version: 66.04
glider: 168
mission: 1
dive: 8
start: 7 16 109 0 21 19
data:
$ID,168
$MISSION,1
$DIVE,8
$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,-2130.4954
$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,33
$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,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,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
$GPS1,001606,4806.645,-12222.173,36,1.1,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.4
$GPS2,002026,4806.641,-12222.169,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.234
$KALMAN_X,-186.9,-72.3,-16.9,880.6,-32.3
$KALMAN_Y,1531.8,392.1,63.9,-3572.0,450.3
$MHEAD_RNG_PITCHd_Wd,155.5,1205,-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,14,-0.64,-117.3,0.0,0.0,0,119,0.00,0.00,-85.40,0.000,6,0.000,0.000,114,1857,3792
$GC,121,-0.64,-117.3,4.2,-3.3,7,142,8.65,2.22,0.00,0.000,4,0.222,0.051,2432,3252,3793
$GC,660,-0.64,-117.3,65.0,-11.0,42,680,0.03,2.22,0.00,0.000,6,0.173,0.052,2444,1846,3795
$GC,1042,-0.64,-117.3,102.8,-10.2,73,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1846,3795
$STATE,1139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1139,begin apogee
$GC,1142,-0.12,0.0,111.9,9.1,81,1252,0.50,0.00,86.57,0.648,6,0.138,0.000,2609,1845,3312
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1254,0.64,117.3,114.8,0.0,89,1362,0.70,0.00,87.62,0.633,6,0.088,0.000,2858,1845,2833
$GC,1720,0.64,117.3,40.0,16.4,127,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1846,2831
$STATE,1972,end climb,SURFACE_DEPTH_REACHED
$STATE,1972,begin surface coast
$FINISH,2.4,1.019520
$STATE,2109,end surface coast,CONTROL_FINISHED_OK
$STATE,2109,begin surface
$SM_CCo,2122,177.00,0.576,0,0,1355,480.05
$SM_GC,0.87,0.00,0.00,177.00,0.000,0.000,0.576,112,1845,1355,-7.95,-0.14,480.05
$IRIDIUM_FIX,4751.72,-12220.85,091098,232345
$TT8_MAMPS,0.027612
$HUMID,1937
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,31.3
$24V_AH,24.6,0.869
$10V_AH,10.6,0.941
$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,17.050,4.450,174.200,177.000,0.000,27.447,28.735,134.483,1.000,0.000,0.000,13.827,262.848,68.441,285.271,1713.413,241.210,33.346,672.249,0.000,273.239,0.000,10.432,0.000
$DEVICE_MAMPS,221.663,52.156,648.115,576.017,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,99.201,1625.256,165.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6579,147
$CAP_FILE_SIZE,58403,0
$CFSIZE,260165632,258146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,010014,4806.497,-12222.198,11,1.3,11,18.3