version: 66.04
glider: 160
mission: 1
dive: 1
start: 12 3 108 17 56 39
data:
$ID,160
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,200
$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,750
$N_FILEKB,4
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4759.9536
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2504
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,5
$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,-23.342426
$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,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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$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,0.004341932
$SEABIRD_T_H,0.00063318753
$SEABIRD_T_I,2.3343002e-05
$SEABIRD_T_J,2.4016158e-06
$SEABIRD_C_G,-9.9320574
$SEABIRD_C_H,1.1090317
$SEABIRD_C_I,-0.00091700396
$SEABIRD_C_J,0.00016420601
$GPS1,175051,4808.265,-12223.534,11,1.9,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.6
$GPS2,175557,4808.297,-12223.561,12,1.9,12,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,-0.210
$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,206.4,773,-14.9,-10.000
$D_GRID,103
$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,9,begin dive
$GC,11,-0.81,-195.5,0.0,0.0,0,124,0.00,0.00,-111.25,0.000,2,0.000,0.000,138,2008,3223
$GC,126,-0.81,-195.5,3.1,-4.0,21,165,8.27,2.30,-25.45,0.000,4,0.249,0.067,2237,585,3962
$GC,366,-0.81,-195.5,24.0,-13.6,66,373,0.00,2.28,0.00,0.000,6,0.000,0.052,2227,2000,3963
$GC,435,-0.81,-195.5,34.8,-15.8,79,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2000,3963
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,501,-0.19,0.0,45.4,16.8,91,575,0.68,0.00,67.57,0.660,6,0.170,0.000,2433,2000,3588
$STATE,575,end apogee,CONTROL_FINISHED_OK
$STATE,575,begin climb
$GC,576,0.81,195.5,51.0,0.0,105,730,1.00,2.40,145.25,0.644,4,0.118,0.061,2757,3415,2792
$GC,792,0.81,195.5,29.7,14.3,146,799,0.00,2.33,0.00,0.000,6,0.000,0.048,2760,2004,2791
$GC,861,0.81,195.5,21.0,12.1,159,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2005,2791
$GC,926,0.81,195.5,13.1,11.8,171,933,0.00,2.30,0.00,0.000,4,0.000,0.060,2760,3405,2791
$GC,989,0.81,195.5,5.0,12.7,183,996,0.00,2.28,0.00,0.000,6,0.000,0.048,2760,1992,2791
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,3.3,1.217755
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1058,422.65,0.606,0,0,531,750.13
$SM_GC,1.66,0.00,0.00,422.65,0.000,0.000,0.606,152,1989,531,-7.35,-0.31,750.13
$IRIDIUM_FIX,4754.94,-12410.06,270298,171721
$TT8_MAMPS,0.052156
$HUMID,1562
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,19.40
$XPDR_PINGS,3
$24V_AH,24.3,0.345
$10V_AH,10.7,0.534
$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,17.100,13.875,212.825,422.650,0.000,0.000,0.000,0.000,0.750,0.000,0.000,14.048,0.000,410.266,719.992,376.319,25.189,29.225,929.444,0.000,291.121,0.000,0.993,0.000
$DEVICE_MAMPS,248.508,67.496,660.387,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,125.519,121.540,173.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6468,194
$CAP_FILE_SIZE,43295,0
$CFSIZE,260165632,258637824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,182207,4808.270,-12223.696,12,1.1,28,18.3