version: 66.04
glider: 169
mission: 1
dive: 16
start: 7 16 109 5 33 39
data:
$ID,169
$MISSION,1
$DIVE,16
$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,-5737.6792
$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
$GPS1,052734,4806.238,-12222.021,13,3.1,32,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-76.6
$GPS2,053244,4806.204,-12221.981,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,0.153
$KALMAN_X,-112.4,-132.9,12.1,1058.0,250.0
$KALMAN_Y,2283.3,357.4,15.0,-5085.9,-148.5
$MHEAD_RNG_PITCHd_Wd,292.2,4159,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.65,-117.3,0.0,0.0,0,111,0.00,0.00,-93.40,0.000,2,0.000,0.000,141,2407,3802
$GC,113,-0.65,-117.3,3.8,-7.9,15,127,9.35,0.00,-0.55,0.000,6,0.241,0.000,2500,2407,3826
$GC,191,-0.65,-117.3,20.6,-17.0,32,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2407,3826
$GC,260,-0.65,-117.3,32.5,-17.6,48,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2407,3827
$GC,329,-0.65,-117.3,45.0,-17.3,64,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2407,3827
$GC,469,-0.65,-117.3,70.5,-18.2,95,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2407,3827
$GC,605,-0.65,-117.3,95.0,-17.2,126,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2407,3827
$STATE,683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,683,begin apogee
$GC,687,-0.13,0.0,108.2,16.6,143,781,0.57,0.00,87.05,0.630,6,0.186,0.000,2665,2371,3344
$STATE,782,end apogee,CONTROL_FINISHED_OK
$STATE,782,begin climb
$GC,783,0.65,117.3,113.6,0.0,159,879,0.85,2.33,88.20,0.613,4,0.159,0.043,2926,939,2865
$GC,908,0.65,117.3,102.3,13.4,181,914,0.00,2.33,0.00,0.000,6,0.000,0.047,2926,2401,2865
$GC,1045,0.65,117.3,81.9,14.4,212,1052,0.00,2.25,0.00,0.000,4,0.000,0.052,2926,3811,2865
$GC,1081,0.65,117.3,76.4,17.1,219,1087,0.00,2.22,0.00,0.000,6,0.000,0.038,2937,2356,2864
$GC,1218,0.65,117.3,55.9,14.2,250,1225,0.00,2.30,0.00,0.000,4,0.000,0.051,2937,3804,2865
$GC,1235,0.65,117.3,53.4,14.5,253,1241,0.00,2.20,0.00,0.000,6,0.000,0.038,2948,2355,2864
$GC,1373,0.65,117.3,32.9,15.3,284,1379,0.00,2.30,0.00,0.000,4,0.000,0.051,2948,3809,2864
$GC,1415,0.65,117.3,26.1,16.6,293,1422,0.10,2.22,0.00,0.000,6,0.214,0.037,2933,2355,2864
$GC,1486,0.65,117.3,16.1,12.7,309,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2353,2864
$GC,1556,0.65,117.3,8.4,11.0,325,1562,0.00,2.28,0.00,0.000,4,0.000,0.051,2933,3803,2863
$GC,1593,0.65,117.3,4.2,11.0,333,1600,0.00,2.20,0.00,0.000,6,0.000,0.036,2943,2354,2863
$STATE,1609,end climb,SURFACE_DEPTH_REACHED
$STATE,1609,begin surface coast
$FINISH,1.2,1.020139
$STATE,1640,end surface coast,CONTROL_FINISHED_OK
$STATE,1640,begin surface
$SM_CCo,1655,181.52,0.564,0,0,1388,480.05
$SM_GC,0.68,0.00,0.00,181.52,0.000,0.000,0.564,140,2401,1388,-8.06,0.59,480.05
$IRIDIUM_FIX,4748.51,-12224.57,101098,040409
$TT8_MAMPS,0.027612
$HUMID,1852
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,15.40
$XPDR_PINGS,5
$24V_AH,24.4,1.565
$10V_AH,10.7,0.950
$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,19.275,22.725,175.250,181.525,0.000,22.837,24.529,185.030,2.000,0.000,0.000,15.788,529.019,172.455,426.621,739.301,290.818,33.340,783.114,0.000,731.839,0.000,5.948,0.000
$DEVICE_MAMPS,240.838,130.390,630.474,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.968,562.335,507.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22362,343
$CAP_FILE_SIZE,39831,0
$CFSIZE,260165632,257785856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,060456,4806.353,-12222.070,15,1.3,15,18.3