version: 66.04
glider: 160
mission: 2
dive: 18
start: 12 11 108 11 25 43
data:
$ID,160
$MISSION,2
$DIVE,18
$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,-6467.8354
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2656
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,111959,4806.617,-12222.606,8,3.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-73.9
$GPS2,112504,4806.611,-12222.577,10,99.0,29,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.113
$KALMAN_X,1188.7,208.9,-32.1,-508.4,146.9
$KALMAN_Y,-1415.4,-144.2,109.1,-1295.0,87.0
$MHEAD_RNG_PITCHd_Wd,293.5,3117,-10.4,-5.000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.47,-97.8,0.0,0.0,0,72,0.00,0.00,-59.88,0.000,2,0.000,0.000,143,2299,2775
$GC,74,-0.47,-97.8,3.3,-2.4,11,129,9.12,2.35,-41.85,0.000,4,0.233,0.073,2501,890,3962
$GC,133,-0.47,-97.8,4.5,-1.4,22,140,0.00,2.35,0.00,0.000,6,0.000,0.061,2501,2298,3963
$GC,266,-0.47,-97.8,11.9,-5.3,47,273,0.00,2.38,0.00,0.000,4,0.000,0.076,2501,3713,3963
$GC,448,-0.47,-97.8,22.9,-6.7,81,454,0.00,2.28,0.00,0.000,6,0.000,0.051,2501,2304,3963
$GC,580,-0.47,-97.8,31.4,-6.2,106,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2304,3963
$GC,709,-0.47,-97.8,39.5,-6.4,130,716,0.00,2.35,0.00,0.000,4,0.000,0.075,2501,3709,3963
$GC,746,-0.47,-97.8,41.7,-6.1,137,753,0.00,2.28,0.00,0.000,6,0.000,0.054,2501,2300,3963
$GC,879,-0.47,-97.8,49.9,-6.1,162,886,0.00,2.28,0.00,0.000,4,0.000,0.060,2501,890,3963
$GC,916,-0.47,-97.8,52.3,-6.6,169,923,0.00,2.30,0.00,0.000,6,0.000,0.060,2502,2300,3963
$GC,1050,-0.47,-97.8,60.6,-6.2,194,1057,0.00,2.33,0.00,0.000,4,0.000,0.076,2501,3707,3963
$GC,1092,-0.47,-97.8,63.1,-6.1,202,1099,0.00,2.28,0.00,0.000,6,0.000,0.054,2501,2294,3963
$GC,1225,-0.47,-97.8,71.1,-5.8,227,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2295,3963
$GC,1354,-0.47,-97.8,78.5,-5.8,251,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2295,3963
$GC,1482,-0.47,-97.8,85.7,-5.6,275,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2295,3963
$GC,1610,-0.47,-97.8,93.0,-5.6,299,1617,0.00,2.35,0.00,0.000,4,0.000,0.077,2501,3713,3963
$GC,1647,-0.47,-97.8,95.1,-5.6,306,1654,0.00,2.25,0.00,0.000,6,0.000,0.054,2501,2301,3963
$GC,1781,-0.47,-97.8,102.0,-4.9,331,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2301,3963
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1838,begin apogee
$GC,1841,-0.17,0.0,105.0,5.1,342,1912,0.30,0.00,67.45,0.721,6,0.109,0.000,2606,2301,3589
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1913,0.47,97.8,106.3,0.0,355,1993,0.55,0.00,73.65,0.680,6,0.080,0.000,2804,2301,3188
$GC,2119,0.47,97.8,94.7,6.5,394,2126,0.00,2.38,0.00,0.000,4,0.000,0.067,2804,3703,3188
$GC,2151,0.47,97.8,92.3,7.0,400,2158,0.00,2.30,0.00,0.000,6,0.000,0.049,2809,2299,3188
$GC,2284,0.47,97.8,83.3,6.7,425,2291,0.00,2.35,0.00,0.000,4,0.000,0.067,2808,3705,3187
$GC,2327,0.47,97.8,80.2,7.3,433,2334,0.00,2.28,0.00,0.000,6,0.000,0.049,2809,2301,3187
$GC,2460,0.47,97.8,71.3,6.7,458,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2301,3188
$GC,2588,0.47,97.8,62.8,6.7,482,2595,0.00,2.28,0.00,0.000,4,0.000,0.058,2809,893,3187
$GC,2636,0.47,97.8,59.7,6.4,491,2643,0.00,2.28,0.00,0.000,6,0.000,0.051,2809,2308,3187
$GC,2769,0.47,97.8,51.2,6.3,516,2776,0.00,2.28,0.00,0.000,4,0.000,0.067,2809,3703,3187
$GC,2828,0.47,97.8,47.0,7.1,527,2835,0.00,2.25,0.00,0.000,6,0.000,0.050,2809,2299,3188
$GC,2961,0.47,97.8,39.0,6.0,552,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2299,3187
$GC,3089,0.47,97.8,31.5,5.7,576,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2299,3187
$GC,3217,0.47,97.8,23.7,6.1,600,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2299,3188
$GC,3346,0.47,97.8,16.1,6.0,624,3353,0.00,2.30,0.00,0.000,4,0.000,0.067,2809,3705,3187
$GC,3388,0.47,97.8,13.3,6.5,632,3395,0.00,2.22,0.00,0.000,6,0.000,0.051,2809,2304,3187
$GC,3521,0.47,101.0,6.6,4.9,657,3529,0.00,2.35,3.83,0.446,4,0.000,0.067,2809,3719,3177
$STATE,3537,end climb,SURFACE_DEPTH_REACHED
$STATE,3537,begin surface coast
$FINISH,5.3,1.022352
$STATE,3548,end surface coast,CONTROL_FINISHED_OK
$STATE,3548,begin surface
$SM_CCo,3561,355.35,0.614,0,0,1224,580.13
$SM_GC,2.11,0.00,0.00,355.35,0.000,0.000,0.614,149,2280,1224,-7.83,-0.57,580.13
$IRIDIUM_FIX,4748.51,-12226.29,070398,101050
$TT8_MAMPS,0.049855
$HUMID,1483
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,24.2,5.960
$10V_AH,10.7,2.075
$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,17.200,55.300,144.925,355.350,0.000,23.697,25.877,173.188,0.750,0.000,0.000,32.089,0.000,2060.929,669.778,1206.936,282.155,33.324,1179.903,0.000,963.087,0.000,0.837,0.000
$DEVICE_MAMPS,233.168,76.700,720.980,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28494,662
$CAP_FILE_SIZE,64482,0
$CFSIZE,260165632,258084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,123127,4806.875,-12222.863,9,1.6,9,18.3