version: 66.04
glider: 162
mission: 2
dive: 9
start: 12 11 108 1 52 59
data:
$ID,162
$MISSION,2
$DIVE,9
$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,-3979.7478
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,014738,4806.680,-12222.709,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-68.8
$GPS2,015239,4806.662,-12222.672,15,1.3,15,18.3
$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,127.6,1481,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.20,-78.2,0.0,0.0,0,103,0.00,0.00,-87.22,0.000,2,0.000,0.000,164,2355,2719
$GC,106,-1.20,-78.2,3.6,-8.7,15,160,9.80,2.38,-35.33,0.000,4,0.275,0.068,2427,934,3962
$GC,413,-1.20,-78.2,18.1,-6.9,69,420,0.00,2.33,0.00,0.000,6,0.000,0.061,2427,2354,3963
$GC,489,-1.20,-78.2,23.7,-7.8,82,495,0.00,2.30,0.00,0.000,4,0.000,0.054,2428,928,3963
$GC,692,-1.20,-78.2,42.0,-8.6,118,698,0.00,2.35,0.00,0.000,6,0.000,0.063,2427,2361,3963
$GC,834,-1.20,-78.2,54.7,-8.3,143,840,0.00,2.35,0.00,0.000,4,0.000,0.077,2427,3770,3963
$GC,891,-1.20,-78.2,59.7,-8.8,153,897,0.00,2.28,0.00,0.000,6,0.000,0.051,2427,2347,3963
$GC,1032,-1.20,-78.2,71.5,-8.4,178,1038,0.00,2.35,0.00,0.000,4,0.000,0.075,2427,3760,3963
$GC,1066,-1.20,-78.2,74.5,-9.2,184,1072,0.00,2.25,0.00,0.000,6,0.000,0.050,2427,2337,3963
$GC,1208,-1.20,-78.2,85.7,-8.1,209,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2337,3963
$GC,1348,-1.20,-78.2,96.1,-7.3,234,1355,0.00,2.38,0.00,0.000,4,0.000,0.077,2427,3759,3962
$GC,1389,-1.20,-78.2,99.3,-8.0,241,1395,0.00,2.25,0.00,0.000,6,0.000,0.050,2427,2343,3963
$GC,1530,-1.20,-78.2,109.8,-7.5,266,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2343,3963
$STATE,1545,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1545,begin apogee
$GC,1549,-0.23,0.0,111.0,7.1,269,1600,1.00,0.00,45.10,0.746,6,0.152,0.000,2741,2343,3720
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1602,1.20,78.2,111.6,0.0,278,1670,1.27,0.00,59.85,0.710,6,0.067,0.000,3207,2342,3401
$GC,1804,1.20,78.2,88.2,14.5,314,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2342,3400
$GC,1944,1.20,78.2,69.3,13.4,339,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2342,3400
$GC,2084,1.20,78.2,51.9,12.8,364,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2342,3400
$GC,2225,1.20,78.2,34.4,12.3,389,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2342,3400
$GC,2299,1.20,78.2,25.5,11.7,402,2305,0.00,2.35,0.00,0.000,4,0.000,0.067,3207,3767,3400
$GC,2373,1.20,78.2,15.9,13.6,415,2379,0.00,2.25,0.00,0.000,6,0.000,0.048,3218,2346,3400
$GC,2447,1.22,92.7,7.6,8.8,428,2466,0.00,2.28,12.45,0.655,4,0.000,0.053,3228,932,3342
$GC,2477,1.27,130.2,5.5,6.8,433,2513,0.00,2.30,28.52,0.655,6,0.000,0.054,3228,2353,3189
$GC,2581,1.41,249.4,5.4,-0.2,451,2676,0.15,2.47,88.72,0.647,4,0.088,0.054,3293,934,2702
$STATE,2759,end climb,NO_VERTICAL_VELOCITY
$STATE,2759,begin surface
$SM_CCo,2761,422.40,0.615,0,0,498,790.36
$SM_GC,0.80,8.75,0.00,0.00,0.051,0.000,0.000,167,2360,494,-8.25,0.28,791.34
$IRIDIUM_FIX,4751.72,-12340.51,070398,000051
$TT8_MAMPS,0.026845
$HUMID,1530
$INTERNAL_PRESSURE,9.10965
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,40.7
$24V_AH,24.6,2.007
$10V_AH,10.7,0.671
$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,20.975,37.325,234.650,422.400,0.000,29.908,30.296,158.066,0.500,0.000,0.000,15.946,709.251,973.254,749.413,884.365,292.053,0.000,1212.874,0.000,878.701,0.000,5.534,0.000
$DEVICE_MAMPS,274.586,77.467,745.524,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.119,601.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22255,482
$CAP_FILE_SIZE,50616,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,024833,4806.375,-12222.303,10,1.7,10,18.3