version: 66.04
glider: 169
mission: 1
dive: 18
start: 7 16 109 7 6 20
data:
$ID,169
$MISSION,1
$DIVE,18
$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,-5768.6035
$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
$GPS1,070002,4806.464,-12222.122,9,1.1,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-77.3
$GPS2,070526,4806.436,-12222.094,14,2.0,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,0.097
$KALMAN_X,298.5,34.8,155.6,200.7,352.9
$KALMAN_Y,2446.8,108.2,-149.7,-4410.4,-104.5
$MHEAD_RNG_PITCHd_Wd,282.0,3735,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.49,-97.8,0.0,0.0,0,111,0.00,0.00,-94.05,0.000,6,0.000,0.000,144,2351,3746
$GC,113,-0.49,-97.8,2.9,-3.4,15,128,9.68,2.28,0.00,0.000,4,0.245,0.067,2553,953,3746
$GC,152,-0.49,-97.8,11.0,-18.6,22,159,0.00,2.35,0.00,0.000,6,0.000,0.073,2553,2385,3747
$GC,222,-0.49,-97.8,19.6,-11.7,38,229,0.00,2.28,0.00,0.000,4,0.000,0.061,2553,959,3747
$GC,256,-0.49,-97.8,23.5,-11.6,45,263,0.00,2.33,0.00,0.000,6,0.000,0.071,2553,2382,3747
$GC,325,-0.49,-97.8,31.8,-11.9,61,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2382,3747
$GC,396,-0.49,-97.8,40.1,-12.0,77,402,0.00,2.33,0.00,0.000,4,0.000,0.081,2553,3795,3747
$GC,435,-0.49,-97.8,45.6,-13.3,85,441,0.00,2.28,0.00,0.000,6,0.000,0.062,2553,2370,3747
$GC,573,-0.49,-97.8,63.2,-12.3,116,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2370,3747
$GC,714,-0.49,-97.8,81.1,-13.1,147,720,0.00,2.35,0.00,0.000,4,0.000,0.083,2553,3796,3747
$GC,726,-0.49,-97.8,82.5,-12.7,149,732,0.00,2.25,0.00,0.000,6,0.000,0.061,2553,2371,3747
$GC,865,-0.49,-97.8,99.9,-12.0,180,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2371,3747
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,939,-0.12,0.0,108.1,11.4,195,1016,0.43,0.00,72.10,0.636,6,0.215,0.000,2668,2469,3345
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1018,0.49,97.8,111.6,0.0,208,1102,0.70,2.35,73.70,0.617,4,0.185,0.043,2874,1015,2946
$GC,1117,0.49,97.8,105.9,7.5,225,1123,0.00,2.33,0.00,0.000,6,0.000,0.048,2874,2470,2945
$GC,1255,0.49,97.8,92.6,9.8,256,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2470,2945
$GC,1395,0.49,97.8,79.1,9.8,287,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2469,2945
$GC,1533,0.49,97.8,67.2,8.4,318,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2470,2945
$GC,1673,0.49,97.8,55.2,8.8,349,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2470,2944
$GC,1810,0.49,97.8,43.5,8.5,380,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2470,2944
$GC,1944,0.49,97.8,32.9,8.0,411,1951,0.00,2.10,0.00,0.000,4,0.000,0.054,2874,3811,2944
$GC,1969,0.49,97.8,30.4,8.6,416,1976,0.00,2.10,0.00,0.000,6,0.000,0.038,2884,2423,2943
$GC,2042,0.49,97.8,24.3,8.6,432,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2423,2943
$GC,2111,0.49,97.8,18.6,7.8,448,2118,0.00,2.17,0.00,0.000,4,0.000,0.052,2884,3811,2943
$GC,2138,0.49,97.8,16.5,8.1,453,2145,0.00,2.10,0.00,0.000,6,0.000,0.038,2895,2424,2943
$GC,2207,0.49,97.8,10.6,7.8,469,2215,0.00,2.12,0.00,0.000,4,0.000,0.045,2905,1015,2943
$GC,2241,0.50,106.1,8.4,6.6,476,2255,0.00,2.25,7.20,0.525,6,0.000,0.050,2906,2474,2912
$GC,2321,0.53,130.7,3.8,5.8,493,2341,0.00,0.00,18.65,0.578,6,0.000,0.000,2906,2474,2811
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,1.0,1.019017
$STATE,2413,end surface coast,CONTROL_FINISHED_OK
$STATE,2413,begin surface
$SM_CCo,2428,167.02,0.568,0,0,1367,485.20
$SM_GC,0.54,0.00,0.00,167.02,0.000,0.000,0.568,140,2349,1367,-8.06,-0.88,485.20
$IRIDIUM_FIX,4748.51,-12210.23,101098,060653
$TT8_MAMPS,0.027612
$HUMID,1866
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,15.40
$XPDR_PINGS,3
$24V_AH,24.5,1.721
$10V_AH,10.6,1.077
$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,19.100,36.275,171.650,167.025,0.000,22.491,29.018,192.058,2.500,0.000,0.000,14.951,800.176,269.776,435.640,1101.076,319.561,33.338,918.897,0.000,1089.345,0.000,12.114,0.000
$DEVICE_MAMPS,245.440,93.574,635.843,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.874,852.661,768.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35047,513
$CAP_FILE_SIZE,53699,0
$CFSIZE,260165632,257687552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,075028,4806.599,-12222.243,8,4.2,27,18.3