version: 66.04
glider: 168
mission: 1
dive: 5
start: 7 15 109 22 7 9
data:
$ID,168
$MISSION,1
$DIVE,5
$D_SURF,4
$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,0
$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,480
$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,-2081.6013
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,2655
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$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,26
$R_STBD_OVSHOOT,25
$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,10
$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
$GPS1,215601,4807.045,-12222.414,10,1.6,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-78.7
$GPS2,220614,4807.056,-12222.432,15,1.0,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.227
$KALMAN_X,-76.8,-41.2,-28.9,427.4,-25.1
$KALMAN_Y,350.9,236.4,139.6,-1544.3,96.3
$MHEAD_RNG_PITCHd_Wd,146.5,2027,-19.7,-10.000
$D_GRID,150
$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,-0.64,-117.3,0.0,0.0,0,93,0.00,0.00,-76.82,0.000,2,0.000,0.000,127,1844,3631
$GC,95,-0.64,-117.3,3.5,-5.4,13,114,8.55,2.22,-3.65,0.000,4,0.223,0.073,2451,438,3793
$GC,702,-0.64,-117.3,64.1,-11.2,59,708,0.00,2.20,0.00,0.000,6,0.000,0.052,2440,1855,3794
$GC,1064,-0.64,-117.3,103.1,-10.0,90,1084,0.00,2.22,0.00,0.000,4,0.000,0.062,2429,3255,3794
$GC,1113,-0.64,-117.3,107.8,-9.8,94,1135,0.05,2.22,0.00,0.000,6,0.148,0.057,2448,1854,3794
$STATE,1163,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1163,begin apogee
$GC,1166,-0.12,0.0,112.7,9.7,98,1269,0.50,0.00,85.82,0.634,6,0.134,0.000,2613,1853,3313
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1272,0.64,117.3,114.1,0.0,105,1380,0.68,0.00,87.32,0.623,6,0.089,0.000,2855,1853,2832
$GC,1675,0.64,117.3,51.7,15.2,143,1681,0.00,2.22,0.00,0.000,4,0.000,0.053,2855,3268,2831
$GC,1705,0.64,117.3,46.9,16.4,149,1711,0.00,2.25,0.00,0.000,6,0.000,0.051,2866,1838,2831
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,2.3,1.019105
$STATE,2140,end surface coast,CONTROL_FINISHED_OK
$STATE,2140,begin surface
$SM_CCo,2153,171.90,0.560,3,0,1355,480.05
$SM_GC,1.06,0.00,0.00,171.90,0.000,0.000,0.560,127,1836,1355,-7.90,-0.42,480.05
$IRIDIUM_FIX,4748.51,-12221.84,091098,222244
$TT8_MAMPS,0.027612
$HUMID,1944
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.2,41.1
$24V_AH,24.6,0.656
$10V_AH,10.6,0.792
$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,16.900,13.350,173.150,171.900,0.000,77.735,191.034,150.248,0.500,0.000,0.000,16.030,310.854,209.280,330.505,1651.221,472.294,33.325,675.348,0.000,331.414,0.000,5.525,0.000
$DEVICE_MAMPS,223.197,72.865,634.309,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,121.101,1551.600,208.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9773,180
$CAP_FILE_SIZE,60481,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150709,224655,4806.910,-12222.349,8,1.0,13,18.3