version: 66.04
glider: 162
mission: 2
dive: 10
start: 12 11 108 2 53 58
data:
$ID,162
$MISSION,2
$DIVE,10
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,600
$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,-3996.2158
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,214
$ROLL_MAX,3802
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,498
$VBD_MAX,3961
$C_VBD,3720
$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,-17.668421
$PRESSURE_SLOPE,0.0001156064
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043495079
$SEABIRD_T_H,0.00062862021
$SEABIRD_T_I,2.5575922e-05
$SEABIRD_T_J,2.9323719e-06
$SEABIRD_C_G,-9.95471
$SEABIRD_C_H,1.1163813
$SEABIRD_C_I,-0.00058590219
$SEABIRD_C_J,0.00013969469
$GPS1,024833,4806.375,-12222.303,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-68.2
$GPS2,025339,4806.321,-12222.263,15,1.7,15,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,133.1,678,-24.4,-10.000
$D_GRID,150
$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,13,begin dive
$GC,14,-1.20,-78.2,0.0,0.0,0,104,0.00,0.00,-86.90,0.000,2,0.000,0.000,168,2360,2692
$GC,106,-1.20,-78.2,3.1,-5.8,15,161,9.85,2.38,-34.88,0.000,4,0.277,0.067,2428,940,3964
$GC,234,-1.20,-78.2,10.2,-4.3,37,241,0.00,2.33,0.00,0.000,6,0.000,0.058,2428,2350,3964
$GC,308,-1.20,-78.2,13.1,-4.7,50,315,0.00,2.40,0.00,0.000,4,0.000,0.077,2427,3767,3964
$GC,399,-1.20,-78.2,17.9,-6.0,66,406,0.00,2.33,0.00,0.000,6,0.000,0.051,2427,2349,3963
$GC,474,-1.20,-78.2,22.9,-7.0,79,480,0.00,2.30,0.00,0.000,4,0.000,0.054,2428,940,3964
$GC,733,-1.20,-78.2,45.5,-9.0,125,739,0.00,2.30,0.00,0.000,6,0.000,0.059,2427,2352,3964
$GC,874,-1.20,-78.2,57.3,-7.7,150,880,0.00,2.28,0.00,0.000,4,0.000,0.054,2427,928,3964
$GC,953,-1.20,-78.2,64.2,-9.2,164,960,0.00,2.30,0.00,0.000,6,0.000,0.059,2427,2351,3964
$GC,1095,-1.20,-78.2,75.8,-8.1,189,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2351,3964
$GC,1237,-1.20,-78.2,86.9,-7.3,214,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2351,3964
$GC,1378,-1.20,-78.2,97.7,-7.3,239,1384,0.00,2.35,0.00,0.000,4,0.000,0.077,2427,3770,3964
$GC,1418,-1.20,-78.2,100.8,-7.8,246,1425,0.00,2.30,0.00,0.000,6,0.000,0.051,2427,2346,3964
$GC,1560,-1.20,-78.2,110.8,-7.2,271,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2346,3963
$STATE,1569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1569,begin apogee
$GC,1573,-0.23,0.0,111.4,6.3,273,1624,0.98,0.00,45.28,0.742,6,0.152,0.000,2736,2346,3720
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1626,1.20,78.2,112.1,0.0,282,1694,1.30,0.00,59.65,0.709,6,0.071,0.000,3206,2345,3400
$GC,1828,1.20,78.2,88.6,14.4,318,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2345,3400
$GC,1968,1.20,78.2,69.4,13.1,343,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2345,3399
$GC,2108,1.20,78.2,51.5,12.6,368,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2345,3399
$GC,2248,1.20,78.2,34.5,11.4,393,2255,0.00,2.35,0.00,0.000,4,0.000,0.067,3206,3767,3399
$GC,2294,1.20,78.2,28.6,13.1,401,2300,0.00,2.28,0.00,0.000,6,0.000,0.049,3217,2338,3399
$GC,2369,1.20,78.2,19.6,11.6,414,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2338,3399
$GC,2444,1.21,80.4,11.4,9.8,427,2450,0.00,2.22,0.00,0.000,4,0.000,0.055,3227,941,3399
$GC,2529,1.33,179.1,7.1,1.5,442,2611,0.00,2.30,74.70,0.660,6,0.000,0.054,3227,2349,2989
$GC,2679,1.48,298.7,6.7,-0.3,468,2773,0.17,0.00,89.78,0.637,6,0.077,0.000,3298,2349,2502
$GC,2842,1.62,419.9,5.8,-0.4,496,2931,0.12,0.00,85.75,0.626,2,0.080,0.000,3344,2349,2041
$STATE,2932,end climb,SURFACE_DEPTH_REACHED
$STATE,2932,begin surface coast
$FINISH,4.4,1.016431
$STATE,3089,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3089,begin surface
$SM_CCo,3105,144.48,0.622,0,0,1273,600.00
$SM_GC,0.80,0.00,0.00,144.48,0.000,0.000,0.622,174,2350,1273,-8.27,0.03,600.00
$IRIDIUM_FIX,4751.72,-12340.51,070398,010135
$TT8_MAMPS,0.026845
$HUMID,1521
$INTERNAL_PRESSURE,9.20731
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,35.8
$24V_AH,24.5,2.112
$10V_AH,10.6,0.723
$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,21.725,32.400,355.150,144.475,0.000,24.667,33.248,169.207,1.000,0.000,0.000,15.839,765.235,954.320,551.753,998.404,301.668,0.000,1082.679,0.000,987.779,0.000,9.929,0.000
$DEVICE_MAMPS,276.887,77.467,741.689,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.080,697.981,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25429,539
$CAP_FILE_SIZE,52745,0
$CFSIZE,260165632,258527232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,034907,4806.088,-12221.969,10,1.0,26,18.3