version: 66.04
glider: 169
mission: 1
dive: 2
start: 7 15 109 19 27 29
data:
$ID,169
$MISSION,1
$DIVE,2
$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,710
$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,-5332.6631
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3345
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-75.823097
$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,-1.1
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,192306,4807.511,-12222.670,12,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-77.7
$GPS2,192638,4807.509,-12222.668,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.224
$KALMAN_X,-19.2,-19.2,-19.2,39.1,-46.3
$KALMAN_Y,46.3,46.3,46.3,-157.0,111.6
$MHEAD_RNG_PITCHd_Wd,143.8,2915,-19.7,-10.000
$D_GRID,105
$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,-0.71,-117.3,0.0,0.0,0,129,0.00,0.00,-112.65,0.000,2,0.000,0.000,146,2362,3399
$GC,131,-0.71,-117.3,3.8,-6.6,18,159,9.27,2.38,-9.80,0.000,4,0.254,0.096,2429,3789,3826
$GC,402,-0.71,-117.3,58.3,-21.3,79,408,0.00,2.22,0.00,0.000,6,0.000,0.064,2429,2373,3827
$GC,541,-0.71,-117.3,81.4,-19.5,110,548,0.00,2.35,0.00,0.000,4,0.000,0.084,2428,3793,3827
$GC,614,-0.71,-117.3,97.5,-21.7,126,621,0.00,2.28,0.00,0.000,6,0.000,0.067,2429,2373,3826
$STATE,651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,652,begin apogee
$GC,655,-0.14,0.0,105.6,21.3,134,745,0.70,0.00,85.85,0.615,6,0.214,0.000,2618,2371,3345
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,746,begin climb
$GC,747,0.71,117.3,112.9,0.0,149,843,0.98,2.33,87.50,0.597,4,0.183,0.051,2891,3812,2865
$GC,864,0.71,117.3,103.0,13.3,169,870,0.00,2.25,0.00,0.000,6,0.000,0.036,2903,2355,2865
$GC,1001,0.71,117.3,84.4,12.6,200,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2353,2865
$GC,1141,0.71,117.3,66.5,12.8,231,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2353,2864
$GC,1279,0.71,117.3,49.7,11.5,262,1286,0.00,2.28,0.00,0.000,4,0.000,0.054,2903,3806,2863
$GC,1349,0.71,117.3,40.3,13.2,277,1355,0.00,2.17,0.00,0.000,6,0.000,0.038,2914,2353,2863
$GC,1484,0.71,117.3,24.3,11.6,308,1491,0.00,2.28,0.00,0.000,4,0.000,0.052,2914,3812,2862
$GC,1505,0.71,117.3,21.6,12.6,312,1511,0.00,2.20,0.00,0.000,6,0.000,0.038,2925,2355,2862
$GC,1577,0.71,117.3,13.2,11.3,328,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2354,2861
$GC,1646,0.72,123.4,6.0,9.6,344,1660,0.00,2.28,5.25,0.456,4,0.000,0.052,2926,3809,2841
$GC,1768,0.97,333.9,4.7,-2.1,372,1853,0.12,2.20,78.43,0.572,2,0.059,0.037,3001,2351,2410
$STATE,1854,end climb,SURFACE_DEPTH_REACHED
$STATE,1854,begin surface coast
$FINISH,2.3,1.017880
$STATE,1920,end surface coast,CONTROL_FINISHED_OK
$STATE,1920,begin surface
$SM_CCo,1936,272.00,0.542,0,0,449,710.14
$SM_GC,0.67,0.00,0.00,272.00,0.000,0.000,0.542,150,2408,449,-7.89,0.79,710.14
$IRIDIUM_FIX,4751.72,-12219.12,091098,191917
$TT8_MAMPS,0.027612
$HUMID,1860
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,16.20
$XPDR_PINGS,6
$24V_AH,24.7,0.414
$10V_AH,10.7,0.264
$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,20.000,27.275,257.025,272.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,13.185,581.998,195.174,580.139,870.157,41.763,30.181,994.186,0.000,864.240,0.000,5.653,0.000
$DEVICE_MAMPS,253.877,95.875,615.134,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.600,694.240,628.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25568,401
$CAP_FILE_SIZE,52828,0
$CFSIZE,260165632,258220032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150709,200456,4807.416,-12222.593,14,2.0,14,18.3