version: 66.04
glider: 160
mission: 1
dive: 15
start: 12 4 108 5 20 47
data:
$ID,160
$MISSION,1
$DIVE,15
$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,-5203.0234
$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,29
$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,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
$GPS1,051509,4806.290,-12222.151,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-70.2
$GPS2,052008,4806.270,-12222.136,32,1.0,32,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,-0.210
$KALMAN_X,-1131.2,-107.5,-12.6,3012.2,-79.0
$KALMAN_Y,1987.9,65.1,-22.9,-5782.6,440.1
$MHEAD_RNG_PITCHd_Wd,148.9,527,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,93,0.00,0.00,-80.45,0.000,2,0.000,0.000,144,2314,3136
$GC,95,-0.84,-97.8,3.4,-3.4,15,133,8.50,2.33,-22.98,0.000,4,0.246,0.086,2269,3709,3963
$GC,371,-0.84,-97.8,37.2,-14.4,67,378,0.00,2.28,0.00,0.000,6,0.000,0.051,2269,2301,3963
$GC,440,-0.84,-97.8,47.7,-15.4,80,447,0.00,2.33,0.00,0.000,4,0.000,0.074,2269,3700,3963
$GC,557,-0.84,-97.8,67.0,-16.7,102,564,0.00,2.25,0.00,0.000,6,0.000,0.049,2269,2297,3963
$GC,691,-0.84,-97.8,86.7,-13.9,127,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2296,3964
$GC,819,-0.84,-97.8,105.2,-15.3,151,826,0.00,2.25,0.00,0.000,4,0.000,0.057,2269,890,3963
$STATE,887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,887,begin apogee
$GC,892,-0.17,0.0,115.3,14.7,164,966,0.73,0.00,67.93,0.720,6,0.159,0.000,2494,2203,3588
$STATE,966,end apogee,CONTROL_FINISHED_OK
$STATE,966,begin climb
$GC,967,0.84,97.8,118.2,0.0,178,1048,0.95,2.47,74.03,0.691,4,0.088,0.064,2821,3618,3190
$GC,1072,0.84,97.8,107.9,15.8,198,1079,0.00,2.35,0.00,0.000,6,0.000,0.048,2831,2210,3190
$GC,1206,0.84,97.8,88.0,14.3,223,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2209,3189
$GC,1334,0.84,97.8,68.3,15.3,247,1341,0.00,2.33,0.00,0.000,4,0.000,0.062,2831,3610,3189
$GC,1382,0.84,97.8,60.6,16.2,256,1389,0.00,2.28,0.00,0.000,6,0.000,0.046,2841,2197,3189
$GC,1515,0.84,97.8,41.2,14.0,281,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2197,3189
$GC,1643,0.84,97.8,23.8,13.7,305,1650,0.00,2.30,0.00,0.000,4,0.000,0.061,2841,3610,3189
$GC,1712,0.84,97.8,14.0,14.5,318,1719,0.00,2.22,0.00,0.000,6,0.000,0.041,2850,2196,3189
$GC,1781,0.88,124.8,6.4,8.1,331,1806,0.00,2.38,20.40,0.623,4,0.000,0.060,2850,3623,3080
$GC,1820,1.04,257.7,5.5,0.9,338,1922,0.00,2.28,97.82,0.634,6,0.000,0.042,2858,2194,2537
$STATE,1940,end climb,SURFACE_DEPTH_REACHED
$STATE,1940,begin surface coast
$FINISH,3.7,1.217918
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2103,274.12,0.613,0,0,1060,620.12
$SM_GC,2.14,0.00,0.00,274.12,0.000,0.000,0.613,143,2312,1060,-7.54,0.34,620.12
$IRIDIUM_FIX,4748.51,-12220.12,280298,040413
$TT8_MAMPS,0.050622
$HUMID,1547
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.6,43.9
$24V_AH,24.2,2.003
$10V_AH,10.7,0.942
$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,17.900,32.350,260.175,274.125,0.000,24.910,28.015,162.400,2.000,0.000,0.000,34.820,0.000,1066.290,614.082,734.639,262.337,33.324,956.107,0.000,571.260,0.000,5.819,0.000
$DEVICE_MAMPS,246.207,85.904,720.213,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,259.112,205.748,289.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15890,389
$CAP_FILE_SIZE,42104,0
$CFSIZE,260165632,258236416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,060111,4806.110,-12222.043,9,2.8,28,18.3