version: 66.04
glider: 162
mission: 2
dive: 12
start: 12 11 108 4 57 41
data:
$ID,162
$MISSION,2
$DIVE,12
$D_SURF,5
$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,-4050.531
$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,32
$R_STBD_OVSHOOT,18
$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
$GPS1,045146,4806.053,-12221.906,7,99.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.0
$GPS2,045723,4805.963,-12221.833,16,99.0,35,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,306.3,4627,-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,14,-1.20,-78.2,0.0,0.0,0,93,0.00,0.00,-76.45,0.000,2,0.000,0.000,171,2351,2477
$GC,95,-1.20,-78.2,3.1,-5.4,13,150,9.75,2.38,-39.20,0.000,4,0.274,0.067,2425,940,3963
$GC,191,-1.20,-78.2,7.2,-1.3,29,198,0.00,2.33,0.00,0.000,6,0.000,0.059,2425,2354,3963
$GC,265,-1.20,-78.2,8.9,-3.5,42,272,0.00,2.30,0.00,0.000,4,0.000,0.054,2425,935,3963
$GC,334,-1.20,-78.2,13.2,-6.1,54,340,0.00,2.33,0.00,0.000,6,0.000,0.060,2425,2354,3963
$GC,409,-1.20,-78.2,17.6,-6.7,67,415,0.00,2.35,0.00,0.000,4,0.000,0.077,2425,3758,3963
$GC,573,-1.20,-78.2,30.6,-8.3,96,580,0.00,2.30,0.00,0.000,6,0.000,0.051,2425,2347,3963
$GC,647,-1.20,-78.2,37.1,-8.6,109,654,0.00,2.28,0.00,0.000,4,0.000,0.053,2425,943,3963
$GC,682,-1.20,-78.2,40.1,-9.1,115,688,0.00,2.30,0.00,0.000,6,0.000,0.058,2425,2353,3963
$GC,823,-1.20,-78.2,52.7,-8.7,140,829,0.00,2.35,0.00,0.000,4,0.000,0.077,2425,3766,3963
$GC,969,-1.20,-78.2,66.4,-9.0,166,976,0.00,2.25,0.00,0.000,6,0.000,0.051,2425,2348,3962
$GC,1111,-1.20,-78.2,78.6,-8.2,191,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2348,3963
$GC,1251,-1.20,-78.2,90.0,-7.8,216,1258,0.00,2.35,0.00,0.000,4,0.000,0.075,2425,3761,3963
$GC,1319,-1.20,-78.2,96.0,-8.5,228,1325,0.00,2.22,0.00,0.000,6,0.000,0.050,2425,2349,3963
$GC,1461,-1.20,-78.2,106.5,-7.3,253,1467,0.00,2.22,0.00,0.000,4,0.000,0.052,2425,941,3963
$STATE,1527,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1527,begin apogee
$GC,1533,-0.23,0.0,111.5,7.3,265,1584,1.00,0.00,45.17,0.745,6,0.155,0.000,2739,2351,3720
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1586,1.20,78.2,112.2,0.0,274,1655,1.27,2.40,60.00,0.708,4,0.067,0.053,3215,936,3401
$GC,1666,1.20,78.2,105.9,11.7,288,1672,0.00,2.38,0.00,0.000,6,0.000,0.053,3215,2351,3400
$GC,1807,1.20,78.2,86.1,13.8,313,1813,0.00,2.33,0.00,0.000,4,0.000,0.053,3225,935,3400
$GC,1869,1.20,78.2,77.5,14.3,324,1875,0.00,2.33,0.00,0.000,6,0.000,0.053,3225,2356,3399
$GC,2010,1.20,78.2,58.4,13.6,349,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2356,3400
$GC,2150,1.20,78.2,40.1,13.6,374,2156,0.00,2.30,0.00,0.000,4,0.000,0.067,3225,3760,3400
$GC,2167,1.20,78.2,37.9,13.0,377,2173,0.00,2.25,0.00,0.000,6,0.000,0.046,3235,2342,3400
$GC,2241,1.20,78.2,28.6,12.2,390,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2342,3400
$GC,2314,1.20,78.2,19.5,12.4,403,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2342,3400
$GC,2387,1.20,78.2,11.2,10.7,416,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2343,3400
$GC,2461,1.26,121.7,5.3,6.3,429,2503,0.00,2.42,33.00,0.670,4,0.000,0.067,3235,3758,3222
$STATE,2626,end climb,NO_VERTICAL_VELOCITY
$STATE,2626,begin surface
$SM_CCo,2628,518.03,0.619,0,0,498,790.36
$SM_GC,0.92,8.57,0.00,0.00,0.051,0.000,0.000,172,2348,493,-8.24,-0.06,791.58
$IRIDIUM_FIX,4751.72,-12340.51,070398,030359
$TT8_MAMPS,0.026845
$HUMID,1496
$INTERNAL_PRESSURE,9.10965
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,36.0
$24V_AH,24.6,2.375
$10V_AH,10.7,0.822
$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,20.600,51.100,138.175,518.025,0.000,31.087,36.845,166.812,1.000,0.000,0.000,36.593,704.382,942.723,788.783,864.301,303.521,0.000,1220.543,0.000,835.439,0.000,10.544,0.000
$DEVICE_MAMPS,273.819,77.467,744.757,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.311,566.572,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22197,458
$CAP_FILE_SIZE,52281,0
$CFSIZE,260165632,258461696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,055307,4806.031,-12221.847,40,1.2,40,18.3