version: 66.04
glider: 168
mission: 1
dive: 20
start: 7 16 109 10 13 50
data:
$ID,168
$MISSION,1
$DIVE,20
$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,-2368.3093
$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,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
$GPS1,100231,4806.734,-12222.961,40,1.5,40,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.7
$GPS2,101256,4806.717,-12222.916,15,1.0,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.173
$KALMAN_X,307.0,100.1,140.6,-868.5,39.5
$KALMAN_Y,1564.9,-424.2,-352.1,-2226.4,-132.9
$MHEAD_RNG_PITCHd_Wd,315.4,2728,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.51,-97.8,0.0,0.0,0,106,0.00,0.00,-82.60,0.000,6,0.000,0.000,128,1859,3713
$GC,108,-0.51,-97.8,2.9,-2.3,5,129,8.62,0.00,0.00,0.000,6,0.216,0.000,2482,1859,3715
$GC,419,-0.51,-97.8,20.5,-4.5,21,438,0.00,2.25,0.00,0.000,4,0.000,0.055,2482,444,3716
$GC,518,-0.51,-97.8,27.5,-6.1,26,541,0.05,2.20,0.00,0.000,6,0.156,0.047,2490,1849,3716
$GC,769,-0.51,-97.8,47.0,-7.1,42,791,0.00,2.22,0.00,0.000,4,0.000,0.054,2481,3258,3716
$GC,890,-0.51,-97.8,54.7,-7.7,51,896,0.00,2.20,0.00,0.000,6,0.000,0.049,2480,1838,3716
$GC,1252,-0.51,-97.8,82.0,-7.1,82,1274,0.00,2.20,0.00,0.000,4,0.000,0.058,2480,443,3716
$GC,1302,-0.51,-97.8,85.9,-7.4,86,1322,0.05,2.20,0.00,0.000,6,0.148,0.049,2489,1853,3716
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1567,-0.12,0.0,103.6,6.5,108,1643,0.35,0.00,72.32,0.648,6,0.127,0.000,2608,1853,3313
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1645,begin climb
$GC,1646,0.51,97.8,105.0,0.0,113,1727,0.57,0.00,73.05,0.636,6,0.088,0.000,2816,1853,2913
$GC,2085,0.51,97.8,56.2,12.2,149,2091,0.00,2.25,0.00,0.000,4,0.000,0.055,2826,431,2910
$GC,2116,0.51,97.8,50.5,12.1,152,2135,0.00,2.20,0.00,0.000,6,0.000,0.039,2826,1853,2910
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$FINISH,2.5,1.019824
$STATE,2788,end surface coast,CONTROL_FINISHED_OK
$STATE,2788,begin surface
$SM_CCo,2801,190.15,0.580,1,0,1335,485.20
$SM_GC,0.94,0.00,0.00,190.15,0.000,0.000,0.580,128,1853,1335,-7.90,0.06,485.20
$IRIDIUM_FIX,4751.72,-12223.57,101098,101011
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,24.6,1.721
$10V_AH,10.6,1.622
$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,16.650,17.725,145.375,190.150,0.000,83.033,191.068,158.508,0.000,0.000,0.000,16.027,356.789,206.542,291.770,2292.997,493.416,33.326,733.203,0.000,347.495,0.000,0.535,0.000
$DEVICE_MAMPS,216.294,57.525,648.115,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,129.322,2194.459,218.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9790,190
$CAP_FILE_SIZE,77858,0
$CFSIZE,260165632,257826816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160709,110452,4806.835,-12223.018,13,2.4,32,18.3