version: 66.04
glider: 162
mission: 2
dive: 21
start: 12 11 108 14 12 53
data:
$ID,162
$MISSION,2
$DIVE,21
$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,-4254.1045
$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,22
$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
$GPS1,135755,4807.604,-12223.126,27,1.3,45,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.9
$GPS2,141232,4807.570,-12223.139,11,1.3,16,18.3
$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,288.5,1330,-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,13,-1.02,-78.2,0.0,0.0,0,132,0.00,0.00,-113.70,0.000,6,0.000,0.000,173,2345,3963
$GC,134,-1.02,-78.2,3.2,-3.5,20,147,9.73,0.00,0.00,0.000,6,0.272,0.000,2457,2345,3963
$GC,215,-1.02,-78.2,9.4,-4.2,34,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2345,3963
$GC,288,-1.02,-78.2,12.5,-4.0,47,294,0.00,2.25,0.00,0.000,4,0.000,0.052,2458,939,3963
$GC,429,-1.02,-78.2,20.9,-6.9,72,436,0.00,2.33,0.00,0.000,6,0.000,0.058,2456,2369,3963
$GC,504,-1.02,-78.2,26.0,-6.8,85,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2369,3963
$GC,578,-1.02,-78.2,31.3,-7.3,98,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2369,3963
$GC,651,-1.02,-78.2,37.0,-7.5,111,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2368,3963
$GC,724,-1.02,-78.2,42.9,-8.3,124,730,0.00,2.33,0.00,0.000,4,0.000,0.076,2456,3771,3963
$GC,798,-1.02,-78.2,49.0,-8.1,137,804,0.00,2.28,0.00,0.000,6,0.000,0.050,2455,2346,3963
$GC,939,-1.02,-78.2,59.8,-7.5,162,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2346,3963
$GC,1079,-1.02,-78.2,69.9,-7.3,187,1085,0.00,2.38,0.00,0.000,4,0.000,0.074,2455,3769,3963
$GC,1114,-1.02,-78.2,72.6,-7.6,193,1120,0.00,2.28,0.00,0.000,6,0.000,0.049,2455,2332,3963
$GC,1255,-1.02,-78.2,82.2,-6.3,218,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2332,3963
$GC,1396,-1.02,-78.2,91.2,-6.0,243,1402,0.00,2.38,0.00,0.000,4,0.000,0.075,2455,3759,3963
$GC,1486,-1.02,-78.2,97.5,-6.9,259,1492,0.00,2.22,0.00,0.000,6,0.000,0.048,2455,2349,3963
$GC,1627,-1.02,-78.2,106.5,-6.2,284,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2349,3963
$STATE,1636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1637,begin apogee
$GC,1640,-0.23,0.0,107.1,6.0,286,1692,0.80,0.00,45.35,0.742,6,0.144,0.000,2709,2348,3719
$STATE,1692,end apogee,CONTROL_FINISHED_OK
$STATE,1692,begin climb
$GC,1694,1.02,78.2,108.0,0.0,295,1761,1.12,0.00,59.88,0.708,6,0.079,0.000,3112,2348,3400
$GC,1897,1.02,78.2,89.4,10.9,331,1903,0.00,2.33,0.00,0.000,4,0.000,0.054,3123,932,3399
$GC,1925,1.02,78.2,86.1,11.6,336,1931,0.00,2.35,0.00,0.000,6,0.000,0.054,3123,2358,3399
$GC,2066,1.02,78.2,70.4,10.9,361,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2358,3399
$GC,2205,1.02,78.2,54.6,11.3,386,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2358,3399
$GC,2346,1.02,78.2,39.4,10.5,411,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2359,3399
$GC,2419,1.02,78.2,31.9,10.5,424,2425,0.00,2.30,0.00,0.000,4,0.000,0.068,3123,3761,3400
$GC,2493,1.02,78.2,23.6,11.1,437,2499,0.00,2.25,0.00,0.000,6,0.000,0.046,3134,2332,3399
$GC,2567,1.02,78.2,15.9,10.6,450,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2333,3399
$GC,2640,1.02,78.2,9.1,9.0,463,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2333,3399
$STATE,2683,end climb,SURFACE_DEPTH_REACHED
$STATE,2683,begin surface coast
$FINISH,3.8,1.022132
$STATE,2780,end surface coast,CONTROL_FINISHED_OK
$STATE,2780,begin surface
$SM_CCo,2795,409.27,0.627,0,0,1191,620.12
$SM_GC,1.15,0.00,0.00,409.27,0.000,0.000,0.627,170,2333,1191,-8.19,-0.48,620.12
$IRIDIUM_FIX,4751.72,-12340.51,070398,141453
$TT8_MAMPS,0.027612
$HUMID,1493
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.6,3.368
$10V_AH,10.7,1.265
$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,20.125,27.650,105.225,409.275,0.000,109.203,258.905,245.292,0.000,0.000,0.000,16.574,752.829,1114.582,655.560,888.908,688.484,0.000,1097.026,0.000,882.275,0.000,0.538,0.000
$DEVICE_MAMPS,271.518,75.933,741.689,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.421,590.660,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22233,488
$CAP_FILE_SIZE,54429,0
$CFSIZE,260165632,258166784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,150702,4807.750,-12223.370,10,1.3,10,18.3