version: 66.04
glider: 160
mission: 1
dive: 4
start: 12 3 108 20 36 28
data:
$ID,160
$MISSION,1
$DIVE,4
$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,700
$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,-4958.6567
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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
$GPS1,203132,4808.069,-12224.005,11,1.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.6
$GPS2,203550,4808.062,-12224.022,13,0.9,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.207,-0.061
$KALMAN_X,-84.5,-66.7,-53.5,-365.2,-28.1
$KALMAN_Y,264.8,226.1,197.0,-1121.9,88.4
$MHEAD_RNG_PITCHd_Wd,88.0,1269,-21.7,-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,-0.84,-97.8,0.0,0.0,0,110,0.00,0.00,-96.15,0.000,2,0.000,0.000,150,2010,2946
$GC,111,-0.84,-97.8,3.4,-3.3,18,160,8.55,2.30,-33.20,0.000,4,0.252,0.071,2277,588,3963
$GC,307,-0.84,-97.8,23.0,-13.5,55,314,0.00,2.30,0.00,0.000,6,0.000,0.054,2271,1996,3963
$GC,376,-0.84,-97.8,32.4,-13.7,68,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1996,3963
$GC,440,-0.84,-97.8,41.5,-14.9,80,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1997,3963
$GC,568,-0.84,-97.8,61.3,-15.4,104,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1996,3963
$GC,697,-0.84,-97.8,80.9,-14.9,128,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1996,3963
$GC,825,-0.84,-97.8,99.8,-13.8,152,832,0.00,2.30,0.00,0.000,4,0.000,0.065,2270,3416,3963
$STATE,851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,851,begin apogee
$GC,855,-0.17,0.0,103.4,14.3,157,929,0.70,0.00,67.30,0.695,6,0.156,0.000,2490,1990,3590
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,931,0.84,97.8,106.6,0.0,171,1010,0.98,0.00,74.20,0.679,6,0.089,0.000,2823,1990,3189
$GC,1136,0.84,97.8,82.3,14.8,210,1143,0.00,2.38,0.00,0.000,4,0.000,0.063,2823,3411,3189
$GC,1210,0.84,97.8,70.6,16.2,224,1217,0.00,2.28,0.00,0.000,6,0.000,0.049,2833,1999,3189
$GC,1344,0.84,97.8,51.5,13.5,249,1351,0.00,2.33,0.00,0.000,4,0.000,0.061,2833,3418,3188
$GC,1397,0.84,97.8,43.7,14.9,259,1404,0.00,2.28,0.00,0.000,6,0.000,0.048,2843,2003,3189
$GC,1530,0.84,97.8,24.4,14.9,284,1537,0.00,2.28,0.00,0.000,4,0.000,0.059,2842,3406,3188
$GC,1567,0.84,97.8,19.2,13.4,291,1574,0.00,2.22,0.00,0.000,6,0.000,0.045,2851,1989,3188
$GC,1636,0.84,97.8,9.9,13.3,304,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1989,3188
$GC,1700,0.99,220.0,5.1,1.6,316,1797,0.00,2.38,88.30,0.624,4,0.000,0.057,2852,592,2691
$STATE,1928,end climb,NO_VERTICAL_VELOCITY
$STATE,1928,begin surface
$SM_CCo,1929,412.77,0.597,0,0,489,760.18
$SM_GC,2.18,7.55,0.00,0.00,0.053,0.000,0.000,151,2008,486,-7.46,0.23,761.41
$IRIDIUM_FIX,4751.72,-12232.48,270298,191919
$TT8_MAMPS,0.051389
$HUMID,1563
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,40.3
$24V_AH,24.4,0.740
$10V_AH,10.7,0.631
$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,17.775,27.650,229.800,412.775,0.000,23.392,25.165,145.081,0.750,0.000,0.000,15.291,0.000,1050.841,746.647,665.019,241.253,32.315,1069.551,0.000,528.281,0.000,5.508,0.000
$DEVICE_MAMPS,251.576,71.331,694.902,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,238.661,191.025,271.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15915,359
$CAP_FILE_SIZE,39219,0
$CFSIZE,260165632,258551808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,031208,211738,4808.029,-12223.790,7,1.3,7,18.3