version: 66.04
glider: 162
mission: 2
dive: 22
start: 12 11 108 15 18 29
data:
$ID,162
$MISSION,2
$DIVE,22
$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,-4270.5581
$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,36
$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,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
$GPS1,150702,4807.750,-12223.370,10,1.3,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.1
$GPS2,151808,4807.688,-12223.423,10,1.3,15,18.3
$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,290.7,918,-20.3,-8.065
$D_GRID,105
$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,-78.2,0.0,0.0,0,115,0.00,0.00,-99.07,0.000,2,0.000,0.000,170,2334,3706
$GC,118,-1.02,-78.2,3.2,-2.3,17,143,10.10,2.50,-7.20,0.000,4,0.282,0.091,2454,3762,3963
$GC,396,-1.02,-78.2,17.4,-6.6,66,403,0.00,2.25,0.00,0.000,6,0.000,0.050,2455,2354,3963
$GC,472,-1.02,-78.2,22.5,-7.0,79,478,0.00,2.38,0.00,0.000,4,0.000,0.076,2455,3763,3963
$GC,596,-1.02,-78.2,32.4,-8.4,101,603,0.00,2.25,0.00,0.000,6,0.000,0.050,2455,2349,3963
$GC,670,-1.02,-78.2,38.1,-7.4,114,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2349,3963
$GC,744,-1.02,-78.2,43.6,-7.6,127,750,0.00,2.38,0.00,0.000,4,0.000,0.075,2454,3762,3963
$GC,834,-1.02,-78.2,50.6,-7.6,143,840,0.00,2.25,0.00,0.000,6,0.000,0.048,2455,2348,3963
$GC,975,-1.02,-78.2,61.5,-7.4,168,982,0.00,2.38,0.00,0.000,4,0.000,0.074,2454,3766,3963
$GC,1027,-1.02,-78.2,65.6,-7.8,177,1033,0.00,2.25,0.00,0.000,6,0.000,0.049,2455,2350,3963
$GC,1168,-1.02,-78.2,75.6,-7.0,202,1174,0.00,2.22,0.00,0.000,4,0.000,0.052,2455,941,3963
$GC,1202,-1.02,-78.2,78.0,-7.0,208,1208,0.00,2.28,0.00,0.000,6,0.000,0.056,2455,2358,3963
$GC,1343,-1.02,-78.2,87.8,-6.8,233,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2358,3963
$GC,1483,-1.02,-78.2,97.2,-6.3,258,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2358,3963
$STATE,1600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1600,begin apogee
$GC,1604,-0.23,0.0,105.2,6.7,279,1655,0.80,0.00,45.20,0.737,6,0.146,0.000,2708,2358,3720
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1657,1.02,78.2,106.0,0.0,288,1725,1.12,0.00,59.95,0.701,6,0.078,0.000,3113,2358,3400
$GC,1859,1.02,78.2,88.0,11.3,324,1865,0.00,2.33,0.00,0.000,4,0.000,0.054,3123,944,3400
$GC,1927,1.02,78.2,80.6,10.5,336,1933,0.00,2.33,0.00,0.000,6,0.000,0.053,3123,2360,3400
$GC,2068,1.02,78.2,65.1,11.0,361,2074,0.00,2.33,0.00,0.000,4,0.000,0.053,3133,933,3399
$GC,2125,1.02,78.2,58.9,10.9,371,2131,0.00,2.33,0.00,0.000,6,0.000,0.054,3133,2358,3399
$GC,2265,1.02,78.2,43.5,11.0,396,2271,0.00,2.30,0.00,0.000,4,0.000,0.068,3133,3761,3399
$GC,2305,1.02,78.2,38.9,11.7,403,2311,0.00,2.25,0.00,0.000,6,0.000,0.045,3144,2338,3400
$GC,2379,1.02,78.2,30.7,10.6,416,2385,0.00,2.35,0.00,0.000,4,0.000,0.067,3144,3762,3399
$GC,2458,1.02,78.2,21.6,11.6,430,2465,0.15,2.22,0.00,0.000,6,0.200,0.045,3119,2348,3399
$GC,2533,1.02,78.2,14.8,8.6,443,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2348,3400
$GC,2606,1.03,87.1,8.7,7.4,456,2620,0.00,2.35,8.57,0.629,4,0.000,0.066,3119,3770,3363
$STATE,2641,end climb,SURFACE_DEPTH_REACHED
$STATE,2641,begin surface coast
$FINISH,4.1,1.022291
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2665,begin surface
$SM_CCo,2682,403.98,0.617,0,0,1192,620.12
$SM_GC,1.07,0.00,0.00,403.98,0.000,0.000,0.617,168,2344,1192,-8.19,-0.17,620.12
$IRIDIUM_FIX,4751.72,-12340.51,070398,141427
$TT8_MAMPS,0.027612
$HUMID,1493
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.6,3.484
$10V_AH,10.7,1.314
$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,20.650,46.225,113.725,403.975,0.000,78.020,228.436,159.389,0.000,0.000,0.000,15.825,727.277,1014.406,648.928,844.814,534.969,0.000,1071.887,0.000,842.864,0.000,0.538,0.000
$DEVICE_MAMPS,282.256,90.506,737.087,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.482,559.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22228,466
$CAP_FILE_SIZE,51811,0
$CFSIZE,260165632,258138112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,161108,4807.870,-12223.615,39,0.8,39,18.3