version: 66.04
glider: 169
mission: 1
dive: 13
start: 7 16 109 3 22 38
data:
$ID,169
$MISSION,1
$DIVE,13
$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,-5663.5239
$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
$GPS1,031656,4806.294,-12222.049,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-80.5
$GPS2,032143,4806.262,-12222.026,13,1.2,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.014,-0.234
$KALMAN_X,-786.8,-192.2,-26.0,1778.0,52.5
$KALMAN_Y,2491.0,429.1,19.0,-5263.2,183.8
$MHEAD_RNG_PITCHd_Wd,165.2,486,-19.7,-10.000
$D_GRID,108
$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,-0.65,-117.3,0.0,0.0,0,92,0.00,0.00,-75.15,0.000,2,0.000,0.000,148,2397,3360
$GC,94,-0.65,-117.3,3.4,-7.2,12,122,9.60,2.40,-12.00,0.000,4,0.249,0.097,2503,3794,3824
$GC,362,-0.65,-117.3,47.0,-18.4,73,368,0.00,2.30,0.00,0.000,6,0.000,0.067,2502,2369,3825
$GC,501,-0.65,-117.3,72.2,-18.0,104,508,0.00,2.42,0.00,0.000,4,0.000,0.119,2503,3802,3825
$GC,611,-0.65,-117.3,92.1,-17.4,128,618,0.00,2.33,0.00,0.000,6,0.000,0.067,2503,2371,3825
$STATE,702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,702,begin apogee
$GC,705,-0.13,0.0,108.1,17.0,148,795,0.60,0.00,86.57,0.627,6,0.216,0.000,2662,2371,3345
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,796,begin climb
$GC,798,0.65,117.3,113.0,0.0,163,893,0.90,0.00,88.00,0.610,6,0.176,0.000,2917,2371,2869
$GC,1026,0.65,117.3,86.9,13.9,209,1032,0.00,2.28,0.00,0.000,4,0.000,0.051,2917,3809,2869
$GC,1082,0.65,117.3,78.0,16.3,221,1088,0.00,2.22,0.00,0.000,6,0.000,0.037,2928,2356,2868
$GC,1221,0.65,117.3,57.8,14.1,252,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2355,2868
$GC,1361,0.65,117.3,39.1,12.6,283,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2355,2867
$GC,1432,0.65,117.3,30.5,12.7,299,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2355,2867
$GC,1503,0.65,117.3,22.2,12.3,315,1510,0.00,2.28,0.00,0.000,4,0.000,0.051,2928,3802,2867
$GC,1525,0.65,117.3,19.0,13.4,319,1532,0.00,2.22,0.00,0.000,6,0.000,0.037,2940,2350,2867
$GC,1596,0.65,117.3,9.8,12.5,335,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2348,2867
$GC,1665,0.71,164.9,3.4,7.3,351,1686,0.00,0.00,18.60,0.565,2,0.000,0.000,2939,2348,2766
$STATE,1687,end climb,SURFACE_DEPTH_REACHED
$STATE,1687,begin surface coast
$FINISH,3.1,1.020457
$STATE,1779,end surface coast,CONTROL_FINISHED_OK
$STATE,1779,begin surface
$SM_CCo,1781,329.38,0.555,0,0,434,713.82
$SM_GC,0.33,9.18,0.00,0.00,0.140,0.000,0.000,153,2389,430,-8.00,0.25,715.05
$IRIDIUM_FIX,4748.51,-12220.12,101098,020224
$TT8_MAMPS,0.027612
$HUMID,1936
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,15.40
$XPDR_PINGS,2
$24V_AH,24.4,1.317
$10V_AH,10.6,0.804
$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,20.275,18.525,193.175,329.375,0.000,28.724,30.453,153.702,1.250,0.000,0.000,13.404,574.636,286.573,568.421,811.333,273.570,33.354,937.288,0.000,807.243,0.000,5.948,0.000
$DEVICE_MAMPS,249.275,118.885,626.639,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.162,636.269,574.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25455,376
$CAP_FILE_SIZE,39346,0
$CFSIZE,260165632,257880064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,040014,4806.084,-12222.008,15,1.9,15,18.3