version: 66.04
glider: 168
mission: 1
dive: 19
start: 7 16 109 9 14 56
data:
$ID,168
$MISSION,1
$DIVE,19
$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,71
$T_MISSION,89
$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,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,485
$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,-2351.6533
$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,34
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,090932,4806.620,-12222.845,14,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-77.8
$GPS2,091402,4806.604,-12222.847,13,1.5,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.174
$KALMAN_X,109.7,96.3,193.9,-632.5,21.5
$KALMAN_Y,1844.6,-315.1,-448.1,-2731.4,-114.9
$MHEAD_RNG_PITCHd_Wd,316.5,2954,-15.7,-7.042
$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,-0.51,-97.8,0.0,0.0,0,107,0.00,0.00,-85.93,0.000,6,0.000,0.000,127,1852,3712
$GC,109,-0.51,-97.8,2.1,-1.4,5,130,8.70,2.22,0.00,0.000,4,0.218,0.047,2473,3255,3714
$GC,248,-0.51,-97.8,15.7,-9.0,12,268,0.03,2.22,0.00,0.000,6,0.159,0.049,2483,1856,3715
$GC,557,-0.51,-97.8,35.8,-7.1,28,579,0.00,2.25,0.00,0.000,4,0.000,0.058,2483,443,3715
$GC,601,-0.51,-97.8,39.4,-7.4,30,621,0.03,2.20,0.00,0.000,6,0.185,0.048,2484,1845,3715
$GC,793,-0.51,-97.8,55.2,-7.2,46,815,0.00,2.25,0.00,0.000,4,0.000,0.056,2475,3264,3716
$GC,843,-0.51,-97.8,59.2,-7.5,50,863,0.00,2.22,0.00,0.000,6,0.000,0.051,2475,1852,3716
$GC,1221,-0.51,-97.8,87.2,-7.7,81,1227,0.05,2.20,0.00,0.000,4,0.194,0.058,2489,442,3716
$GC,1251,-0.51,-97.8,91.0,-7.7,84,1274,0.00,2.20,0.00,0.000,6,0.000,0.049,2481,1849,3716
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1420,begin apogee
$GC,1423,-0.12,0.0,103.2,7.1,98,1500,0.40,0.00,72.53,0.645,6,0.128,0.000,2613,1849,3313
$STATE,1501,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1502,0.51,97.8,104.3,0.0,103,1584,0.57,2.35,73.10,0.632,4,0.086,0.054,2830,442,2913
$GC,1589,0.51,97.8,96.8,8.7,110,1611,0.00,2.28,0.00,0.000,6,0.000,0.038,2830,1858,2912
$GC,1969,0.51,97.8,46.5,13.4,141,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1858,2911
$STATE,2363,end climb,SURFACE_DEPTH_REACHED
$STATE,2363,begin surface coast
$FINISH,3.0,1.020015
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2589,193.57,0.584,0,0,1335,485.20
$SM_GC,0.95,0.00,0.00,193.57,0.000,0.000,0.584,127,1859,1335,-7.90,0.25,485.20
$IRIDIUM_FIX,4742.09,-12419.75,101098,080816
$TT8_MAMPS,0.027612
$HUMID,1879
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,24.6,1.643
$10V_AH,10.6,1.554
$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,16.825,22.400,145.625,193.575,0.000,29.024,24.064,145.637,0.000,0.000,0.000,14.072,334.542,77.121,293.335,2109.338,257.940,33.353,744.286,0.000,320.150,0.000,0.534,0.000
$DEVICE_MAMPS,217.828,57.525,645.047,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,118.069,2019.940,201.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9811,174
$CAP_FILE_SIZE,72938,0
$CFSIZE,260165632,257855488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,100231,4806.734,-12222.961,40,1.5,40,18.3