version: 66.04
glider: 160
mission: 2
dive: 19
start: 12 11 108 12 40 52
data:
$ID,160
$MISSION,2
$DIVE,19
$D_SURF,6
$D_FLARE,3
$D_TGT,132
$D_ABORT,1050
$D_NO_BLEED,90
$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,88
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,580
$N_FILEKB,8
$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,-6502.6733
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2656
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-23.364115
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,123127,4806.875,-12222.863,9,1.6,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.8
$GPS2,124014,4806.870,-12222.881,15,1.3,32,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.127
$KALMAN_X,1335.9,221.5,-36.0,-1038.8,124.3
$KALMAN_Y,-1572.7,-82.5,212.8,-821.8,-12.3
$MHEAD_RNG_PITCHd_Wd,300.2,2509,-10.4,-5.000
$D_GRID,103
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.47,-97.8,0.0,0.0,0,84,0.00,0.00,-70.28,0.000,2,0.000,0.000,149,2281,3017
$GC,85,-0.47,-97.8,3.1,-1.7,13,135,9.10,2.25,-35.60,0.000,4,0.235,0.074,2498,894,3962
$GC,262,-0.47,-97.8,11.3,-5.4,46,269,0.00,2.30,0.00,0.000,6,0.000,0.058,2498,2289,3962
$GC,395,-0.47,-97.8,19.6,-6.2,71,402,0.00,2.38,0.00,0.000,4,0.000,0.074,2498,3712,3962
$GC,464,-0.47,-97.8,24.2,-6.8,84,471,0.00,2.28,0.00,0.000,6,0.000,0.051,2498,2304,3962
$GC,597,-0.47,-97.8,33.1,-6.7,109,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2304,3962
$GC,726,-0.47,-97.8,41.3,-6.2,133,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2304,3962
$GC,854,-0.47,-97.8,49.4,-6.5,157,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2304,3962
$GC,982,-0.47,-97.8,57.4,-6.3,181,989,0.00,2.35,0.00,0.000,4,0.000,0.074,2498,3714,3962
$GC,1019,-0.47,-97.8,59.8,-6.4,188,1026,0.00,2.28,0.00,0.000,6,0.000,0.051,2498,2291,3962
$GC,1152,-0.47,-97.8,68.0,-6.2,213,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2291,3962
$GC,1281,-0.47,-97.8,75.7,-6.1,237,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2291,3962
$GC,1409,-0.47,-97.8,83.4,-6.0,261,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2291,3963
$GC,1538,-0.47,-97.8,91.0,-5.8,285,1544,0.00,2.38,0.00,0.000,4,0.000,0.078,2498,3714,3962
$GC,1585,-0.47,-97.8,94.0,-6.2,294,1592,0.00,2.25,0.00,0.000,6,0.000,0.053,2498,2305,3963
$GC,1719,-0.47,-97.8,101.4,-5.3,319,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2304,3962
$STATE,1749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1749,begin apogee
$GC,1752,-0.17,0.0,103.3,5.6,325,1823,0.32,0.00,67.35,0.722,6,0.110,0.000,2611,2304,3588
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1824,0.47,97.8,104.5,0.0,338,1905,0.55,2.40,73.38,0.680,4,0.080,0.058,2809,885,3189
$GC,1924,0.47,97.8,99.9,5.9,357,1931,0.00,2.38,0.00,0.000,6,0.000,0.052,2809,2296,3189
$GC,2058,0.47,97.8,90.9,6.9,382,2065,0.00,2.38,0.00,0.000,4,0.000,0.068,2808,3711,3188
$GC,2121,0.47,97.8,85.9,7.8,394,2128,0.00,2.30,0.00,0.000,6,0.000,0.048,2809,2299,3188
$GC,2255,0.47,97.8,77.0,6.4,419,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2299,3188
$GC,2383,0.47,97.8,68.4,6.7,443,2390,0.00,2.35,0.00,0.000,4,0.000,0.067,2809,3714,3188
$GC,2425,0.47,97.8,65.1,7.6,451,2432,0.00,2.28,0.00,0.000,6,0.000,0.048,2809,2292,3188
$GC,2559,0.47,97.8,56.6,6.3,476,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2292,3188
$GC,2687,0.47,97.8,48.9,6.0,500,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2292,3188
$GC,2815,0.47,97.8,41.2,6.0,524,2822,0.00,2.35,0.00,0.000,4,0.000,0.071,2809,3712,3188
$GC,2858,0.47,97.8,38.2,6.7,532,2865,0.00,2.25,0.00,0.000,6,0.000,0.050,2809,2301,3188
$GC,2991,0.47,97.8,30.2,5.9,557,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2301,3188
$GC,3119,0.47,97.8,22.5,6.0,581,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2301,3188
$GC,3248,0.47,98.7,15.7,5.0,605,3255,0.00,2.30,0.00,0.000,4,0.000,0.067,2809,3709,3188
$GC,3290,0.47,98.7,13.0,6.1,613,3297,0.00,2.25,0.00,0.000,6,0.000,0.050,2809,2296,3188
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,4.3,1.021200
$STATE,3572,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3584,357.83,0.615,0,0,1223,580.13
$SM_GC,2.17,0.00,0.00,357.83,0.000,0.000,0.615,147,2295,1223,-7.85,-0.14,580.13
$IRIDIUM_FIX,4748.51,-12220.12,070398,121223
$TT8_MAMPS,0.050622
$HUMID,1488
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,24.2,6.070
$10V_AH,10.7,2.109
$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,17.125,41.675,140.725,357.825,0.000,54.118,61.464,251.032,0.750,0.000,0.000,34.211,0.000,2169.037,646.288,1211.538,439.733,33.315,1151.377,0.000,968.855,0.000,1.138,0.000
$DEVICE_MAMPS,235.469,78.234,721.747,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28504,666
$CAP_FILE_SIZE,65586,0
$CFSIZE,260165632,258048000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,134723,4807.141,-12223.176,11,2.5,30,18.3