version: 66.04
glider: 169
mission: 1
dive: 23
start: 7 16 109 11 30 20
data:
$ID,169
$MISSION,1
$DIVE,23
$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,-5908.4092
$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
$GPS1,112344,4807.007,-12222.611,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-75.0
$GPS2,112926,4806.979,-12222.604,13,1.9,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,0.092
$KALMAN_X,1888.6,389.6,30.6,-2251.4,338.0
$KALMAN_Y,2189.8,-395.9,12.1,-2800.7,-88.1
$MHEAD_RNG_PITCHd_Wd,280.3,2559,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.49,-97.8,0.0,0.0,0,111,0.00,0.00,-92.90,0.000,6,0.000,0.000,138,2352,3745
$GC,113,-0.49,-97.8,3.8,-4.9,15,128,9.43,2.45,0.00,0.000,4,0.233,0.074,2542,3809,3746
$GC,142,-0.49,-97.8,11.9,-19.7,20,149,0.00,2.35,0.00,0.000,6,0.000,0.062,2542,2374,3746
$GC,213,-0.49,-97.8,21.5,-12.0,36,220,0.00,2.40,0.00,0.000,4,0.000,0.082,2542,3791,3747
$GC,231,-0.49,-97.8,23.8,-12.3,39,238,0.00,2.33,0.00,0.000,6,0.000,0.064,2542,2372,3747
$GC,303,-0.49,-97.8,33.4,-13.3,55,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3747
$GC,373,-0.49,-97.8,42.6,-13.2,71,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3747
$GC,510,-0.49,-97.8,60.7,-12.5,102,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3747
$GC,652,-0.49,-97.8,79.4,-13.4,133,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3747
$GC,790,-0.49,-97.8,97.2,-12.4,164,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3747
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,872,begin apogee
$GC,875,-0.12,0.0,107.2,12.1,182,954,0.45,0.00,72.40,0.639,6,0.186,0.000,2671,2470,3344
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,956,0.49,97.8,110.9,0.0,195,1040,0.68,2.38,73.88,0.621,4,0.167,0.044,2877,1009,2946
$GC,1046,0.50,102.2,106.0,6.8,210,1058,0.00,2.38,4.93,0.442,6,0.000,0.048,2877,2467,2928
$GC,1190,0.50,102.2,90.8,10.8,242,1197,0.00,2.15,0.00,0.000,4,0.000,0.053,2877,3809,2927
$GC,1219,0.50,102.2,87.3,11.6,248,1226,0.00,2.15,0.00,0.000,6,0.000,0.036,2888,2421,2927
$GC,1360,0.50,102.2,72.0,10.6,279,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2421,2927
$GC,1497,0.50,102.2,57.4,10.7,310,1504,0.00,2.15,0.00,0.000,4,0.000,0.044,2898,1014,2927
$GC,1514,0.50,102.2,55.7,10.7,313,1520,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,2478,2927
$GC,1652,0.50,102.2,41.0,10.3,344,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2478,2927
$GC,1788,0.50,102.2,27.6,9.5,375,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2478,2927
$GC,1858,0.50,102.2,21.0,8.9,391,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2478,2926
$GC,1930,0.50,102.2,14.8,8.7,407,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2478,2926
$GC,2001,0.50,102.2,9.0,8.4,423,2008,0.00,2.08,0.00,0.000,4,0.000,0.054,2899,3807,2926
$GC,2027,0.50,102.2,6.9,8.0,428,2033,0.00,2.10,0.00,0.000,6,0.000,0.037,2909,2419,2926
$GC,2098,0.59,177.6,3.9,3.4,444,2145,0.00,0.00,44.67,0.589,2,0.000,0.000,2910,2419,2677
$STATE,2145,end climb,SURFACE_DEPTH_REACHED
$STATE,2145,begin surface coast
$FINISH,2.4,1.019699
$STATE,2313,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2313,begin surface
$SM_CCo,2328,158.55,0.567,0,0,1366,485.20
$SM_GC,0.72,0.00,0.00,158.55,0.000,0.000,0.567,136,2352,1366,-8.07,-0.79,485.20
$IRIDIUM_FIX,4748.51,-12224.57,101098,101058
$TT8_MAMPS,0.027612
$HUMID,1866
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,15.60
$XPDR_PINGS,7
$24V_AH,24.4,2.119
$10V_AH,10.6,1.394
$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,18.775,27.375,195.875,158.550,0.000,23.822,29.189,207.635,3.500,0.000,0.000,13.624,757.125,246.843,432.388,1061.930,338.043,33.330,905.144,0.000,1053.421,0.000,12.114,0.000
$DEVICE_MAMPS,233.168,91.273,638.911,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.944,838.692,754.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31982,491
$CAP_FILE_SIZE,50416,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,121236,4807.109,-12222.735,13,1.7,24,18.3