version: 66.04
glider: 166
mission: 1
dive: 17
start: 3 5 109 9 37 9
data:
$ID,166
$MISSION,1
$DIVE,17
$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,-4559.0986
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,093101,4807.495,-12223.616,10,1.6,15,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.1
$GPS2,093616,4807.473,-12223.557,11,3.0,30,18.3
$SPEED_LIMITS,0.129,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.141
$KALMAN_X,3641.7,-57.2,-418.0,-3663.0,203.3
$KALMAN_Y,538.1,-95.8,-99.5,-1307.1,-76.6
$MHEAD_RNG_PITCHd_Wd,297.5,1119,-16.6,-7.463
$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,-0.64,-97.8,0.0,0.0,0,111,0.00,0.00,-94.28,0.000,2,0.000,0.000,149,2043,3269
$GC,113,-0.64,-97.8,3.1,-4.6,16,150,10.77,0.00,-19.75,0.000,6,0.302,0.000,2430,2042,3818
$GC,218,-0.64,-97.8,10.2,-7.5,34,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2042,3820
$GC,291,-0.64,-97.8,15.9,-7.9,47,297,0.00,2.17,0.00,0.000,4,0.000,0.058,2429,648,3819
$GC,332,-0.64,-97.8,19.5,-9.1,54,338,0.00,2.20,0.00,0.000,6,0.000,0.056,2428,2055,3819
$GC,405,-0.64,-97.8,26.1,-8.7,67,412,0.00,2.22,0.00,0.000,4,0.000,0.068,2428,3457,3819
$GC,423,-0.64,-97.8,27.6,-8.6,70,429,0.00,2.15,0.00,0.000,6,0.000,0.044,2429,2044,3819
$GC,498,-0.64,-97.8,33.8,-8.2,83,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2044,3819
$GC,570,-0.64,-97.8,40.1,-8.8,96,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2044,3819
$GC,712,-0.64,-97.8,51.0,-7.7,121,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2044,3819
$GC,851,-0.64,-97.8,62.0,-7.7,146,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2044,3819
$GC,992,-0.64,-97.8,72.5,-7.5,171,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2044,3819
$GC,1131,-0.64,-97.8,83.5,-7.9,196,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2044,3819
$GC,1271,-0.64,-97.8,94.7,-8.2,221,1277,0.00,2.17,0.00,0.000,4,0.000,0.058,2428,635,3818
$GC,1344,-0.64,-97.8,101.1,-9.0,234,1350,0.00,2.22,0.00,0.000,6,0.000,0.055,2428,2051,3818
$STATE,1371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1371,begin apogee
$GC,1375,-0.16,0.0,103.4,8.3,239,1455,0.52,0.00,75.68,0.897,6,0.164,0.000,2588,2253,3420
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1457,0.64,97.8,105.3,0.0,253,1542,0.77,0.00,78.12,0.856,6,0.100,0.000,2847,2253,3020
$GC,1676,0.64,97.8,83.6,11.9,292,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2253,3019
$GC,1816,0.64,97.8,66.4,12.4,317,1822,0.00,2.22,0.00,0.000,4,0.000,0.061,2858,839,3019
$GC,1839,0.64,97.8,63.5,12.4,321,1845,0.00,2.22,0.00,0.000,6,0.000,0.054,2857,2249,3019
$GC,1979,0.64,97.8,45.5,12.6,346,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2249,3019
$GC,2119,0.64,97.8,27.9,12.4,371,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2249,3019
$GC,2192,0.64,97.8,19.1,12.2,384,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2249,3019
$GC,2266,0.64,97.8,10.7,11.1,397,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2249,3019
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,1.0,1.020068
$STATE,2373,end surface coast,CONTROL_FINISHED_OK
$STATE,2373,begin surface
$SM_CCo,2387,320.40,0.784,3,0,1379,500.17
$SM_GC,1.04,0.00,0.00,320.40,0.000,0.000,0.784,151,2041,1379,-7.79,-0.25,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300598,080849
$TT8_MAMPS,0.027612
$HUMID,1411
$INTERNAL_PRESSURE,9.20416
$TCM_TEMP,18.10
$XPDR_PINGS,24
$24V_AH,24.1,2.398
$10V_AH,10.7,0.787
$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,19.925,18.225,153.800,320.400,0.000,23.713,23.801,179.761,6.000,0.000,0.000,32.003,632.816,761.976,604.794,773.290,275.679,33.330,1000.536,0.000,755.571,0.000,0.836,0.000
$DEVICE_MAMPS,302.198,73.632,896.623,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.703,293.660,495.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22201,416
$CAP_FILE_SIZE,44822,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,050309,102337,4807.581,-12223.758,40,0.9,40,18.3