version: 66.04
glider: 160
mission: 2
dive: 16
start: 12 11 108 9 7 48
data:
$ID,160
$MISSION,2
$DIVE,16
$D_SURF,6
$D_FLARE,3
$D_TGT,140
$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,67
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,560
$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,-6401.9785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$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,-23.364115
$PRESSURE_SLOPE,0.000115925
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,090008,4806.073,-12222.077,7,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.5
$GPS2,090709,4806.022,-12222.044,13,1.3,13,18.3
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.139
$KALMAN_X,897.7,148.0,22.3,447.2,99.0
$KALMAN_Y,-1316.4,-193.7,-130.4,-2198.4,38.9
$MHEAD_RNG_PITCHd_Wd,298.1,4390,-15.5,-6.965
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-97.8,0.0,0.0,0,93,0.00,0.00,-80.35,0.000,2,0.000,0.000,151,2302,2539
$GC,95,-0.64,-97.8,3.2,-2.3,15,155,8.85,2.42,-47.33,0.000,4,0.235,0.091,2436,3711,3963
$GC,394,-0.64,-97.8,22.3,-8.4,71,401,0.00,2.28,0.00,0.000,6,0.000,0.052,2436,2308,3963
$GC,527,-0.64,-97.8,34.1,-9.3,96,534,0.00,2.35,0.00,0.000,4,0.000,0.076,2436,3707,3963
$GC,580,-0.64,-97.8,39.1,-9.6,106,587,0.00,2.28,0.00,0.000,6,0.000,0.054,2436,2305,3963
$GC,713,-0.64,-97.8,51.9,-9.7,131,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2304,3963
$GC,842,-0.64,-97.8,64.0,-9.3,155,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2304,3964
$GC,970,-0.64,-97.8,75.6,-8.9,179,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2304,3963
$GC,1098,-0.64,-97.8,86.5,-8.4,203,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2304,3964
$GC,1227,-0.64,-97.8,97.5,-8.6,227,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2304,3964
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1346,-0.17,0.0,107.4,8.5,249,1416,0.45,0.00,67.68,0.731,6,0.130,0.000,2583,2304,3589
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1418,0.64,97.8,109.5,0.0,262,1497,0.75,0.00,73.70,0.686,6,0.090,0.000,2841,2304,3189
$GC,1624,0.64,97.8,94.9,8.7,301,1630,0.00,2.40,0.00,0.000,4,0.000,0.068,2841,3714,3188
$GC,1676,0.64,97.8,89.8,10.0,311,1684,0.00,2.33,0.00,0.000,6,0.000,0.047,2848,2292,3188
$GC,1810,0.64,97.8,78.3,8.4,336,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2292,3188
$GC,1938,0.64,97.8,67.8,8.3,360,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2291,3188
$GC,2066,0.64,97.8,57.5,7.9,384,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2291,3188
$GC,2195,0.64,97.8,47.4,7.8,408,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2292,3188
$GC,2323,0.64,97.8,37.3,7.8,432,2330,0.00,2.35,0.00,0.000,4,0.000,0.071,2849,3714,3188
$GC,2355,0.64,97.8,34.5,8.6,438,2362,0.00,2.28,0.00,0.000,6,0.000,0.050,2851,2296,3188
$GC,2488,0.64,97.8,24.2,7.5,463,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2297,3188
$GC,2616,0.64,97.8,14.7,7.3,487,2623,0.00,2.33,0.00,0.000,4,0.000,0.068,2851,3713,3188
$GC,2653,0.64,97.8,11.8,8.0,494,2660,0.00,2.25,0.00,0.000,6,0.000,0.050,2851,2302,3188
$STATE,2753,end climb,SURFACE_DEPTH_REACHED
$STATE,2753,begin surface coast
$FINISH,5.1,1.022298
$STATE,2925,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2925,begin surface
$SM_CCo,2937,341.70,0.620,0,0,1306,560.02
$SM_GC,2.58,0.00,0.00,341.70,0.000,0.000,0.620,152,2300,1306,-7.79,0.00,560.02
$IRIDIUM_FIX,4748.51,-12224.57,070398,090957
$TT8_MAMPS,0.050622
$HUMID,1498
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,24.2,5.750
$10V_AH,10.7,2.006
$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,17.400,23.250,141.375,341.700,0.000,53.046,108.292,139.986,0.750,0.000,0.000,15.494,0.000,1765.718,607.951,978.033,349.921,33.363,1029.132,0.000,795.100,0.000,0.835,0.000
$DEVICE_MAMPS,234.702,90.506,730.951,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22166,545
$CAP_FILE_SIZE,49879,0
$CFSIZE,260165632,258170880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,100311,4806.328,-12222.321,6,2.2,25,18.3