version: 66.04
glider: 162
mission: 2
dive: 8
start: 12 11 108 0 52 4
data:
$ID,162
$MISSION,2
$DIVE,8
$D_SURF,4
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,600
$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,-3963.1765
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,2820
$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,35
$R_STBD_OVSHOOT,22
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,004701,4806.976,-12223.056,36,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-67.3
$GPS2,005145,4806.946,-12223.054,14,1.4,14,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,125.1,2184,-24.4,-10.000
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.20,-78.2,0.0,0.0,0,111,0.00,0.00,-93.65,0.000,2,0.000,0.000,170,2331,2870
$GC,113,-1.20,-78.2,3.2,-4.9,16,167,9.75,2.30,-35.72,0.000,4,0.273,0.071,2427,947,3963
$GC,421,-1.20,-78.2,17.7,-6.4,70,427,0.00,2.30,0.00,0.000,6,0.000,0.061,2427,2351,3963
$GC,496,-1.20,-78.2,23.1,-7.4,83,502,0.00,2.28,0.00,0.000,4,0.000,0.056,2427,943,3963
$GC,514,-1.20,-78.2,24.6,-7.8,86,520,0.00,2.30,0.00,0.000,6,0.000,0.060,2427,2352,3963
$GC,588,-1.20,-78.2,30.8,-8.2,99,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2352,3963
$GC,661,-1.20,-78.2,37.0,-7.7,112,668,0.00,2.35,0.00,0.000,4,0.000,0.078,2427,3760,3963
$GC,724,-1.20,-78.2,42.5,-8.9,123,730,0.00,2.25,0.00,0.000,6,0.000,0.051,2427,2354,3963
$GC,865,-1.20,-78.2,54.6,-8.5,148,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2353,3963
$GC,1006,-1.20,-78.2,66.4,-8.4,173,1012,0.00,2.38,0.00,0.000,4,0.000,0.077,2426,3766,3963
$GC,1063,-1.20,-78.2,71.2,-8.2,183,1069,0.00,2.28,0.00,0.000,6,0.000,0.052,2426,2343,3963
$GC,1205,-1.20,-78.2,82.1,-7.4,208,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2343,3963
$GC,1346,-1.20,-78.2,93.3,-8.1,233,1352,0.00,2.38,0.00,0.000,4,0.000,0.075,2427,3766,3963
$GC,1369,-1.20,-78.2,95.1,-7.8,237,1375,0.00,2.28,0.00,0.000,6,0.000,0.051,2427,2333,3963
$GC,1510,-1.20,-78.2,105.6,-7.1,262,1517,0.00,2.38,0.00,0.000,4,0.000,0.076,2427,3758,3963
$GC,1540,-1.20,-78.2,107.9,-8.0,267,1546,0.00,2.25,0.00,0.000,6,0.000,0.050,2427,2339,3963
$STATE,1562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1562,begin apogee
$GC,1566,-0.23,0.0,109.9,8.4,271,1616,1.00,0.00,45.28,0.741,6,0.155,0.000,2740,2339,3720
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1618,1.20,78.2,110.6,0.0,280,1686,1.27,0.00,59.78,0.708,6,0.070,0.000,3204,2338,3401
$GC,1820,1.20,78.2,88.1,13.5,316,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2338,3400
$GC,1961,1.20,78.2,68.9,13.6,341,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2338,3400
$GC,2100,1.20,78.2,51.2,12.6,366,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2338,3400
$GC,2241,1.20,78.2,34.0,12.2,391,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2338,3400
$GC,2314,1.20,78.2,25.4,11.8,404,2320,0.00,2.35,0.00,0.000,4,0.000,0.069,3203,3760,3400
$GC,2376,1.20,78.2,17.5,13.1,415,2383,0.00,2.25,0.00,0.000,6,0.000,0.048,3214,2341,3401
$GC,2450,1.20,78.2,8.8,10.7,428,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2341,3400
$GC,2523,1.34,185.1,4.6,0.8,441,2612,0.10,2.38,78.68,0.660,4,0.098,0.055,3261,945,2964
$STATE,2706,end climb,NO_VERTICAL_VELOCITY
$STATE,2706,begin surface
$SM_CCo,2708,471.30,0.617,0,0,497,790.36
$SM_GC,0.80,8.68,0.00,0.00,0.052,0.000,0.000,164,2354,493,-8.26,0.11,791.58
$IRIDIUM_FIX,4751.72,-12340.51,060398,232344
$TT8_MAMPS,0.026845
$HUMID,1517
$INTERNAL_PRESSURE,9.11941
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,39.5
$24V_AH,24.6,1.877
$10V_AH,10.7,0.622
$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,20.800,37.125,183.725,471.300,0.000,25.158,30.023,151.985,0.500,0.000,0.000,14.508,705.072,960.187,778.078,866.307,278.201,0.000,1229.890,0.000,860.853,0.000,5.532,0.000
$DEVICE_MAMPS,273.052,78.234,740.922,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.473,588.981,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22217,473
$CAP_FILE_SIZE,50958,0
$CFSIZE,260165632,258592768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,014738,4806.680,-12222.709,8,1.5,13,18.3