version: 66.04
glider: 160
mission: 2
dive: 20
start: 12 11 108 13 53 25
data:
$ID,160
$MISSION,2
$DIVE,20
$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,-6539.8442
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,134723,4807.141,-12223.176,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.5
$GPS2,135247,4807.141,-12223.195,14,2.1,33,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.138
$KALMAN_X,1403.7,215.8,-22.4,-1502.5,111.4
$KALMAN_Y,-1666.8,-26.5,228.8,-298.8,-103.3
$MHEAD_RNG_PITCHd_Wd,306.4,1876,-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,-97.8,0.0,0.0,0,73,0.00,0.00,-59.88,0.000,2,0.000,0.000,147,2296,2757
$GC,75,-0.47,-97.8,3.1,-2.5,11,130,9.18,2.38,-42.08,0.000,4,0.236,0.077,2502,876,3963
$GC,369,-0.47,-97.8,17.8,-6.7,66,376,0.00,2.35,0.00,0.000,6,0.000,0.058,2502,2305,3963
$GC,502,-0.47,-97.8,26.7,-6.7,91,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2305,3963
$GC,630,-0.47,-97.8,35.2,-6.4,115,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2305,3963
$GC,759,-0.47,-97.8,43.1,-6.2,139,766,0.00,2.33,0.00,0.000,4,0.000,0.074,2502,3708,3963
$GC,796,-0.47,-97.8,45.4,-6.0,146,803,0.00,2.28,0.00,0.000,6,0.000,0.054,2502,2300,3963
$GC,929,-0.47,-97.8,53.2,-5.8,171,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2299,3963
$GC,1057,-0.47,-97.8,60.3,-5.4,195,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2299,3963
$GC,1185,-0.47,-97.8,67.4,-5.5,219,1192,0.00,2.33,0.00,0.000,4,0.000,0.073,2502,3704,3963
$GC,1228,-0.47,-97.8,69.8,-5.6,227,1235,0.00,2.25,0.00,0.000,6,0.000,0.054,2502,2301,3963
$GC,1361,-0.47,-97.8,77.0,-5.4,252,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2301,3963
$GC,1489,-0.47,-97.8,83.5,-5.0,276,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2301,3963
$GC,1618,-0.47,-97.8,90.1,-5.1,300,1625,0.00,2.33,0.00,0.000,4,0.000,0.073,2502,3711,3963
$GC,1687,-0.47,-97.8,93.6,-5.2,313,1694,0.00,2.25,0.00,0.000,6,0.000,0.054,2502,2301,3963
$GC,1820,-0.47,-97.8,100.3,-4.7,338,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2301,3963
$STATE,1878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1878,begin apogee
$GC,1881,-0.17,0.0,103.1,4.6,349,1951,0.28,0.00,67.30,0.719,6,0.110,0.000,2599,2301,3589
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1952,begin climb
$GC,1953,0.47,97.8,104.3,0.0,362,2033,0.57,0.00,73.53,0.680,6,0.082,0.000,2803,2300,3189
$GC,2159,0.47,97.8,92.2,7.0,401,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2301,3188
$GC,2287,0.47,97.8,83.9,6.4,425,2294,0.00,2.38,0.00,0.000,4,0.000,0.067,2803,3716,3188
$GC,2351,0.47,97.8,79.1,7.4,437,2358,0.00,2.30,0.00,0.000,6,0.000,0.048,2807,2295,3188
$GC,2484,0.47,97.8,70.5,6.5,462,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2295,3188
$GC,2612,0.47,97.8,62.1,6.4,486,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2295,3188
$GC,2741,0.47,97.8,54.0,6.3,510,2748,0.00,2.35,0.00,0.000,4,0.000,0.069,2807,3715,3188
$GC,2804,0.47,97.8,49.3,7.4,522,2811,0.00,2.25,0.00,0.000,6,0.000,0.048,2809,2303,3187
$GC,2938,0.47,97.8,41.0,6.1,547,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2303,3188
$GC,3066,0.47,97.8,33.0,6.2,571,3073,0.00,2.30,0.00,0.000,4,0.000,0.067,2809,3705,3187
$GC,3103,0.47,97.8,30.4,6.6,578,3110,0.00,2.25,0.00,0.000,6,0.000,0.050,2809,2295,3188
$GC,3236,0.47,97.8,22.3,5.9,603,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2295,3188
$GC,3365,0.47,97.8,15.2,5.4,627,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2295,3188
$GC,3493,0.52,140.7,9.4,3.5,651,3527,0.00,0.00,31.62,0.660,6,0.000,0.000,2809,2295,3014
$STATE,3567,end climb,SURFACE_DEPTH_REACHED
$STATE,3567,begin surface coast
$FINISH,3.5,1.021154
$STATE,3695,end surface coast,CONTROL_FINISHED_OK
$STATE,3695,begin surface
$SM_CCo,3707,326.70,0.611,0,0,1223,580.13
$SM_GC,2.32,0.00,0.00,326.70,0.000,0.000,0.611,148,2294,1223,-7.84,-0.17,580.13
$IRIDIUM_FIX,4751.72,-12226.29,070398,121248
$TT8_MAMPS,0.051389
$HUMID,1489
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,19.60
$XPDR_PINGS,7
$24V_AH,24.2,6.173
$10V_AH,10.7,2.143
$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,17.225,32.300,172.450,326.700,0.000,25.184,26.220,187.022,1.750,0.000,0.000,36.542,0.000,2189.140,621.429,1242.193,295.567,33.315,1141.431,0.000,1001.945,0.000,0.835,0.000
$DEVICE_MAMPS,236.236,76.700,719.446,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28429,689
$CAP_FILE_SIZE,61976,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,150126,4807.418,-12223.443,37,1.3,37,18.3