version: 66.04
glider: 162
mission: 2
dive: 20
start: 12 11 108 13 3 59
data:
$ID,162
$MISSION,2
$DIVE,20
$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,620
$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,-4236.9023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,2790
$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,24
$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,0
$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
$GPS1,125839,4807.401,-12222.909,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.2
$GPS2,130338,4807.390,-12222.910,12,1.6,16,18.3
$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,291.7,1758,-20.3,-8.065
$D_GRID,107
$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,12,begin dive
$GC,14,-1.02,-78.2,0.0,0.0,0,127,0.00,0.00,-108.30,0.000,6,0.000,0.000,173,2349,3963
$GC,129,-1.02,-78.2,3.2,-2.6,19,142,9.80,0.00,0.00,0.000,6,0.272,0.000,2456,2348,3963
$GC,210,-1.02,-78.2,9.1,-4.8,33,216,0.00,2.40,0.00,0.000,4,0.000,0.075,2455,3761,3963
$GC,453,-1.02,-78.2,24.7,-7.3,76,459,0.00,2.25,0.00,0.000,6,0.000,0.048,2455,2350,3963
$GC,527,-1.02,-78.2,30.2,-7.2,89,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2350,3963
$GC,602,-1.02,-78.2,35.7,-7.9,102,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2350,3963
$GC,675,-1.02,-78.2,41.5,-7.9,115,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2350,3963
$GC,815,-1.02,-78.2,52.3,-7.4,140,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2350,3963
$GC,956,-1.02,-78.2,62.9,-7.7,165,962,0.00,2.35,0.00,0.000,4,0.000,0.075,2455,3754,3964
$GC,1029,-1.02,-78.2,68.4,-7.2,178,1035,0.00,2.22,0.00,0.000,6,0.000,0.049,2455,2347,3963
$GC,1171,-1.02,-78.2,78.4,-7.0,203,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2347,3963
$GC,1311,-1.02,-78.2,88.1,-6.6,228,1317,0.00,2.35,0.00,0.000,4,0.000,0.074,2455,3765,3963
$GC,1396,-1.02,-78.2,94.2,-7.1,243,1402,0.00,2.25,0.00,0.000,6,0.000,0.048,2455,2343,3963
$GC,1537,-1.02,-78.2,103.7,-6.1,268,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2343,3963
$STATE,1591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1591,begin apogee
$GC,1595,-0.23,0.0,107.2,6.1,278,1646,0.80,0.00,45.38,0.736,6,0.149,0.000,2708,2343,3719
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1648,1.02,78.2,107.8,0.0,287,1717,1.12,2.35,59.50,0.703,4,0.080,0.053,3122,942,3402
$GC,1751,1.02,78.2,100.2,10.6,305,1757,0.00,2.35,0.00,0.000,6,0.000,0.052,3122,2348,3401
$GC,1891,1.02,78.2,83.9,11.4,330,1898,0.00,2.38,0.00,0.000,4,0.000,0.068,3122,3767,3401
$GC,1954,1.02,78.2,76.0,12.7,341,1960,0.00,2.30,0.00,0.000,6,0.000,0.047,3133,2342,3401
$GC,2094,1.02,78.2,59.6,11.4,366,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2342,3401
$GC,2235,1.02,78.2,44.5,10.8,391,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2342,3401
$GC,2375,1.02,78.2,30.0,10.0,416,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2342,3401
$GC,2449,1.02,78.2,22.5,10.1,429,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2342,3401
$GC,2524,1.02,78.2,15.3,9.4,442,2530,0.00,2.33,0.00,0.000,4,0.000,0.067,3133,3759,3401
$GC,2547,1.02,78.2,13.0,9.7,446,2553,0.00,2.22,0.00,0.000,6,0.000,0.046,3144,2345,3401
$GC,2621,1.03,89.3,7.4,7.3,459,2634,0.00,0.00,10.18,0.640,6,0.000,0.000,3143,2345,3356
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2644,begin surface coast
$FINISH,3.3,1.021938
$STATE,2740,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2756,401.25,0.622,0,0,1192,620.12
$SM_GC,1.20,0.00,0.00,401.25,0.000,0.000,0.622,172,2344,1192,-8.18,-0.14,620.12
$IRIDIUM_FIX,4751.72,-12340.51,070398,121234
$TT8_MAMPS,0.026845
$HUMID,1516
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.6,3.244
$10V_AH,10.7,1.211
$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,20.275,27.750,115.050,401.250,0.000,23.903,35.784,160.590,0.000,0.000,0.000,16.188,745.423,926.983,642.003,872.758,286.952,0.000,1073.388,0.000,870.089,0.000,0.538,0.000
$DEVICE_MAMPS,271.518,75.166,735.553,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.128,582.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22207,480
$CAP_FILE_SIZE,49550,0
$CFSIZE,260165632,258199552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,135755,4807.604,-12223.126,27,1.3,45,18.3