version: 66.04
glider: 169
mission: 1
dive: 17
start: 7 16 109 6 17 15
data:
$ID,169
$MISSION,1
$DIVE,17
$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,71
$T_MISSION,85
$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,-5753.0259
$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,42
$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,2450
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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
$GPS1,060456,4806.353,-12222.070,15,1.3,15,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-76.6
$GPS2,061620,4806.285,-12222.009,14,1.3,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.113
$KALMAN_X,133.1,-78.9,59.9,678.5,398.3
$KALMAN_Y,2242.0,275.5,-39.7,-4758.2,-245.0
$MHEAD_RNG_PITCHd_Wd,287.7,4018,-15.7,-7.042
$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,-0.49,-97.8,0.0,0.0,0,116,0.00,0.00,-94.82,0.000,6,0.000,0.000,140,2401,3743
$GC,118,-0.49,-97.8,3.6,-4.2,16,131,9.55,0.00,0.00,0.000,6,0.242,0.000,2548,2401,3743
$GC,197,-0.49,-97.8,17.3,-12.8,33,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2401,3744
$GC,266,-0.49,-97.8,25.3,-11.1,49,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2401,3745
$GC,338,-0.49,-97.8,34.0,-12.5,65,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2401,3745
$GC,408,-0.49,-97.8,42.7,-12.4,81,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2402,3745
$GC,544,-0.49,-97.8,60.5,-12.7,112,551,0.00,2.33,0.00,0.000,4,0.000,0.084,2548,3795,3744
$GC,570,-0.49,-97.8,64.0,-13.5,117,576,0.00,2.28,0.00,0.000,6,0.000,0.064,2549,2371,3745
$GC,709,-0.49,-97.8,81.5,-12.4,148,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2371,3745
$GC,851,-0.49,-97.8,98.9,-12.1,179,857,0.00,2.35,0.00,0.000,4,0.000,0.083,2548,3805,3745
$GC,890,-0.49,-97.8,103.7,-12.5,187,896,0.00,2.28,0.00,0.000,6,0.000,0.062,2549,2371,3745
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,933,-0.12,0.0,108.3,11.5,195,1010,0.45,0.00,71.62,0.634,6,0.217,0.000,2668,2468,3345
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1012,0.49,97.8,111.9,0.0,208,1090,0.70,0.00,73.68,0.614,6,0.185,0.000,2865,2468,2946
$GC,1223,0.49,97.8,95.8,9.3,251,1229,0.00,2.25,0.00,0.000,4,0.000,0.042,2876,1002,2945
$GC,1239,0.49,97.8,94.3,9.2,254,1246,0.00,2.30,0.00,0.000,6,0.000,0.047,2875,2458,2945
$GC,1380,0.49,97.8,80.4,10.0,285,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2458,2945
$GC,1517,0.49,97.8,67.6,9.1,316,1524,0.00,2.12,0.00,0.000,4,0.000,0.053,2875,3809,2944
$GC,1529,0.49,97.8,66.4,9.2,318,1536,0.00,2.12,0.00,0.000,6,0.000,0.035,2886,2417,2944
$GC,1670,0.49,97.8,52.9,9.5,349,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2417,2944
$GC,1808,0.49,97.8,40.0,9.0,380,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2417,2943
$GC,1939,0.49,97.8,28.8,8.2,411,1946,0.00,2.17,0.00,0.000,4,0.000,0.052,2885,3808,2943
$GC,1985,0.49,97.8,24.2,10.3,421,1992,0.00,2.10,0.00,0.000,6,0.000,0.035,2896,2419,2943
$GC,2057,0.49,97.8,18.0,8.5,437,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2418,2942
$GC,2128,0.49,97.8,12.3,8.0,453,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2418,2942
$GC,2199,0.51,108.8,7.4,6.5,469,2214,0.00,2.22,9.02,0.555,4,0.000,0.051,2896,3816,2900
$GC,2241,0.52,118.4,4.6,6.6,477,2255,0.00,2.10,8.10,0.525,6,0.000,0.035,2907,2421,2861
$STATE,2273,end climb,SURFACE_DEPTH_REACHED
$STATE,2273,begin surface coast
$FINISH,1.4,1.020162
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2348,184.48,0.571,0,0,1366,485.20
$SM_GC,0.54,0.00,0.00,184.48,0.000,0.000,0.571,144,2351,1366,-8.05,-0.82,485.20
$IRIDIUM_FIX,4751.72,-12119.96,101098,060643
$TT8_MAMPS,0.027612
$HUMID,1854
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,14.80
$XPDR_PINGS,13
$24V_AH,24.5,1.649
$10V_AH,10.6,1.015
$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,19.100,26.850,162.425,184.475,0.000,81.846,90.656,303.077,5.000,0.000,0.000,14.715,771.122,387.652,441.310,1066.715,562.183,33.341,907.218,0.000,1054.816,0.000,12.708,0.000
$DEVICE_MAMPS,242.372,95.875,634.309,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.087,822.783,742.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31818,497
$CAP_FILE_SIZE,55668,0
$CFSIZE,260165632,257728512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,070002,4806.464,-12222.122,9,1.1,9,18.3