version: 66.04
glider: 169
mission: 1
dive: 19
start: 7 16 109 8 3 0
data:
$ID,169
$MISSION,1
$DIVE,19
$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,-5810.2603
$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
$GPS1,075028,4806.599,-12222.243,8,4.2,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-78.3
$GPS2,080207,4806.548,-12222.229,40,1.0,40,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.162,0.105
$KALMAN_X,481.7,137.3,213.3,-309.4,286.3
$KALMAN_Y,2515.1,-15.9,-180.5,-4112.5,-64.8
$MHEAD_RNG_PITCHd_Wd,284.7,3468,-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,-94.05,0.000,6,0.000,0.000,141,2350,3746
$GC,118,-0.49,-97.8,3.5,-4.3,16,133,9.70,2.42,0.00,0.000,4,0.245,0.071,2544,3812,3746
$GC,139,-0.49,-97.8,9.0,-12.2,19,145,0.00,2.33,0.00,0.000,6,0.000,0.058,2544,2373,3747
$GC,211,-0.49,-97.8,18.6,-11.1,35,218,0.00,2.25,0.00,0.000,4,0.000,0.061,2544,956,3747
$GC,254,-0.49,-97.8,23.4,-11.3,44,260,0.00,2.33,0.00,0.000,6,0.000,0.071,2543,2383,3747
$GC,323,-0.49,-97.8,31.9,-11.8,60,330,0.00,2.35,0.00,0.000,4,0.000,0.081,2543,3794,3747
$GC,350,-0.49,-97.8,35.1,-12.8,65,356,0.00,2.30,0.00,0.000,6,0.000,0.062,2543,2372,3747
$GC,422,-0.49,-97.8,45.1,-13.1,81,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2372,3747
$GC,559,-0.49,-97.8,62.9,-13.1,112,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2372,3747
$GC,700,-0.49,-97.8,81.7,-12.9,143,706,0.00,2.35,0.00,0.000,4,0.000,0.080,2543,3808,3747
$GC,731,-0.49,-97.8,85.8,-13.0,149,737,0.00,2.28,0.00,0.000,6,0.000,0.061,2543,2372,3748
$GC,871,-0.49,-97.8,98.7,-10.2,180,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2371,3747
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,955,-0.12,0.0,108.1,11.4,198,1033,0.45,0.00,71.97,0.634,6,0.213,0.000,2664,2470,3344
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1035,0.49,97.8,111.6,0.0,211,1118,0.73,2.35,73.62,0.617,4,0.181,0.044,2877,1024,2945
$GC,1129,0.49,97.8,106.5,7.2,227,1135,0.00,2.33,0.00,0.000,6,0.000,0.048,2877,2476,2945
$GC,1268,0.49,97.8,92.7,9.6,258,1274,0.00,2.12,0.00,0.000,4,0.000,0.052,2877,3806,2945
$GC,1285,0.49,97.8,90.8,10.0,261,1291,0.00,2.12,0.00,0.000,6,0.000,0.038,2888,2422,2945
$GC,1423,0.49,97.8,76.8,10.3,292,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2421,2945
$GC,1563,0.49,97.8,63.4,9.6,323,1569,0.00,2.12,0.00,0.000,4,0.000,0.046,2899,1014,2944
$GC,1584,0.49,97.8,61.4,9.7,327,1590,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,2479,2944
$GC,1722,0.49,97.8,47.5,10.0,358,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2479,2944
$GC,1860,0.49,97.8,33.9,9.4,389,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2479,2943
$GC,1931,0.49,97.8,27.4,9.4,405,1938,0.00,2.08,0.00,0.000,4,0.000,0.054,2898,3808,2943
$GC,1961,0.49,97.8,24.1,10.3,411,1968,0.10,2.10,0.00,0.000,6,0.189,0.039,2880,2427,2943
$GC,2033,0.49,97.8,17.8,7.9,427,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2427,2942
$GC,2105,0.49,97.8,12.4,7.5,443,2112,0.00,2.15,0.00,0.000,4,0.000,0.046,2890,1013,2942
$GC,2118,0.49,97.8,11.4,7.5,445,2125,0.00,2.25,0.00,0.000,6,0.000,0.051,2890,2467,2942
$GC,2191,0.52,117.2,6.5,6.1,461,2211,0.00,0.00,14.82,0.573,6,0.000,0.000,2890,2467,2866
$STATE,2266,end climb,SURFACE_DEPTH_REACHED
$STATE,2266,begin surface coast
$FINISH,1.6,1.020601
$STATE,2360,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2375,182.85,0.568,0,0,1366,485.20
$SM_GC,0.36,0.00,0.00,182.85,0.000,0.000,0.568,147,2338,1366,-8.04,-1.19,485.20
$IRIDIUM_FIX,4751.72,-12216.40,101098,080816
$TT8_MAMPS,0.027612
$HUMID,1849
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,15.50
$XPDR_PINGS,12
$24V_AH,24.5,1.802
$10V_AH,10.6,1.143
$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,19.225,40.800,160.425,182.850,0.000,81.916,197.554,190.520,4.750,0.000,0.000,41.028,780.289,387.086,448.562,1097.105,550.924,33.332,922.609,0.000,1063.311,0.000,12.107,0.000
$DEVICE_MAMPS,245.440,93.574,634.309,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.306,832.659,747.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,499
$CAP_FILE_SIZE,54800,0
$CFSIZE,260165632,257654784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,084613,4806.683,-12222.337,9,1.2,9,18.3