version: 66.04
glider: 160
mission: 2
dive: 22
start: 12 11 108 16 26 55
data:
$ID,160
$MISSION,2
$DIVE,22
$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,-6585.6836
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,162039,4807.707,-12223.626,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.1
$GPS2,162617,4807.687,-12223.640,9,99.0,28,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.143
$KALMAN_X,1586.7,137.8,6.4,-2187.5,25.1
$KALMAN_Y,-1744.7,63.8,15.1,911.8,-131.4
$MHEAD_RNG_PITCHd_Wd,309.1,732,-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,10,begin dive
$GC,11,-0.47,-97.8,0.0,0.0,0,88,0.00,0.00,-74.85,0.000,2,0.000,0.000,150,2296,3144
$GC,90,-0.47,-97.8,3.1,-1.5,14,134,9.10,2.40,-30.12,0.000,4,0.235,0.090,2492,3711,3961
$GC,223,-0.47,-97.8,9.3,-5.0,39,230,0.00,2.30,0.00,0.000,6,0.000,0.051,2492,2302,3961
$GC,356,-0.47,-97.8,16.7,-5.7,64,363,0.00,2.30,0.00,0.000,4,0.000,0.061,2492,894,3961
$GC,431,-0.47,-97.8,21.9,-7.3,78,438,0.00,2.33,0.00,0.000,6,0.000,0.059,2492,2310,3962
$GC,564,-0.47,-97.8,31.3,-6.7,103,571,0.00,2.33,0.00,0.000,4,0.000,0.074,2492,3711,3962
$GC,595,-0.47,-97.8,33.6,-7.0,109,603,0.00,2.28,0.00,0.000,6,0.000,0.051,2492,2300,3962
$GC,729,-0.47,-97.8,42.6,-6.8,134,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2300,3962
$GC,857,-0.47,-97.8,51.4,-6.7,158,864,0.00,2.35,0.00,0.000,4,0.000,0.073,2492,3712,3961
$GC,916,-0.47,-97.8,55.5,-7.0,169,923,0.00,2.28,0.00,0.000,6,0.000,0.052,2492,2291,3961
$GC,1049,-0.47,-97.8,64.1,-6.3,194,1056,0.00,2.38,0.00,0.000,4,0.000,0.077,2492,3711,3961
$GC,1091,-0.47,-97.8,66.8,-6.4,202,1098,0.00,2.28,0.00,0.000,6,0.000,0.054,2492,2293,3961
$GC,1225,-0.47,-97.8,75.4,-6.2,227,1231,0.00,2.28,0.00,0.000,4,0.000,0.063,2492,891,3961
$GC,1261,-0.47,-97.8,78.0,-6.9,234,1268,0.00,2.30,0.00,0.000,6,0.000,0.062,2492,2302,3961
$GC,1395,-0.47,-97.8,86.5,-6.5,259,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2302,3962
$GC,1523,-0.47,-97.8,94.3,-6.0,283,1530,0.00,2.30,0.00,0.000,4,0.000,0.062,2492,890,3962
$GC,1576,-0.47,-97.8,98.0,-6.7,293,1583,0.00,2.30,0.00,0.000,6,0.000,0.062,2492,2305,3962
$STATE,1692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1692,begin apogee
$GC,1695,-0.17,0.0,105.0,6.1,315,1766,0.30,0.00,67.32,0.721,6,0.117,0.000,2595,2305,3589
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1767,0.47,97.8,106.8,0.0,328,1847,0.57,0.00,73.45,0.680,6,0.084,0.000,2799,2305,3189
$GC,1973,0.47,97.8,96.3,6.1,367,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2305,3188
$GC,2102,0.47,97.8,88.9,5.7,391,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2305,3188
$GC,2230,0.47,97.8,81.4,5.8,415,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2305,3188
$GC,2358,0.47,97.8,74.0,5.8,439,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2305,3188
$GC,2487,0.47,97.8,66.6,5.9,463,2494,0.00,2.33,0.00,0.000,4,0.000,0.069,2799,3713,3188
$GC,2513,0.47,97.8,65.0,6.3,468,2520,0.00,2.28,0.00,0.000,6,0.000,0.050,2802,2302,3188
$GC,2646,0.47,97.8,56.7,6.3,493,2653,0.00,2.33,0.00,0.000,4,0.000,0.067,2803,3711,3188
$GC,2684,0.47,97.8,54.0,7.0,500,2690,0.00,2.25,0.00,0.000,6,0.000,0.050,2803,2301,3188
$GC,2817,0.47,97.8,45.5,6.2,525,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2301,3188
$GC,2945,0.47,97.8,37.5,6.2,549,2952,0.00,2.33,0.00,0.000,4,0.000,0.067,2803,3717,3188
$GC,3003,0.47,97.8,33.5,7.2,560,3010,0.00,2.28,0.00,0.000,6,0.000,0.050,2803,2288,3188
$GC,3137,0.47,97.8,25.4,5.9,585,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2288,3188
$GC,3265,0.47,97.8,18.2,5.5,609,3272,0.00,2.35,0.00,0.000,4,0.000,0.071,2803,3715,3188
$GC,3296,0.47,97.8,16.1,5.9,615,3304,0.00,2.25,0.00,0.000,6,0.000,0.050,2803,2296,3188
$GC,3430,0.47,104.7,9.2,4.8,640,3443,0.00,2.35,6.45,0.560,4,0.000,0.069,2802,3717,3162
$GC,3489,0.49,115.5,6.5,4.6,651,3502,0.00,2.25,9.32,0.601,6,0.000,0.050,2803,2303,3117
$STATE,3504,end climb,SURFACE_DEPTH_REACHED
$STATE,3504,begin surface coast
$FINISH,4.0,1.021475
$STATE,3654,end surface coast,CONTROL_FINISHED_OK
$STATE,3654,begin surface
$SM_CCo,3666,345.42,0.614,0,0,1223,580.13
$SM_GC,2.38,0.00,0.00,345.42,0.000,0.000,0.614,144,2302,1223,-7.85,0.06,580.13
$IRIDIUM_FIX,4751.72,-12219.12,070398,151523
$TT8_MAMPS,0.051389
$HUMID,1484
$INTERNAL_PRESSURE,9.3011
$TCM_TEMP,19.60
$XPDR_PINGS,4
$24V_AH,24.2,6.393
$10V_AH,10.7,2.214
$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,17.150,55.350,156.550,345.425,0.000,30.739,29.102,195.203,1.000,0.000,0.000,31.536,0.000,2117.247,671.934,1241.106,316.173,33.314,1197.854,0.000,991.970,0.000,0.836,0.000
$DEVICE_MAMPS,234.702,89.739,720.980,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28481,682
$CAP_FILE_SIZE,65847,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,173438,4807.987,-12223.837,34,1.0,34,18.3