version: 66.04
glider: 160
mission: 2
dive: 17
start: 12 11 108 10 11 25
data:
$ID,160
$MISSION,2
$DIVE,17
$D_SURF,6
$D_FLARE,3
$D_TGT,132
$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,88
$T_MISSION,95
$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,580
$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,-6435.1162
$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,20
$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
$GPS1,100311,4806.328,-12222.321,6,2.2,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-75.9
$GPS2,101047,4806.294,-12222.306,10,2.3,29,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.111
$KALMAN_X,1004.9,168.3,-19.3,40.1,161.2
$KALMAN_Y,-1349.5,-180.3,-33.4,-1768.8,111.5
$MHEAD_RNG_PITCHd_Wd,292.5,3790,-10.4,-5.000
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.47,-97.8,0.0,0.0,0,63,0.00,0.00,-49.17,0.000,2,0.000,0.000,152,2300,2585
$GC,64,-0.47,-97.8,3.1,-1.9,9,125,8.88,2.42,-47.80,0.000,4,0.227,0.087,2488,3714,3963
$GC,364,-0.47,-97.8,17.5,-6.6,65,371,0.00,2.28,0.00,0.000,6,0.000,0.051,2488,2305,3963
$GC,497,-0.47,-97.8,26.6,-7.0,90,504,0.00,2.38,0.00,0.000,4,0.000,0.075,2488,3715,3963
$GC,615,-0.47,-97.8,35.1,-7.4,112,621,0.00,2.28,0.00,0.000,6,0.000,0.052,2488,2302,3963
$GC,748,-0.47,-97.8,44.5,-7.3,137,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2302,3963
$GC,876,-0.47,-97.8,54.0,-7.5,161,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2302,3963
$GC,1004,-0.47,-97.8,63.0,-6.8,185,1011,0.00,2.35,0.00,0.000,4,0.000,0.074,2488,3714,3963
$GC,1036,-0.47,-97.8,64.9,-6.7,191,1043,0.00,2.28,0.00,0.000,6,0.000,0.052,2488,2293,3963
$GC,1169,-0.47,-97.8,73.9,-6.6,216,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2293,3963
$GC,1298,-0.47,-97.8,82.0,-6.3,240,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2293,3962
$GC,1426,-0.47,-97.8,90.2,-6.2,264,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2293,3963
$GC,1554,-0.47,-97.8,98.0,-6.0,288,1561,0.00,2.35,0.00,0.000,4,0.000,0.077,2488,3708,3963
$GC,1602,-0.47,-97.8,100.8,-5.9,297,1609,0.00,2.28,0.00,0.000,6,0.000,0.055,2488,2289,3963
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1710,-0.17,0.0,107.2,6.0,317,1781,0.28,0.00,67.35,0.728,6,0.115,0.000,2583,2290,3589
$STATE,1781,end apogee,CONTROL_FINISHED_OK
$STATE,1781,begin climb
$GC,1783,0.47,97.8,109.0,0.0,330,1862,0.60,0.00,73.57,0.685,6,0.090,0.000,2791,2289,3190
$GC,1989,0.47,97.8,98.1,6.4,369,1996,0.00,2.42,0.00,0.000,4,0.000,0.071,2791,3711,3188
$GC,2042,0.47,97.8,94.5,6.9,379,2049,0.00,2.30,0.00,0.000,6,0.000,0.051,2795,2307,3189
$GC,2175,0.47,97.8,85.8,6.3,404,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2307,3188
$GC,2303,0.47,97.8,77.9,6.1,428,2310,0.00,2.35,0.00,0.000,4,0.000,0.070,2795,3715,3188
$GC,2340,0.47,97.8,75.3,6.8,435,2347,0.00,2.28,0.00,0.000,6,0.000,0.049,2795,2302,3189
$GC,2474,0.47,97.8,67.4,5.7,460,2481,0.00,2.30,0.00,0.000,4,0.000,0.058,2796,876,3189
$GC,2500,0.47,97.8,66.0,5.6,465,2507,0.00,2.30,0.00,0.000,6,0.000,0.051,2796,2307,3188
$GC,2633,0.47,97.8,58.4,5.9,490,2640,0.00,2.30,0.00,0.000,4,0.000,0.068,2796,3711,3188
$GC,2708,0.47,97.8,53.5,6.8,504,2715,0.00,2.28,0.00,0.000,6,0.000,0.049,2796,2288,3188
$GC,2841,0.47,97.8,45.5,5.9,529,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2288,3189
$GC,2969,0.47,97.8,38.3,5.6,553,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2288,3188
$GC,3097,0.47,97.8,31.0,5.6,577,3104,0.00,2.35,0.00,0.000,4,0.000,0.071,2796,3713,3188
$GC,3134,0.47,97.8,28.8,5.8,584,3142,0.00,2.25,0.00,0.000,6,0.000,0.050,2796,2299,3188
$GC,3268,0.47,97.8,21.5,5.4,609,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2299,3189
$GC,3396,0.47,97.8,14.8,5.3,633,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2299,3189
$GC,3525,0.47,101.1,8.3,4.9,657,3533,0.00,2.35,4.28,0.482,4,0.000,0.068,2796,3716,3175
$GC,3547,0.48,108.1,7.2,4.8,661,3559,0.00,2.25,6.57,0.561,6,0.000,0.050,2796,2299,3148
$STATE,3572,end climb,SURFACE_DEPTH_REACHED
$STATE,3572,begin surface coast
$FINISH,4.5,1.021935
$STATE,3706,end surface coast,CONTROL_FINISHED_OK
$STATE,3706,begin surface
$SM_CCo,3718,350.30,0.617,0,0,1223,580.13
$SM_GC,2.43,0.00,0.00,350.30,0.000,0.000,0.617,142,2298,1223,-7.82,-0.06,580.13
$IRIDIUM_FIX,4751.72,-12223.57,070398,101002
$TT8_MAMPS,0.050622
$HUMID,1483
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,24.2,5.857
$10V_AH,10.7,2.041
$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,16.900,46.325,151.775,350.300,0.000,48.044,114.243,151.648,0.250,0.000,0.000,32.510,0.000,2245.636,650.664,1253.097,374.309,33.339,1173.599,0.000,1004.710,0.000,0.836,0.000
$DEVICE_MAMPS,227.032,86.671,727.883,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28514,691
$CAP_FILE_SIZE,64608,0
$CFSIZE,260165632,258117632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,111959,4806.617,-12222.606,8,3.7,27,18.3