version: 66.04
glider: 166
mission: 1
dive: 21
start: 3 5 109 13 13 2
data:
$ID,166
$MISSION,1
$DIVE,21
$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,-4634.7222
$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,32
$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
$GPS1,130726,4807.631,-12224.070,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.4
$GPS2,131208,4807.597,-12224.046,14,1.7,14,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,0.192
$KALMAN_X,3849.1,-198.0,-36.0,-4714.7,126.6
$KALMAN_Y,-788.7,-465.8,66.0,451.5,-348.0
$MHEAD_RNG_PITCHd_Wd,329.4,749,-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,14,-0.64,-97.8,0.0,0.0,0,129,0.00,0.00,-111.90,0.000,2,0.000,0.000,154,2065,3716
$GC,131,-0.64,-97.8,3.3,-4.4,19,151,10.82,2.25,-2.22,0.000,4,0.304,0.074,2434,647,3820
$GC,392,-0.64,-97.8,36.4,-9.2,65,398,0.00,2.20,0.00,0.000,6,0.000,0.058,2438,2050,3821
$GC,465,-0.64,-97.8,42.3,-7.8,78,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2050,3821
$GC,605,-0.64,-97.8,53.1,-7.8,103,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2050,3821
$GC,745,-0.64,-97.8,63.9,-7.8,128,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2050,3821
$GC,886,-0.64,-97.8,74.9,-7.9,153,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2049,3821
$GC,1026,-0.64,-97.8,85.8,-7.5,178,1032,0.00,2.20,0.00,0.000,4,0.000,0.058,2434,650,3821
$GC,1112,-0.64,-97.8,92.9,-8.5,193,1118,0.00,2.17,0.00,0.000,6,0.000,0.056,2436,2051,3821
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1221,-0.16,0.0,101.2,7.7,212,1301,0.47,0.00,76.25,0.895,6,0.156,0.000,2583,2253,3420
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1303,0.64,97.8,102.9,0.0,226,1388,0.80,0.00,78.28,0.857,6,0.105,0.000,2847,2253,3021
$GC,1523,0.64,97.8,80.7,11.8,265,1529,0.00,2.25,0.00,0.000,4,0.000,0.055,2860,837,3019
$GC,1568,0.64,97.8,75.2,12.1,273,1574,0.00,2.25,0.00,0.000,6,0.000,0.054,2859,2250,3019
$GC,1708,0.64,97.8,58.0,12.2,298,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2250,3019
$GC,1848,0.64,97.8,41.1,11.8,323,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2250,3019
$GC,1988,0.64,97.8,24.1,13.1,348,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2250,3019
$GC,2062,0.64,97.8,14.7,13.6,361,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2250,3019
$GC,2135,0.64,97.8,7.5,8.8,374,2142,0.00,2.17,0.00,0.000,4,0.000,0.055,2872,842,3019
$GC,2231,0.84,256.9,6.0,-0.7,391,2311,0.12,2.17,73.65,0.828,2,0.084,0.054,2921,2253,2629
$STATE,2312,end climb,SURFACE_DEPTH_REACHED
$STATE,2312,begin surface coast
$FINISH,4.5,1.020939
$STATE,2330,end surface coast,CONTROL_FINISHED_OK
$STATE,2330,begin surface
$SM_CCo,2345,247.23,0.779,2,0,1380,500.17
$SM_GC,1.02,0.00,0.00,247.23,0.000,0.000,0.779,147,2048,1380,-7.78,-0.06,500.17
$IRIDIUM_FIX,4748.51,-12254.00,300598,121229
$TT8_MAMPS,0.027612
$HUMID,1387
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,17.90
$XPDR_PINGS,17
$24V_AH,24.1,2.900
$10V_AH,10.6,0.972
$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,20.675,18.300,228.175,247.225,0.000,23.293,27.114,161.842,4.250,0.000,0.000,14.410,607.308,738.129,559.782,736.454,261.851,33.327,953.949,0.000,738.256,0.000,0.835,0.000
$DEVICE_MAMPS,303.732,73.632,895.089,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,273.664,287.682,485.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22336,407
$CAP_FILE_SIZE,41374,0
$CFSIZE,260165632,257830912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050309,135728,4807.718,-12224.048,11,4.0,30,18.3