version: 66.04
glider: 168
mission: 1
dive: 2
start: 7 15 109 19 25 17
data:
$ID,168
$MISSION,1
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,80
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,725
$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,-1954.2345
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2635
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3313
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.815266
$PRESSURE_SLOPE,0.000115925
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,191844,4807.524,-12222.609,12,1.8,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.2
$GPS2,192426,4807.516,-12222.601,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.040,-0.231
$KALMAN_X,2.9,2.9,2.9,62.5,6.7
$KALMAN_Y,58.9,58.9,58.9,-144.0,137.9
$MHEAD_RNG_PITCHd_Wd,151.8,2904,-19.7,-10.000
$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,-0.71,-117.3,0.0,0.0,0,128,0.00,0.00,-111.68,0.000,2,0.000,0.000,139,1860,3733
$GC,130,-0.71,-117.3,4.1,-6.9,19,145,8.23,2.22,-1.15,0.000,4,0.220,0.064,2389,3259,3793
$GC,381,-0.71,-117.3,30.6,-10.2,78,388,0.08,2.17,0.00,0.000,6,0.179,0.051,2409,1848,3794
$GC,450,-0.71,-117.3,37.5,-10.3,94,457,0.00,2.22,0.00,0.000,4,0.000,0.055,2399,3254,3794
$GC,690,-0.71,-117.3,66.2,-11.6,147,696,0.00,2.17,0.00,0.000,6,0.000,0.051,2399,1845,3794
$GC,833,-0.71,-117.3,83.8,-12.4,178,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1844,3794
$GC,990,-0.71,-117.3,102.7,-11.4,209,996,0.00,2.20,0.00,0.000,4,0.000,0.057,2388,3255,3793
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1006,-0.14,0.0,104.1,11.8,211,1097,0.60,0.00,84.75,0.618,6,0.144,0.000,2583,1847,3312
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1099,0.71,117.3,107.3,0.0,227,1191,0.80,0.00,85.95,0.606,6,0.103,0.000,2860,1850,2835
$GC,1326,0.71,117.3,73.3,17.9,273,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1850,2834
$GC,1466,0.71,117.3,49.2,16.8,304,1472,0.00,2.17,0.00,0.000,4,0.000,0.048,2861,3259,2833
$GC,1486,0.71,117.3,45.6,17.9,308,1492,0.00,2.17,0.00,0.000,6,0.000,0.049,2872,1848,2833
$GC,1620,0.71,117.3,23.5,16.7,339,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1847,2833
$GC,1689,0.71,117.3,12.8,15.6,355,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1847,2832
$GC,1758,0.71,117.3,3.2,12.1,371,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1847,2831
$STATE,1784,end climb,SURFACE_DEPTH_REACHED
$STATE,1784,begin surface coast
$FINISH,3.4,1.019425
$STATE,1959,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1959,begin surface
$SM_CCo,1961,314.77,0.534,9,1,458,700.33
$SM_CCo,2323,7.18,0.431,0,0,415,710.88
$SM_CCo,2375,0.00,0.000,0,0,410,711.86
$SM_CCo,2377,0.00,0.000,0,0,411,711.86
$SM_CCo,2379,0.00,0.000,0,0,411,711.86
$SM_GC,1.00,0.00,0.00,0.00,0.000,0.000,0.000,120,1846,411,-7.86,-0.11,711.86
$IRIDIUM_FIX,4751.72,-12219.12,091098,191909
$TT8_MAMPS,0.027612
$HUMID,1914
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,30.6
$24V_AH,24.8,0.403
$10V_AH,10.8,0.636
$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,16.750,17.550,170.700,321.950,0.000,0.000,0.000,0.000,1.500,0.000,0.000,11.919,586.088,324.887,618.846,880.927,38.467,30.181,976.903,0.000,702.365,0.000,9.889,0.000
$DEVICE_MAMPS,220.129,63.661,618.202,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.760,702.292,472.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25510,382
$CAP_FILE_SIZE,61570,8
$CFSIZE,260165632,258293760
$ERRORS,0,1,0,0,0,0,0,0,0,0,1,0,2,9,0
$GPS,150709,200558,4807.386,-12222.628,9,6.3,28,18.3