version: 66.04
glider: 169
mission: 1
dive: 20
start: 7 16 109 8 55 26
data:
$ID,169
$MISSION,1
$DIVE,20
$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,-5827.1069
$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
$GPS1,084613,4806.683,-12222.337,9,1.2,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-78.5
$GPS2,085432,4806.644,-12222.326,15,1.4,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,0.109
$KALMAN_X,764.8,219.7,218.5,-802.1,245.0
$KALMAN_Y,2459.8,-122.3,-159.2,-3793.4,-38.7
$MHEAD_RNG_PITCHd_Wd,286.0,3254,-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,-95.07,0.000,6,0.000,0.000,147,2338,3744
$GC,118,-0.49,-97.8,3.7,-4.3,16,131,9.48,0.00,0.00,0.000,6,0.239,0.000,2550,2337,3744
$GC,196,-0.49,-97.8,18.0,-12.1,33,203,0.00,2.22,0.00,0.000,4,0.000,0.067,2550,955,3745
$GC,218,-0.49,-97.8,20.5,-11.7,37,225,0.00,2.35,0.00,0.000,6,0.000,0.072,2551,2386,3745
$GC,290,-0.49,-97.8,29.0,-11.6,53,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2386,3746
$GC,360,-0.49,-97.8,37.8,-12.7,69,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2386,3746
$GC,433,-0.49,-97.8,47.0,-12.6,85,439,0.00,2.33,0.00,0.000,4,0.000,0.079,2551,3810,3746
$GC,497,-0.49,-97.8,53.2,-7.5,99,503,0.00,2.28,0.00,0.000,6,0.000,0.061,2551,2372,3746
$GC,635,-0.49,-97.8,68.9,-12.0,130,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2372,3745
$GC,774,-0.49,-97.8,85.1,-11.7,161,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2372,3745
$GC,912,-0.49,-97.8,101.2,-11.3,192,919,0.00,2.35,0.00,0.000,4,0.000,0.079,2551,3791,3745
$GC,938,-0.49,-97.8,104.2,-11.5,197,944,0.00,2.25,0.00,0.000,6,0.000,0.061,2551,2368,3745
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,977,-0.12,0.0,108.3,11.3,204,1055,0.43,0.00,71.78,0.638,6,0.201,0.000,2668,2461,3344
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1057,0.49,97.8,111.5,0.0,217,1141,0.70,2.35,73.60,0.621,4,0.183,0.044,2875,1013,2946
$GC,1147,0.49,97.8,106.3,7.4,232,1153,0.00,2.35,0.00,0.000,6,0.000,0.048,2875,2459,2945
$GC,1288,0.49,97.8,92.5,9.8,263,1294,0.00,2.12,0.00,0.000,4,0.000,0.052,2875,3808,2945
$GC,1317,0.49,97.8,89.1,10.7,269,1323,0.00,2.12,0.00,0.000,6,0.000,0.038,2886,2421,2945
$GC,1456,0.49,97.8,74.9,10.0,300,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2420,2945
$GC,1595,0.49,97.8,61.2,9.8,331,1601,0.00,2.12,0.00,0.000,4,0.000,0.046,2897,1012,2944
$GC,1616,0.49,97.8,59.1,9.7,335,1622,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,2479,2944
$GC,1755,0.49,97.8,44.5,10.7,366,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2478,2944
$GC,1891,0.49,97.8,31.3,9.1,397,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2479,2943
$GC,1961,0.49,97.8,25.1,9.1,413,1968,0.00,2.08,0.00,0.000,4,0.000,0.052,2897,3809,2943
$GC,1988,0.49,97.8,22.5,9.8,418,1995,0.08,2.12,0.00,0.000,6,0.190,0.038,2884,2417,2943
$GC,2058,0.49,97.8,16.2,8.4,434,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2416,2943
$GC,2128,0.49,97.8,10.8,7.4,450,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2417,2943
$GC,2198,0.52,119.3,6.3,6.0,466,2218,0.00,0.00,16.62,0.579,6,0.000,0.000,2884,2416,2856
$STATE,2272,end climb,SURFACE_DEPTH_REACHED
$STATE,2272,begin surface coast
$FINISH,1.4,1.020434
$STATE,2352,end surface coast,CONTROL_FINISHED_OK
$STATE,2353,begin surface
$SM_CCo,2367,179.95,0.569,0,0,1367,485.20
$SM_GC,0.54,0.00,0.00,179.95,0.000,0.000,0.569,147,2351,1367,-8.03,-0.79,485.20
$IRIDIUM_FIX,4751.72,-12219.12,101098,080817
$TT8_MAMPS,0.027612
$HUMID,1846
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,15.40
$XPDR_PINGS,8
$24V_AH,24.4,1.879
$10V_AH,10.6,1.207
$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,18.925,31.525,162.000,179.950,0.000,54.074,108.989,192.703,4.250,0.000,0.000,16.220,777.263,320.303,442.802,1079.949,433.013,33.329,915.715,0.000,1065.555,0.000,17.759,0.000
$DEVICE_MAMPS,238.537,92.807,638.144,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.697,832.978,750.615,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31897,501
$CAP_FILE_SIZE,53149,0
$CFSIZE,260165632,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,093831,4806.784,-12222.451,8,1.9,13,18.3