0.046,2445,2045,3819
$GC,1215,-0.60,-97.8,88.8,-7.1,211,1221,0.00,2.15,0.00,0.000,4,0.000,0.055,2444,647,3819
$GC,1294,-0.60,-97.8,95.0,-8.1,225,1300,0.00,2.17,0.00,0.000,6,0.000,0.056,2447,2053,3819
$STATE,1407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1407,begin apogee
$GC,1411,-0.16,0.0,103.1,7.1,245,1491,0.45,0.00,75.75,0.890,6,0.156,0.000,2586,2256,3419
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1493,0.60,97.8,104.9,0.0,259,1579,0.75,2.38,77.65,0.864,4,0.104,0.067,2834,3658,3021
$GC,1589,0.60,97.8,97.7,9.6,276,1596,0.00,2.28,0.00,0.000,6,0.000,0.044,2845,2263,3020
$GC,1731,0.60,97.8,81.4,11.5,301,1737,0.00,2.28,0.00,0.000,4,0.000,0.055,2858,835,3019
$GC,1793,0.60,97.8,74.1,11.5,312,1799,0.00,2.28,0.00,0.000,6,0.000,0.055,2856,2237,3020
$GC,1934,0.60,97.8,57.1,12.2,337,1940,0.00,2.30,0.00,0.000,4,0.000,0.070,2855,3669,3019
$GC,1973,0.60,97.8,51.9,13.3,344,1980,0.00,2.22,0.00,0.000,6,0.000,0.044,2867,2249,3019
$GC,2114,0.60,97.8,33.9,12.9,369,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2249,3019
$GC,2188,0.60,97.8,24.9,12.0,382,2194,0.00,2.20,0.00,0.000,4,0.000,0.057,2877,832,3019
$GC,2218,0.60,97.8,21.5,11.9,387,2224,0.15,2.22,0.00,0.000,6,0.186,0.058,2842,2251,3019
$GC,2292,0.60,97.8,13.4,10.0,400,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2251,3019
$GC,2366,0.60,97.8,5.9,10.4,413,2372,0.00,2.20,0.00,0.000,4,0.000,0.058,2852,835,3019
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,1.7,1.021653
$STATE,2428,end surface coast,CONTROL_FINISHED_OK
$STATE,2428,begin surface
$SM_CCo,2444,317.67,0.792,1,0,1380,500.17
$SM_GC,1.14,0.00,0.00,317.67,0.000,0.000,0.792,151,2059,1380,-7.77,0.25,500.17
$IRIDIUM_FIX,4751.72,-12221.84,300598,171700
$TT8_MAMPS,0.027612
$HUMID,1378
$INTERNAL_PRESSURE,9.18462
$TCM_TEMP,16.60
$XPDR_PINGS,17
$24V_AH,24.1,3.640
$10V_AH,10.7,1.263
$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,20.175,44.600,153.400,317.675,0.000,23.949,25.695,169.118,4.250,0.000,0.000,16.373,661.571,771.682,607.118,766.873,272.736,33.319,1014.680,0.000,766.839,0.000,0.836,0.000
$DEVICE_MAMPS,306.800,81.302,889.720,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.258,297.649,502.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22314,424
$CAP_FILE_SIZE,47859,0
$CFSIZE,260165632,257634304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050309,193544,4807.929,-12222.939,9,1.5,9,18.3