version: 66.04
glider: 162
mission: 2
dive: 13
start: 12 11 108 5 58 29
data:
$ID,162
$MISSION,2
$DIVE,13
$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,-4
$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,-4062.2913
$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,28
$R_STBD_OVSHOOT,21
$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,0
$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
$GPS1,055307,4806.031,-12221.847,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.1
$GPS2,055808,4805.956,-12221.798,11,1.5,11,18.3
$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,306.0,4663,-24.4,-10.000
$D_GRID,108
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.20,-78.2,0.0,0.0,0,103,0.00,0.00,-87.45,0.000,2,0.000,0.000,173,2348,2737
$GC,105,-1.20,-78.2,3.2,-5.5,15,154,9.45,2.28,-33.15,0.000,4,0.262,0.066,2426,941,3961
$GC,160,-1.20,-78.2,6.0,-2.7,24,167,0.00,2.33,0.00,0.000,6,0.000,0.057,2426,2354,3962
$GC,234,-1.20,-78.2,6.9,-1.8,37,241,0.00,2.38,0.00,0.000,4,0.000,0.076,2426,3762,3962
$GC,265,-1.20,-78.2,7.4,-1.7,42,271,0.00,2.30,0.00,0.000,6,0.000,0.054,2426,2346,3962
$GC,339,-1.20,-78.2,9.7,-5.0,55,345,0.00,2.28,0.00,0.000,4,0.000,0.051,2426,922,3962
$GC,543,-1.20,-78.2,24.7,-8.3,91,550,0.00,2.35,0.00,0.000,6,0.000,0.059,2426,2361,3962
$GC,617,-1.20,-78.2,30.7,-8.2,104,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2361,3962
$GC,691,-1.20,-78.2,36.9,-8.2,117,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2360,3962
$GC,764,-1.20,-78.2,43.1,-8.8,130,770,0.00,2.33,0.00,0.000,4,0.000,0.075,2426,3762,3962
$GC,832,-1.20,-78.2,49.5,-9.9,142,838,0.00,2.25,0.00,0.000,6,0.000,0.049,2426,2345,3962
$GC,973,-1.20,-78.2,62.0,-8.6,167,979,0.00,2.38,0.00,0.000,4,0.000,0.074,2426,3764,3962
$GC,1030,-1.20,-78.2,66.8,-8.9,177,1036,0.00,2.28,0.00,0.000,6,0.000,0.049,2426,2331,3962
$GC,1171,-1.20,-78.2,78.5,-8.0,202,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2331,3962
$GC,1312,-1.20,-78.2,89.4,-7.7,227,1318,0.00,2.40,0.00,0.000,4,0.000,0.075,2426,3767,3962
$GC,1363,-1.20,-78.2,93.6,-7.9,236,1369,0.00,2.25,0.00,0.000,6,0.000,0.050,2426,2344,3962
$GC,1505,-1.20,-78.2,104.5,-7.5,261,1511,0.00,2.22,0.00,0.000,4,0.000,0.052,2426,936,3962
$STATE,1549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1549,begin apogee
$GC,1555,-0.23,0.0,108.1,7.7,269,1605,1.00,0.00,45.12,0.736,6,0.153,0.000,2740,2358,3719
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1608,1.20,78.2,109.0,0.0,278,1676,1.27,2.40,60.08,0.703,4,0.067,0.053,3216,941,3399
$GC,1750,1.20,78.2,95.2,13.8,303,1756,0.00,2.35,0.00,0.000,6,0.000,0.052,3216,2354,3399
$GC,1890,1.20,78.2,75.4,14.3,328,1897,0.00,2.30,0.00,0.000,4,0.000,0.052,3226,941,3399
$GC,1908,1.20,78.2,73.1,13.5,331,1914,0.00,2.33,0.00,0.000,6,0.000,0.052,3226,2359,3399
$GC,2048,1.20,78.2,53.7,13.3,356,2055,0.00,2.30,0.00,0.000,4,0.000,0.052,3236,936,3399
$GC,2077,1.20,78.2,50.3,12.4,361,2083,0.00,2.30,0.00,0.000,6,0.000,0.052,3236,2353,3399
$GC,2218,1.20,78.2,32.4,13.4,386,2224,0.00,2.30,0.00,0.000,4,0.000,0.067,3235,3758,3399
$GC,2254,1.20,78.2,27.6,14.2,392,2261,0.15,2.25,0.00,0.000,6,0.229,0.045,3212,2330,3399
$GC,2328,1.20,78.2,18.0,12.6,405,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2330,3399
$GC,2403,1.20,78.2,9.8,10.5,418,2409,0.00,2.35,0.00,0.000,4,0.000,0.065,3205,3762,3399
$GC,2420,1.22,88.6,8.2,9.1,421,2439,0.00,2.22,9.50,0.637,6,0.000,0.046,3215,2350,3357
$STATE,2460,end climb,SURFACE_DEPTH_REACHED
$STATE,2460,begin surface coast
$FINISH,5.5,1.020255
$STATE,2528,end surface coast,CONTROL_FINISHED_OK
$STATE,2529,begin surface
$SM_CCo,2531,544.40,0.617,0,0,497,790.36
$SM_GC,0.86,8.55,0.00,0.00,0.051,0.000,0.000,167,2349,493,-8.25,-0.03,791.58
$IRIDIUM_FIX,4751.72,-12340.51,070398,050550
$TT8_MAMPS,0.026078
$HUMID,1500
$INTERNAL_PRESSURE,9.10965
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,41.8
$24V_AH,24.6,2.506
$10V_AH,10.7,0.868
$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,20.425,55.450,114.700,544.400,0.000,26.189,31.881,168.412,0.500,0.000,0.000,11.131,690.690,901.447,808.333,803.513,295.512,0.000,1230.049,0.000,802.014,0.000,5.538,0.000
$DEVICE_MAMPS,262.314,75.933,736.320,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.076,542.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19142,440
$CAP_FILE_SIZE,53606,0
$CFSIZE,260165632,258428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,065215,4806.066,-12221.890,12,1.7,12,18.3