version: 66.04
glider: 162
mission: 2
dive: 15
start: 12 11 108 8 1 16
data:
$ID,162
$MISSION,2
$DIVE,15
$D_SURF,6
$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,62
$T_MISSION,80
$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,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,-4121.4292
$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,33
$R_STBD_OVSHOOT,20
$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,0
$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
$GPS1,075509,4806.255,-12221.992,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.0
$GPS2,080056,4806.220,-12221.940,44,1.9,44,18.3
$SPEED_LIMITS,0.140,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,304.0,4165,-20.3,-8.065
$D_GRID,108
$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,-1.02,-78.2,0.0,0.0,0,71,0.00,0.00,-54.03,0.000,2,0.000,0.000,174,2347,2731
$GC,73,-1.02,-78.2,3.2,-3.8,9,127,9.88,0.00,-37.85,0.000,6,0.267,0.000,2489,2347,3962
$GC,195,-1.02,-78.2,6.3,-1.5,30,201,0.00,2.28,0.00,0.000,4,0.000,0.052,2490,935,3963
$GC,454,-1.02,-78.2,19.3,-5.9,76,461,0.00,2.33,0.00,0.000,6,0.000,0.057,2483,2360,3962
$GC,530,-1.02,-78.2,24.3,-7.2,89,536,0.00,2.28,0.00,0.000,4,0.000,0.053,2484,944,3962
$GC,744,-1.02,-78.2,39.5,-7.1,127,750,0.00,2.30,0.00,0.000,6,0.000,0.058,2483,2363,3962
$GC,818,-1.02,-78.2,44.6,-6.8,140,824,0.00,2.33,0.00,0.000,4,0.000,0.076,2483,3765,3962
$GC,874,-1.02,-78.2,48.7,-7.5,150,881,0.00,2.28,0.00,0.000,6,0.000,0.050,2483,2355,3962
$GC,1016,-1.02,-78.2,58.5,-6.6,175,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2354,3962
$GC,1156,-1.02,-78.2,67.6,-6.4,200,1163,0.00,2.35,0.00,0.000,4,0.000,0.076,2483,3766,3962
$GC,1202,-1.02,-78.2,70.6,-6.5,208,1208,0.00,2.25,0.00,0.000,6,0.000,0.050,2483,2345,3962
$GC,1344,-1.02,-78.2,79.6,-6.2,233,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2345,3962
$GC,1485,-1.02,-78.2,88.7,-6.8,258,1492,0.00,2.35,0.00,0.000,4,0.000,0.074,2483,3765,3962
$GC,1520,-1.02,-78.2,90.9,-6.6,264,1526,0.00,2.25,0.00,0.000,6,0.000,0.049,2483,2333,3962
$GC,1661,-1.02,-78.2,99.5,-5.6,289,1667,0.00,2.38,0.00,0.000,4,0.000,0.074,2483,3762,3962
$GC,1707,-1.02,-78.2,102.3,-5.9,297,1713,0.00,2.22,0.00,0.000,6,0.000,0.048,2483,2351,3962
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1819,begin apogee
$GC,1822,-0.23,0.0,108.2,5.2,317,1873,0.80,0.00,45.12,0.737,6,0.137,0.000,2742,2350,3720
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1874,begin climb
$GC,1875,1.02,78.2,108.5,0.0,326,1943,1.10,0.00,59.78,0.704,6,0.066,0.000,3148,2350,3401
$GC,2078,1.02,78.2,88.2,12.1,362,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2350,3400
$GC,2218,1.02,78.2,71.6,11.6,387,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2350,3400
$GC,2357,1.02,78.2,55.9,11.0,412,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2350,3400
$GC,2498,1.02,78.2,41.4,10.4,437,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2350,3400
$GC,2638,1.02,78.2,26.9,10.3,462,2644,0.00,2.33,0.00,0.000,4,0.000,0.069,3148,3762,3400
$GC,2650,1.02,78.2,25.6,10.4,464,2656,0.00,2.25,0.00,0.000,6,0.000,0.048,3159,2343,3400
$GC,2723,1.02,78.2,18.1,10.0,477,2730,0.00,2.35,0.00,0.000,4,0.000,0.067,3159,3770,3400
$GC,2746,1.02,78.2,15.7,10.2,481,2753,0.00,2.25,0.00,0.000,6,0.000,0.048,3170,2346,3400
$GC,2820,1.02,78.7,8.9,8.0,494,2827,0.00,2.22,0.00,0.000,4,0.000,0.052,3180,941,3400
$GC,2844,1.04,97.5,7.4,6.8,498,2868,0.00,2.28,16.08,0.661,6,0.000,0.051,3180,2362,3321
$STATE,2872,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,5.2,1.021070
$STATE,3008,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3024,379.85,0.621,0,0,1274,600.00
$SM_GC,1.45,0.00,0.00,379.85,0.000,0.000,0.621,166,2362,1274,-8.30,0.34,600.00
$IRIDIUM_FIX,4751.72,-12056.72,070398,070713
$TT8_MAMPS,0.027612
$HUMID,1494
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,43.2
$24V_AH,24.7,2.714
$10V_AH,10.7,0.971
$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,20.475,41.250,120.975,379.850,0.000,28.888,31.538,177.325,0.500,0.000,0.000,44.829,818.944,1025.372,623.795,988.770,309.922,0.000,1088.748,0.000,953.897,0.000,5.542,0.000
$DEVICE_MAMPS,266.916,75.933,737.087,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.297,640.761,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25319,527
$CAP_FILE_SIZE,54662,0
$CFSIZE,260165632,258355200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,085845,4806.472,-12222.188,12,1.8,12,18.3