version: 66.04
glider: 169
mission: 1
dive: 21
start: 7 16 109 9 51 9
data:
$ID,169
$MISSION,1
$DIVE,21
$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,-5861.8726
$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
$GPS1,093831,4806.784,-12222.451,8,1.9,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-77.6
$GPS2,095016,4806.754,-12222.438,14,3.3,33,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.115
$KALMAN_X,1089.7,282.8,174.4,-1285.5,231.1
$KALMAN_Y,2361.4,-210.8,-98.1,-3463.9,-64.8
$MHEAD_RNG_PITCHd_Wd,288.5,3009,-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,-92.90,0.000,6,0.000,0.000,147,2352,3745
$GC,112,-0.49,-97.8,3.7,-4.9,15,127,9.43,2.42,0.00,0.000,4,0.239,0.074,2542,3806,3746
$GC,145,-0.49,-97.8,12.6,-21.0,21,152,0.00,2.33,0.00,0.000,6,0.000,0.061,2541,2374,3747
$GC,216,-0.49,-97.8,22.4,-12.5,37,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2374,3747
$GC,289,-0.49,-97.8,31.6,-13.1,53,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2374,3747
$GC,359,-0.49,-97.8,41.2,-13.5,69,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2374,3748
$GC,498,-0.49,-97.8,59.7,-13.1,100,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2374,3747
$GC,638,-0.49,-97.8,77.3,-12.8,131,644,0.00,2.35,0.00,0.000,4,0.000,0.081,2541,3810,3748
$GC,664,-0.49,-97.8,80.7,-12.8,136,671,0.00,2.30,0.00,0.000,6,0.000,0.061,2541,2374,3747
$GC,805,-0.49,-97.8,97.7,-11.5,167,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2374,3748
$STATE,895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,895,begin apogee
$GC,899,-0.12,0.0,108.3,11.0,187,977,0.45,0.00,72.15,0.637,6,0.194,0.000,2668,2473,3344
$STATE,977,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,979,0.49,97.8,111.6,0.0,200,1063,0.70,2.38,73.88,0.620,4,0.176,0.044,2877,1009,2945
$GC,1089,0.49,97.8,104.0,9.3,220,1097,0.00,2.35,0.00,0.000,6,0.000,0.049,2877,2461,2945
$GC,1230,0.49,97.8,89.7,10.3,251,1236,0.00,2.12,0.00,0.000,4,0.000,0.054,2877,3810,2944
$GC,1262,0.49,97.8,85.8,11.5,258,1269,0.00,2.15,0.00,0.000,6,0.000,0.038,2888,2424,2944
$GC,1403,0.49,97.8,71.2,10.2,289,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2424,2944
$GC,1540,0.49,97.8,57.5,9.6,320,1547,0.00,2.15,0.00,0.000,4,0.000,0.046,2899,1019,2944
$GC,1552,0.49,97.8,56.2,9.6,322,1559,0.00,2.25,0.00,0.000,6,0.000,0.050,2899,2461,2944
$GC,1693,0.49,97.8,41.9,10.0,353,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2461,2943
$GC,1825,0.49,97.8,28.9,9.8,384,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2461,2942
$GC,1894,0.49,97.8,22.4,9.5,400,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2461,2942
$GC,1965,0.49,97.8,16.1,9.2,416,1972,0.00,2.10,0.00,0.000,4,0.000,0.054,2899,3804,2942
$GC,1979,0.49,97.8,14.6,9.3,418,1986,0.08,2.10,0.00,0.000,6,0.196,0.039,2887,2426,2942
$GC,2051,0.49,97.8,8.5,7.7,434,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2425,2942
$GC,2120,0.57,157.0,4.9,4.2,450,2172,0.00,2.20,43.10,0.588,4,0.000,0.046,2898,1019,2703
$STATE,2177,end climb,SURFACE_DEPTH_REACHED
$STATE,2177,begin surface coast
$FINISH,2.0,1.020794
$STATE,2207,end surface coast,CONTROL_FINISHED_OK
$STATE,2207,begin surface
$SM_CCo,2224,162.25,0.564,0,0,1366,485.20
$SM_GC,0.59,0.00,0.00,162.25,0.000,0.000,0.564,144,2396,1366,-8.05,0.45,485.20
$IRIDIUM_FIX,4748.51,-12226.29,101098,090940
$TT8_MAMPS,0.027612
$HUMID,1834
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,14.80
$XPDR_PINGS,9
$24V_AH,24.4,1.965
$10V_AH,10.6,1.268
$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,19.100,31.550,189.125,162.250,0.000,69.604,77.599,323.862,4.000,0.000,0.000,34.137,717.706,368.478,437.670,1018.484,556.225,33.332,892.050,0.000,988.251,0.000,12.708,0.000
$DEVICE_MAMPS,238.537,89.739,637.377,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.274,767.141,692.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31933,466
$CAP_FILE_SIZE,54565,0
$CFSIZE,260165632,257581056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,103152,4806.894,-12222.509,11,5.0,30,18.3