version: 66.04
glider: 168
mission: 1
dive: 3
start: 7 15 109 20 33 36
data:
$ID,168
$MISSION,1
$DIVE,3
$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,460
$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,-2034.0808
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2645
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,37
$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,28
$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
$GPS1,202926,4807.352,-12222.632,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.9
$GPS2,203244,4807.346,-12222.633,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.224
$KALMAN_X,-44.8,-28.7,-25.8,133.6,-26.3
$KALMAN_Y,129.2,107.9,103.4,-618.0,87.1
$MHEAD_RNG_PITCHd_Wd,144.4,2612,-19.7,-10.000
$D_GRID,107
$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,-0.68,-117.3,0.0,0.0,0,123,0.00,0.00,-106.30,0.000,2,0.000,0.000,141,1846,3565
$GC,125,-0.68,-117.3,3.6,-4.9,18,145,8.25,2.20,-4.82,0.000,4,0.220,0.070,2419,433,3793
$GC,471,-0.68,-117.3,36.7,-11.5,78,478,0.08,2.15,0.00,0.000,6,0.192,0.051,2426,1840,3794
$GC,544,-0.68,-117.3,44.6,-11.1,94,550,0.00,2.17,0.00,0.000,4,0.000,0.058,2427,436,3793
$GC,691,-0.68,-117.3,62.1,-11.2,126,697,0.00,2.17,0.00,0.000,6,0.000,0.051,2416,1858,3793
$GC,832,-0.68,-117.3,78.1,-11.8,157,838,0.00,2.17,0.00,0.000,4,0.000,0.058,2405,3257,3793
$GC,844,-0.68,-117.3,79.5,-11.6,159,856,0.08,2.17,0.00,0.000,6,0.177,0.051,2426,1846,3794
$GC,993,-0.68,-117.3,95.6,-10.5,190,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1846,3793
$STATE,1101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1101,begin apogee
$GC,1105,-0.14,0.0,107.3,11.0,214,1196,0.52,0.00,84.68,0.624,6,0.140,0.000,2597,1846,3313
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1198,0.68,117.3,109.5,0.0,230,1296,0.75,2.35,86.43,0.606,4,0.097,0.048,2860,3263,2833
$GC,1306,0.68,117.3,96.0,17.2,249,1313,0.00,2.25,0.00,0.000,6,0.000,0.046,2871,1849,2833
$GC,1463,0.72,153.1,74.5,7.9,280,1498,0.00,2.28,27.42,0.583,4,0.000,0.056,2882,449,2686
$GC,1540,0.72,153.1,62.8,17.4,295,1546,0.00,2.20,0.00,0.000,6,0.000,0.043,2882,1863,2685
$GC,1682,0.72,153.1,36.0,18.4,326,1688,0.00,2.17,0.00,0.000,4,0.000,0.048,2882,3270,2685
$GC,1733,0.72,153.1,25.8,19.5,334,1740,0.08,2.22,0.00,0.000,6,0.188,0.048,2874,1843,2685
$GC,1819,0.72,153.1,10.7,16.8,350,1826,0.00,2.20,0.00,0.000,4,0.000,0.058,2884,438,2684
$GC,1843,0.72,153.1,6.7,17.1,355,1850,0.00,2.15,0.00,0.000,6,0.000,0.044,2884,1850,2683
$STATE,1870,end climb,SURFACE_DEPTH_REACHED
$STATE,1870,begin surface coast
$FINISH,2.1,1.017595
$STATE,1891,end surface coast,CONTROL_FINISHED_OK
$STATE,1892,begin surface
$SM_CCo,1904,160.98,0.538,6,0,1436,460.18
$SM_GC,1.20,0.00,0.00,160.98,0.000,0.000,0.538,113,1851,1436,-7.91,0.03,460.18
$IRIDIUM_FIX,4748.51,-12221.84,091098,202051
$TT8_MAMPS,0.027612
$HUMID,1908
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.1,31.9
$24V_AH,24.7,0.500
$10V_AH,10.8,0.691
$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,16.875,30.875,198.525,160.975,0.000,0.000,0.000,0.000,1.250,0.000,0.000,13.811,551.159,293.478,470.607,816.474,34.133,31.411,831.801,0.000,662.622,0.000,9.916,0.000
$DEVICE_MAMPS,220.129,69.797,623.571,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.700,617.064,425.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25474,366
$CAP_FILE_SIZE,57954,0
$CFSIZE,260165632,258248704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,6,0
$GPS,150709,210914,4807.195,-12222.517,10,1.4,10,18.3