version: 66.04
glider: 160
mission: 2
dive: 2
start: 12 10 108 20 15 55
data:
$ID,160
$MISSION,2
$DIVE,2
$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,60
$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,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,-5979.9648
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2600
$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,2006
$C_ROLL_CLIMB,2006
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$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,3
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-23.364115
$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,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,200856,4808.020,-12223.569,10,1.3,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.8
$GPS2,201520,4808.000,-12223.619,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.035
$KALMAN_X,-58.4,-58.4,-58.4,-249.0,-129.5
$KALMAN_Y,-33.5,-33.5,-33.5,-70.0,-74.2
$MHEAD_RNG_PITCHd_Wd,263.4,471,-27.2,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.99,-63.1,0.0,0.0,0,101,0.00,0.00,-87.50,0.000,2,0.000,0.000,149,2008,2580
$GC,102,-1.03,-97.8,3.1,-1.9,15,161,8.50,2.25,-43.62,0.000,4,0.257,0.072,2265,585,3963
$GC,257,-1.03,-97.8,14.5,-8.2,43,263,0.00,2.30,0.00,0.000,6,0.000,0.054,2256,2004,3963
$GC,326,-1.03,-97.8,21.5,-11.8,56,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2004,3963
$GC,389,-1.03,-97.8,30.2,-13.9,68,396,0.00,2.33,0.00,0.000,4,0.000,0.071,2256,3421,3963
$GC,443,-1.03,-97.8,38.7,-16.5,78,450,0.00,2.28,0.00,0.000,6,0.000,0.050,2256,1998,3963
$GC,512,-1.03,-97.8,50.9,-18.1,91,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1998,3963
$GC,641,-1.03,-97.8,74.9,-19.5,115,647,0.00,2.25,0.00,0.000,4,0.000,0.061,2256,598,3963
$GC,709,-1.03,-97.8,87.6,-18.4,128,717,0.00,2.28,0.00,0.000,6,0.000,0.058,2255,2004,3963
$STATE,800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,800,begin apogee
$GC,802,-0.17,0.0,103.7,17.3,145,875,0.90,0.00,67.40,0.747,6,0.165,0.000,2535,2005,3589
$STATE,875,end apogee,CONTROL_FINISHED_OK
$STATE,875,begin climb
$GC,876,1.03,97.8,108.1,0.0,158,954,1.17,0.00,73.47,0.704,6,0.106,0.000,2924,2005,3190
$GC,1080,1.03,97.8,88.1,11.4,196,1088,0.00,2.35,0.00,0.000,4,0.000,0.063,2924,3425,3189
$GC,1151,1.03,97.8,79.0,13.6,209,1157,0.00,2.30,0.00,0.000,6,0.000,0.044,2933,1998,3189
$GC,1283,1.03,97.8,62.3,12.0,234,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1998,3189
$GC,1411,1.03,97.8,47.3,11.6,258,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1998,3189
$GC,1540,1.03,97.8,32.9,11.1,282,1547,0.00,2.33,0.00,0.000,4,0.000,0.063,2933,3425,3189
$GC,1738,1.03,97.8,8.4,12.4,319,1745,0.00,2.25,0.00,0.000,6,0.000,0.044,2937,2000,3189
$GC,1807,1.14,191.1,4.7,0.1,332,1880,0.00,2.45,68.05,0.657,4,0.000,0.064,2937,3428,2808
$GC,1905,1.27,291.3,4.4,-0.7,349,1988,0.17,2.33,74.45,0.631,6,0.056,0.049,3016,2009,2399
$STATE,2023,end climb,NO_VERTICAL_VELOCITY
$STATE,2023,begin surface
$SM_CCo,2024,360.23,0.611,0,0,489,760.18
$SM_GC,1.35,7.85,0.00,0.00,0.043,0.000,0.000,151,2009,485,-7.60,0.08,761.17
$IRIDIUM_FIX,4754.94,-12143.22,060398,202022
$TT8_MAMPS,0.050622
$HUMID,1508
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,24.5,3.984
$10V_AH,10.7,1.444
$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,18.600,27.675,283.375,360.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.132,0.000,978.357,709.799,809.113,32.233,30.164,1080.880,0.000,678.072,0.000,0.534,0.000
$DEVICE_MAMPS,256.945,72.098,747.058,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.243,201.143,474.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19108,370
$CAP_FILE_SIZE,49333,0
$CFSIZE,260165632,258572288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,205807,4808.062,-12223.892,12,1.6,28,18.3