version: 66.04
glider: 160
mission: 1
dive: 19
start: 12 4 108 8 18 53
data:
$ID,160
$MISSION,1
$DIVE,19
$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,-4
$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,-5266.0278
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2562
$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,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$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,0
$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
$GPS1,081350,4805.904,-12222.077,7,1.5,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.8
$GPS2,081814,4805.867,-12222.061,8,1.5,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,0.170
$KALMAN_X,-783.3,7.4,6.3,2623.7,141.2
$KALMAN_Y,2027.0,0.4,257.1,-6779.7,-120.8
$MHEAD_RNG_PITCHd_Wd,331.3,258,-27.2,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.99,-63.1,0.0,0.0,0,103,0.00,0.00,-90.45,0.000,2,0.000,0.000,151,2302,2821
$GC,105,-1.03,-97.8,3.1,-2.7,17,159,8.35,2.45,-36.97,0.000,4,0.249,0.083,2218,3759,3963
$GC,312,-1.03,-97.8,25.5,-14.4,56,319,0.00,2.25,0.00,0.000,6,0.000,0.047,2218,2358,3963
$GC,381,-1.03,-97.8,36.4,-16.1,69,388,0.00,2.30,0.00,0.000,4,0.000,0.056,2218,937,3963
$GC,418,-1.03,-97.8,42.8,-16.9,76,425,0.00,2.30,0.00,0.000,6,0.000,0.060,2213,2350,3964
$GC,551,-1.03,-97.8,66.9,-17.9,101,558,0.00,2.28,0.00,0.000,4,0.000,0.054,2212,940,3964
$GC,662,-1.03,-97.8,87.5,-17.5,122,669,0.00,2.28,0.00,0.000,6,0.000,0.058,2212,2350,3964
$STATE,784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,784,begin apogee
$GC,787,-0.17,0.0,108.3,16.9,145,861,0.95,0.00,67.97,0.719,6,0.171,0.000,2501,2408,3590
$STATE,861,end apogee,CONTROL_FINISHED_OK
$STATE,861,begin climb
$GC,862,1.03,97.8,111.1,0.0,159,942,1.12,0.00,74.60,0.691,6,0.085,0.000,2888,2408,3190
$GC,1068,1.03,97.8,79.8,19.3,198,1075,0.00,2.30,0.00,0.000,4,0.000,0.065,2888,3778,3189
$GC,1095,1.03,97.8,74.9,19.5,203,1101,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,2398,3189
$GC,1228,1.03,97.8,50.9,17.0,228,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2398,3189
$GC,1356,1.03,97.8,28.8,17.5,252,1363,0.00,2.25,0.00,0.000,4,0.000,0.051,2908,992,3188
$GC,1366,1.03,97.8,27.1,17.1,254,1373,0.00,2.25,0.00,0.000,6,0.000,0.050,2908,2400,3189
$GC,1435,1.03,97.8,15.7,16.9,267,1442,0.00,2.25,0.00,0.000,4,0.000,0.046,2918,987,3188
$GC,1467,1.03,97.8,10.7,15.3,273,1474,0.00,2.25,0.00,0.000,6,0.000,0.047,2918,2404,3188
$GC,1536,1.18,224.4,6.3,-3.5,286,1632,0.00,0.00,92.53,0.642,6,0.000,0.000,2918,2404,2673
$GC,1695,1.29,311.1,4.6,0.8,316,1745,0.17,0.00,47.78,0.620,2,0.074,0.000,2983,2404,2415
$STATE,1745,end climb,SURFACE_DEPTH_REACHED
$STATE,1745,begin surface coast
$FINISH,3.5,1.218125
$STATE,1881,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1881,begin surface
$SM_CCo,1894,252.23,0.617,0,0,1061,620.12
$SM_GC,2.37,0.00,0.00,252.23,0.000,0.000,0.617,145,2346,1061,-7.55,-0.11,620.12
$IRIDIUM_FIX,4751.72,-12237.92,280298,070714
$TT8_MAMPS,0.050622
$HUMID,1540
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,19.60
$XPDR_PINGS,5
$24V_AH,24.1,2.474
$10V_AH,10.7,1.045
$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,18.850,27.550,282.875,252.225,0.000,30.140,27.498,142.639,1.250,0.000,0.000,15.723,0.000,886.014,630.789,645.863,249.722,33.334,959.324,0.000,516.844,0.000,0.535,0.000
$DEVICE_MAMPS,249.275,106.613,719.446,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,231.828,193.789,272.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15902,351
$CAP_FILE_SIZE,39020,0
$CFSIZE,260165632,258121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,041208,085523,4805.982,-12222.039,6,99.0,25,18.3