version: 66.04
glider: 160
mission: 2
dive: 21
start: 12 11 108 15 13 11
data:
$ID,160
$MISSION,2
$DIVE,21
$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,-6553.519
$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
$GPS1,150126,4807.418,-12223.443,37,1.3,37,18.3
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.5
$GPS2,151233,4807.396,-12223.487,11,1.4,11,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.155
$KALMAN_X,1428.4,201.3,12.0,-1907.8,9.8
$KALMAN_Y,-1739.9,21.0,157.1,271.3,-158.5
$MHEAD_RNG_PITCHd_Wd,317.8,1285,-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,11,-0.47,-97.8,0.0,0.0,0,62,0.00,0.00,-49.42,0.000,2,0.000,0.000,148,2294,2503
$GC,64,-0.47,-97.8,3.1,-2.6,9,130,9.10,2.30,-50.72,0.000,4,0.233,0.077,2500,893,3961
$GC,208,-0.47,-97.8,8.6,-4.8,36,215,0.00,2.35,0.00,0.000,6,0.000,0.061,2500,2307,3962
$GC,341,-0.47,-97.8,15.7,-5.4,61,348,0.00,2.35,0.00,0.000,4,0.000,0.073,2500,3714,3962
$GC,421,-0.47,-97.8,20.6,-6.2,76,428,0.00,2.30,0.00,0.000,6,0.000,0.053,2500,2300,3961
$GC,554,-0.47,-97.8,29.1,-6.4,101,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2300,3962
$GC,682,-0.47,-97.8,37.2,-6.6,125,689,0.00,2.35,0.00,0.000,4,0.000,0.073,2500,3710,3961
$GC,709,-0.47,-97.8,39.0,-6.7,130,716,0.00,2.28,0.00,0.000,6,0.000,0.053,2500,2299,3962
$GC,842,-0.47,-97.8,47.6,-6.4,155,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2299,3961
$GC,970,-0.47,-97.8,55.6,-6.2,179,977,0.00,2.35,0.00,0.000,4,0.000,0.074,2500,3713,3962
$GC,1002,-0.47,-97.8,57.6,-6.3,185,1009,0.00,2.28,0.00,0.000,6,0.000,0.052,2500,2295,3962
$GC,1135,-0.47,-97.8,65.8,-6.1,210,1142,0.00,2.38,0.00,0.000,4,0.000,0.075,2500,3717,3962
$GC,1172,-0.47,-97.8,68.1,-6.2,217,1179,0.00,2.28,0.00,0.000,6,0.000,0.053,2500,2295,3962
$GC,1305,-0.47,-97.8,76.1,-5.9,242,1312,0.00,2.28,0.00,0.000,4,0.000,0.063,2500,885,3962
$GC,1353,-0.47,-97.8,79.2,-6.6,251,1360,0.00,2.30,0.00,0.000,6,0.000,0.061,2500,2295,3961
$GC,1486,-0.47,-97.8,87.3,-5.6,276,1493,0.00,2.33,0.00,0.000,4,0.000,0.076,2500,3711,3961
$GC,1524,-0.47,-97.8,89.3,-5.7,283,1530,0.00,2.25,0.00,0.000,6,0.000,0.054,2500,2303,3962
$GC,1656,-0.47,-97.8,96.4,-5.1,308,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2303,3962
$GC,1785,-0.47,-97.8,102.8,-5.2,332,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2302,3962
$STATE,1789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1789,begin apogee
$GC,1792,-0.17,0.0,103.1,5.2,333,1862,0.28,0.00,67.32,0.724,6,0.110,0.000,2595,2302,3589
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1863,begin climb
$GC,1864,0.47,97.8,104.5,0.0,346,1944,0.57,0.00,73.57,0.679,6,0.084,0.000,2799,2302,3189
$GC,2071,0.47,97.8,92.7,6.6,385,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2302,3188
$GC,2199,0.47,97.8,84.5,6.1,409,2206,0.00,2.38,0.00,0.000,4,0.000,0.069,2799,3715,3188
$GC,2241,0.47,97.8,81.6,6.9,417,2248,0.00,2.30,0.00,0.000,6,0.000,0.048,2799,2296,3189
$GC,2375,0.47,97.8,73.1,6.1,442,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2296,3189
$GC,2503,0.47,97.8,65.2,5.9,466,2510,0.00,2.28,0.00,0.000,4,0.000,0.061,2799,894,3188
$GC,2529,0.47,97.8,63.6,6.1,471,2536,0.00,2.28,0.00,0.000,6,0.000,0.054,2799,2299,3188
$GC,2662,0.47,97.8,55.4,6.0,496,2669,0.00,2.33,0.00,0.000,4,0.000,0.071,2799,3712,3188
$GC,2721,0.47,97.8,51.5,6.9,507,2728,0.00,2.25,0.00,0.000,6,0.000,0.049,2803,2305,3189
$GC,2854,0.47,97.8,43.6,5.8,532,2861,0.00,2.33,0.00,0.000,4,0.000,0.068,2803,3714,3188
$GC,2891,0.47,97.8,41.2,6.1,539,2898,0.00,2.25,0.00,0.000,6,0.000,0.048,2806,2301,3188
$GC,3024,0.47,97.8,33.5,5.6,564,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2301,3188
$GC,3152,0.47,97.8,26.4,5.6,588,3159,0.00,2.33,0.00,0.000,4,0.000,0.067,2806,3718,3188
$GC,3184,0.47,97.8,24.2,6.2,594,3191,0.00,2.25,0.00,0.000,6,0.000,0.049,2809,2301,3188
$GC,3317,0.47,97.8,16.4,6.0,619,3324,0.00,2.30,0.00,0.000,4,0.000,0.067,2809,3707,3188
$GC,3338,0.47,97.8,15.0,6.0,623,3345,0.00,2.25,0.00,0.000,6,0.000,0.051,2809,2296,3189
$GC,3472,0.47,100.0,8.1,4.9,648,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2296,3188
$STATE,3513,end climb,SURFACE_DEPTH_REACHED
$STATE,3513,begin surface coast
$FINISH,3.7,1.021242
$STATE,3648,end surface coast,CONTROL_FINISHED_OK
$STATE,3648,begin surface
$SM_CCo,3659,358.50,0.614,0,0,1223,580.13
$SM_GC,2.26,0.00,0.00,358.50,0.000,0.000,0.614,150,2295,1223,-7.83,-0.14,580.13
$IRIDIUM_FIX,4751.72,-12223.57,070398,151518
$TT8_MAMPS,0.051389
$HUMID,1480
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.2,6.288
$10V_AH,10.7,2.180
$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,17.100,59.850,140.900,358.500,0.000,72.089,169.792,238.227,0.000,0.000,0.000,13.045,0.000,2229.948,685.082,1223.745,543.918,33.317,1210.792,0.000,990.501,0.000,1.136,0.000
$DEVICE_MAMPS,233.168,76.700,724.048,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28489,681
$CAP_FILE_SIZE,69343,0
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,162039,4807.707,-12223.626,12,1.3,12,18.3