version: 66.04
glider: 169
mission: 1
dive: 9
start: 7 16 109 0 44 21
data:
$ID,169
$MISSION,1
$DIVE,9
$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,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,-5603.8267
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2718
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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
$GPS1,003302,4806.746,-12222.396,12,1.6,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-75.1
$GPS2,004326,4806.749,-12222.411,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.216
$KALMAN_X,-641.6,-178.7,-39.9,1158.1,-97.1
$KALMAN_Y,1438.6,423.6,92.6,-3378.5,191.8
$MHEAD_RNG_PITCHd_Wd,138.7,1477,-19.7,-10.000
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.65,-117.3,0.0,0.0,0,104,0.00,0.00,-87.22,0.000,2,0.000,0.000,149,2390,3632
$GC,106,-0.65,-117.3,3.5,-7.0,14,127,9.62,2.33,-4.40,0.000,4,0.252,0.091,2492,3811,3825
$GC,369,-0.65,-117.3,52.4,-18.5,74,376,0.00,2.33,0.00,0.000,6,0.000,0.063,2492,2372,3826
$GC,508,-0.65,-117.3,77.9,-18.2,105,514,0.00,2.35,0.00,0.000,4,0.000,0.083,2492,3804,3826
$STATE,670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,670,begin apogee
$GC,676,-0.13,0.0,107.5,17.5,141,771,0.65,0.00,86.85,0.626,6,0.220,0.000,2664,2364,3344
$STATE,771,end apogee,CONTROL_FINISHED_OK
$STATE,771,begin climb
$GC,773,0.65,117.3,112.7,0.0,157,869,0.90,2.30,88.25,0.610,4,0.184,0.043,2924,945,2865
$GC,915,0.65,117.3,99.1,12.8,183,921,0.00,2.30,0.00,0.000,6,0.000,0.048,2924,2398,2865
$GC,1052,0.65,117.3,79.3,15.2,214,1059,0.00,2.22,0.00,0.000,4,0.000,0.052,2924,3801,2865
$GC,1082,0.65,117.3,74.6,15.7,220,1089,0.00,2.22,0.00,0.000,6,0.000,0.037,2935,2361,2865
$GC,1222,0.65,117.3,53.8,14.0,251,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2360,2865
$GC,1360,0.65,117.3,35.1,13.2,282,1366,0.00,2.28,0.00,0.000,4,0.000,0.053,2936,3801,2864
$GC,1397,0.65,117.3,29.6,15.0,290,1404,0.00,2.20,0.00,0.000,6,0.000,0.038,2946,2361,2864
$GC,1468,0.65,117.3,19.8,12.8,306,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2360,2864
$GC,1537,0.65,117.3,11.2,11.9,322,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2359,2863
$GC,1608,0.65,117.3,3.0,10.4,338,1615,0.00,2.28,0.00,0.000,4,0.000,0.053,2947,3808,2863
$STATE,1619,end climb,SURFACE_DEPTH_REACHED
$STATE,1619,begin surface coast
$FINISH,1.7,1.019353
$STATE,1633,end surface coast,CONTROL_FINISHED_OK
$STATE,1633,begin surface
$SM_CCo,1650,184.50,0.561,0,0,1387,480.05
$SM_GC,0.78,0.00,0.00,184.50,0.000,0.000,0.561,144,2345,1387,-8.04,-0.99,480.05
$IRIDIUM_FIX,4748.51,-12224.57,101098,000054
$TT8_MAMPS,0.026845
$HUMID,1862
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,24.4,0.992
$10V_AH,10.7,0.610
$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,19.800,27.350,175.100,184.500,0.000,80.343,138.615,205.484,1.250,0.000,0.000,12.749,521.624,304.347,421.419,736.524,487.062,33.340,765.612,0.000,730.314,0.000,6.249,0.000
$DEVICE_MAMPS,252.343,91.273,625.872,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.220,560.089,505.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22316,343
$CAP_FILE_SIZE,39830,0
$CFSIZE,260165632,258015232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,011549,4806.659,-12222.402,11,1.4,28,18.3