version: 66.04
glider: 169
mission: 1
dive: 28
start: 7 16 109 16 9 24
data:
$ID,169
$MISSION,1
$DIVE,28
$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,-6040.5005
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2725
$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,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$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
$GPS1,155932,4807.345,-12223.044,16,1.3,16,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-80.2
$GPS2,160831,4807.328,-12223.000,14,1.8,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.106
$KALMAN_X,3903.3,488.3,-38.1,-4784.1,288.9
$KALMAN_Y,1528.8,-550.3,21.1,-1350.9,-119.1
$MHEAD_RNG_PITCHd_Wd,285.0,1754,-15.7,-7.042
$D_GRID,107
$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,-97.8,0.0,0.0,0,92,0.00,0.00,-75.43,0.000,2,0.000,0.000,143,2353,3355
$GC,94,-0.49,-97.8,3.7,-4.4,12,121,9.38,2.25,-9.20,0.000,4,0.232,0.079,2559,960,3746
$GC,319,-0.49,-97.8,28.6,-10.2,64,326,0.00,2.33,0.00,0.000,6,0.000,0.106,2559,2381,3748
$GC,390,-0.49,-97.8,35.8,-10.8,80,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2381,3748
$GC,460,-0.49,-97.8,43.8,-11.1,96,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2381,3747
$GC,601,-0.49,-97.8,59.5,-11.3,127,607,0.00,2.30,0.00,0.000,4,0.000,0.080,2559,3799,3748
$GC,621,-0.49,-97.8,62.0,-11.7,131,627,0.00,2.28,0.00,0.000,6,0.000,0.061,2559,2368,3747
$GC,760,-0.49,-97.8,77.8,-11.0,162,767,0.00,2.38,0.00,0.000,4,0.000,0.081,2559,3795,3747
$GC,782,-0.49,-97.8,80.2,-11.1,166,789,0.00,2.28,0.00,0.000,6,0.000,0.061,2559,2374,3748
$GC,923,-0.49,-97.8,95.6,-10.5,197,929,0.00,2.33,0.00,0.000,4,0.000,0.081,2559,3795,3748
$GC,938,-0.49,-97.8,97.3,-10.4,200,945,0.00,2.28,0.00,0.000,6,0.000,0.061,2559,2374,3747
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1038,-0.12,0.0,107.2,10.3,221,1116,0.43,0.00,72.43,0.634,6,0.209,0.000,2674,2458,3344
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1118,0.49,97.8,110.0,0.0,234,1202,0.70,2.38,73.53,0.614,4,0.174,0.044,2885,1006,2945
$GC,1220,0.49,97.8,102.8,9.2,252,1227,0.00,2.35,0.00,0.000,6,0.000,0.045,2885,2466,2945
$GC,1360,0.49,97.8,87.7,10.7,283,1366,0.00,2.10,0.00,0.000,4,0.000,0.051,2885,3809,2945
$GC,1374,0.49,97.8,86.2,10.8,285,1380,0.00,2.12,0.00,0.000,6,0.000,0.037,2896,2421,2945
$GC,1512,0.49,97.8,70.2,11.4,316,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2420,2945
$GC,1652,0.49,97.8,55.4,10.6,347,1658,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3819,2944
$GC,1682,0.49,97.8,51.8,11.3,353,1688,0.00,2.12,0.00,0.000,6,0.000,0.038,2907,2418,2944
$GC,1819,0.49,97.8,36.5,11.0,384,1826,0.00,2.15,0.00,0.000,4,0.000,0.046,2918,1008,2943
$GC,1841,0.49,97.8,34.3,10.4,388,1848,0.08,2.25,0.00,0.000,6,0.176,0.047,2893,2467,2943
$GC,1915,0.49,97.8,27.3,9.3,404,1921,0.00,2.08,0.00,0.000,4,0.000,0.051,2894,3804,2943
$GC,1928,0.49,97.8,25.8,9.3,406,1934,0.00,2.10,0.00,0.000,6,0.000,0.037,2904,2423,2943
$GC,1998,0.49,97.8,18.7,10.2,422,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2422,2943
$GC,2067,0.49,97.8,12.1,9.1,438,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2421,2943
$GC,2136,0.55,144.2,7.7,4.8,454,2176,0.00,0.00,34.00,0.582,6,0.000,0.000,2904,2421,2756
$GC,2242,0.69,254.1,5.2,1.7,475,2322,0.12,0.00,77.12,0.573,2,0.072,0.000,2960,2421,2341
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,2.5,1.017902
$STATE,2417,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2432,126.88,0.554,1,0,1366,485.20
$SM_GC,0.54,0.00,0.00,126.88,0.000,0.000,0.554,140,2346,1366,-8.08,-0.96,485.20
$IRIDIUM_FIX,4748.51,-12221.84,101098,161632
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,15.90
$XPDR_PINGS,2
$24V_AH,24.5,2.560
$10V_AH,10.6,1.738
$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,19.100,40.450,257.075,126.875,0.000,50.719,51.025,271.952,2.250,0.000,0.000,31.173,775.466,307.895,445.001,1120.492,460.071,33.331,947.504,0.000,1091.779,0.000,12.922,0.000
$DEVICE_MAMPS,232.401,105.846,634.309,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,342.192,871.892,785.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34996,509
$CAP_FILE_SIZE,57290,1
$CFSIZE,260165632,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160709,165244,4807.529,-12223.203,11,1.8,11,18.3