version: 66.04
glider: 160
mission: 1
dive: 11
start: 12 4 108 2 14 12
data:
$ID,160
$MISSION,1
$DIVE,11
$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,70
$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,100
$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,620
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5097.9053
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2555
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$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,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,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
$GPS1,020558,4806.875,-12222.688,7,3.1,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.7
$GPS2,021333,4806.793,-12222.649,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.186
$KALMAN_X,-602.5,-176.7,-27.8,1933.2,-35.1
$KALMAN_Y,588.7,212.5,-114.8,-3473.8,21.8
$MHEAD_RNG_PITCHd_Wd,131.2,1675,-21.7,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,103,0.00,0.00,-90.05,0.000,2,0.000,0.000,146,2319,2794
$GC,105,-0.84,-97.8,3.1,-2.3,17,159,8.57,2.30,-38.08,0.000,4,0.252,0.081,2269,3707,3963
$GC,167,-0.84,-97.8,6.9,-8.9,29,174,0.00,2.28,0.00,0.000,6,0.000,0.046,2269,2299,3963
$GC,236,-0.84,-97.8,15.0,-11.7,42,243,0.00,2.35,0.00,0.000,4,0.000,0.067,2267,3714,3963
$GC,482,-0.84,-97.8,48.8,-15.8,88,489,0.00,2.25,0.00,0.000,6,0.000,0.048,2267,2302,3964
$GC,615,-0.84,-97.8,69.6,-14.9,113,622,0.00,2.33,0.00,0.000,4,0.000,0.071,2260,3714,3964
$GC,732,-0.84,-97.8,87.9,-15.6,135,739,0.00,2.25,0.00,0.000,6,0.000,0.048,2260,2301,3964
$GC,865,-0.84,-97.8,108.2,-15.4,160,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2300,3963
$STATE,902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,902,begin apogee
$GC,905,-0.17,0.0,113.6,14.6,167,979,0.75,0.00,67.75,0.708,6,0.157,0.000,2494,2188,3590
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,980,0.84,97.8,116.5,0.0,181,1059,0.95,0.00,74.20,0.685,6,0.088,0.000,2821,2188,3189
$GC,1186,0.84,97.8,92.5,14.1,220,1192,0.00,2.38,0.00,0.000,4,0.000,0.061,2821,3613,3189
$GC,1249,0.84,97.8,82.4,15.7,232,1256,0.00,2.28,0.00,0.000,6,0.000,0.047,2831,2213,3189
$GC,1382,0.84,97.8,63.1,12.8,257,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2213,3189
$GC,1511,0.84,97.8,45.6,14.3,281,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2213,3189
$GC,1639,0.84,97.8,28.0,13.8,305,1646,0.00,2.28,0.00,0.000,4,0.000,0.058,2831,3614,3189
$GC,1730,0.84,97.8,14.9,13.7,322,1737,0.00,2.22,0.00,0.000,6,0.000,0.041,2840,2200,3189
$GC,1799,0.85,101.6,7.3,9.7,335,1806,0.00,0.00,4.55,0.480,6,0.000,0.000,2840,2200,3173
$GC,1868,1.08,293.3,7.8,-3.2,348,2013,0.17,0.00,140.10,0.630,6,0.077,0.000,2909,2199,2393
$STATE,2041,end climb,SURFACE_DEPTH_REACHED
$STATE,2041,begin surface coast
$FINISH,3.4,1.218649
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2177,247.85,0.604,0,0,1060,620.12
$SM_GC,2.53,0.00,0.00,247.85,0.000,0.000,0.604,147,2314,1060,-7.53,0.40,620.12
$IRIDIUM_FIX,4751.72,-12226.29,280298,020246
$TT8_MAMPS,0.050622
$HUMID,1561
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.5,42.9
$24V_AH,24.2,1.570
$10V_AH,10.7,0.831
$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,18.325,23.250,286.600,247.850,0.000,55.341,51.649,222.225,1.750,0.000,0.000,14.270,0.000,1143.937,620.951,735.615,381.580,33.330,980.545,0.000,592.890,0.000,5.518,0.000
$DEVICE_MAMPS,251.576,81.302,707.941,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,268.433,217.924,305.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15932,404
$CAP_FILE_SIZE,45502,0
$CFSIZE,260165632,258347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,025523,4806.644,-12222.551,8,3.4,27,18.3