version: 66.04
glider: 169
mission: 1
dive: 22
start: 7 16 109 10 41 27
data:
$ID,169
$MISSION,1
$DIVE,22
$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,-5894.1558
$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
$GPS1,103152,4806.894,-12222.509,11,5.0,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-76.7
$GPS2,104034,4806.866,-12222.490,11,5.6,30,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.102
$KALMAN_X,1532.4,326.3,88.8,-1751.0,307.1
$KALMAN_Y,2243.3,-300.2,-33.3,-3113.2,-94.0
$MHEAD_RNG_PITCHd_Wd,283.7,2809,-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,-97.8,0.0,0.0,0,110,0.00,0.00,-92.82,0.000,6,0.000,0.000,144,2397,3745
$GC,112,-0.49,-97.8,3.9,-5.0,15,127,9.48,2.35,0.00,0.000,4,0.239,0.076,2539,3806,3746
$GC,162,-0.49,-97.8,15.9,-22.2,25,168,0.00,2.35,0.00,0.000,6,0.000,0.064,2539,2372,3746
$GC,233,-0.49,-97.8,24.2,-11.3,41,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3748
$GC,302,-0.49,-97.8,32.6,-11.9,57,309,0.00,2.38,0.00,0.000,4,0.000,0.080,2539,3789,3747
$GC,324,-0.49,-97.8,35.4,-12.4,61,331,0.00,2.30,0.00,0.000,6,0.000,0.062,2539,2373,3747
$GC,396,-0.49,-97.8,45.0,-13.2,77,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3747
$GC,532,-0.49,-97.8,62.5,-13.0,108,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3748
$GC,673,-0.49,-97.8,81.0,-13.1,139,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3747
$GC,808,-0.49,-97.8,98.7,-12.9,170,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3748
$STATE,886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,886,begin apogee
$GC,890,-0.12,0.0,108.2,11.8,187,967,0.45,0.00,72.32,0.637,6,0.193,0.000,2665,2471,3344
$STATE,968,end apogee,CONTROL_FINISHED_OK
$STATE,968,begin climb
$GC,970,0.49,97.8,111.6,0.0,200,1054,0.70,2.38,73.85,0.618,4,0.170,0.043,2877,1009,2946
$GC,1064,0.49,97.8,105.9,8.1,216,1070,0.00,2.38,0.00,0.000,6,0.000,0.048,2877,2469,2946
$GC,1205,0.49,97.8,91.5,10.3,247,1211,0.00,2.12,0.00,0.000,4,0.000,0.053,2877,3815,2945
$GC,1217,0.49,97.8,90.2,10.2,249,1223,0.00,2.12,0.00,0.000,6,0.000,0.036,2888,2416,2945
$GC,1355,0.49,97.8,75.2,10.1,280,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2415,2945
$GC,1494,0.49,97.8,61.3,9.6,311,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2415,2944
$GC,1632,0.49,97.8,47.8,9.4,342,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2415,2944
$GC,1768,0.49,97.8,35.6,8.7,373,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2415,2943
$GC,1838,0.49,97.8,29.4,8.4,389,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2415,2943
$GC,1909,0.49,97.8,23.4,8.6,405,1916,0.00,2.12,0.00,0.000,4,0.000,0.045,2899,1012,2943
$GC,1931,0.49,97.8,21.7,8.1,409,1938,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,2467,2942
$GC,2001,0.49,97.8,15.6,9.0,425,2008,0.00,2.10,0.00,0.000,4,0.000,0.054,2899,3812,2942
$GC,2060,0.49,97.8,9.8,10.3,438,2067,0.10,2.10,0.00,0.000,6,0.181,0.036,2879,2420,2942
$GC,2131,0.55,141.9,5.3,4.9,454,2170,0.00,0.00,32.25,0.588,6,0.000,0.000,2879,2420,2766
$STATE,2199,end climb,SURFACE_DEPTH_REACHED
$STATE,2200,begin surface coast
$FINISH,2.6,1.020361
$STATE,2313,end surface coast,CONTROL_FINISHED_OK
$STATE,2313,begin surface
$SM_CCo,2328,172.27,0.568,0,0,1367,485.20
$SM_GC,0.51,0.00,0.00,172.27,0.000,0.000,0.568,138,2352,1367,-8.06,-0.79,485.20
$IRIDIUM_FIX,4751.72,-12223.57,101098,090923
$TT8_MAMPS,0.027612
$HUMID,1843
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,15.60
$XPDR_PINGS,6
$24V_AH,24.4,2.044
$10V_AH,10.6,1.332
$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,18.900,27.175,178.425,172.275,0.000,46.216,51.651,262.573,3.250,0.000,0.000,31.656,756.675,316.128,437.548,1080.430,438.498,33.329,905.899,0.000,1054.472,0.000,12.406,0.000
$DEVICE_MAMPS,238.537,92.807,637.377,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.743,831.875,748.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31798,494
$CAP_FILE_SIZE,53869,0
$CFSIZE,260165632,257548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,112344,4807.007,-12222.611,12,1.9,12,18.3