version: 66.04
glider: 160
mission: 1
dive: 9
start: 12 4 108 0 33 13
data:
$ID,160
$MISSION,1
$DIVE,9
$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,-5067.4175
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,002745,4807.210,-12223.251,8,2.0,8,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-78.7
$GPS2,003235,4807.170,-12223.220,9,2.6,28,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.098
$KALMAN_X,-455.0,-181.3,-40.1,1098.6,-46.7
$KALMAN_Y,321.4,273.9,12.7,-2694.2,-97.9
$MHEAD_RNG_PITCHd_Wd,106.2,416,-27.2,-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,-0.99,-63.1,0.0,0.0,0,68,0.00,0.00,-54.38,0.000,2,0.000,0.000,144,2212,2515
$GC,69,-1.03,-97.8,3.2,-1.4,10,128,8.38,2.17,-43.67,0.000,4,0.252,0.071,2217,890,3962
$GC,367,-1.03,-97.8,39.5,-16.5,66,374,0.00,2.28,0.00,0.000,6,0.000,0.062,2213,2285,3963
$GC,436,-1.03,-97.8,51.8,-18.3,79,443,0.00,2.25,0.00,0.000,4,0.000,0.051,2213,893,3963
$GC,681,-1.03,-97.8,97.5,-18.1,125,688,0.00,2.25,0.00,0.000,6,0.000,0.058,2213,2291,3963
$STATE,765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,765,begin apogee
$GC,768,-0.17,0.0,112.3,17.5,141,842,0.93,0.00,67.72,0.700,6,0.173,0.000,2493,2190,3589
$STATE,843,end apogee,CONTROL_FINISHED_OK
$STATE,843,begin climb
$GC,844,1.03,97.8,115.8,0.0,155,924,1.15,2.50,73.93,0.681,4,0.091,0.064,2883,3611,3190
$GC,981,1.03,97.8,97.4,20.1,181,988,0.00,2.30,0.00,0.000,6,0.000,0.048,2893,2213,3189
$GC,1114,1.03,97.8,72.3,18.0,206,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2213,3189
$GC,1243,1.03,97.8,50.4,16.5,230,1249,0.00,2.30,0.00,0.000,4,0.000,0.059,2892,3613,3189
$GC,1290,1.03,97.8,41.9,18.1,239,1297,0.00,2.25,0.00,0.000,6,0.000,0.045,2902,2193,3189
$GC,1423,1.03,97.8,19.6,15.8,264,1430,0.00,2.22,0.00,0.000,4,0.000,0.051,2913,791,3189
$GC,1434,1.03,97.8,18.0,15.8,266,1441,0.00,2.25,0.00,0.000,6,0.000,0.047,2913,2198,3189
$GC,1503,1.03,97.8,8.1,12.9,279,1510,0.00,2.25,0.00,0.000,4,0.000,0.047,2922,785,3189
$GC,1748,1.14,189.2,6.9,0.3,325,1783,0.00,2.22,30.83,0.622,2,0.000,0.044,2922,2197,3020
$STATE,1783,end climb,NO_VERTICAL_VELOCITY
$STATE,1784,begin surface
$SM_CCo,1785,484.25,0.583,7,0,489,760.18
$SM_GC,1.90,7.75,0.00,0.00,0.051,0.000,0.000,149,2293,485,-7.46,-0.20,761.41
$IRIDIUM_FIX,4751.72,-12223.57,270298,232311
$TT8_MAMPS,0.051389
$HUMID,1543
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.0,41.9
$24V_AH,24.3,1.327
$10V_AH,10.7,0.773
$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,18.200,27.575,172.475,484.250,0.000,24.519,25.615,160.075,1.250,0.000,0.000,31.052,0.000,1020.870,786.717,633.400,255.554,33.313,1075.945,0.000,487.725,0.000,5.514,0.000
$DEVICE_MAMPS,251.576,83.603,700.271,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,220.968,177.767,249.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12744,331
$CAP_FILE_SIZE,38226,0
$CFSIZE,260165632,258408448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,7,0
$GPS,041208,011345,4807.086,-12222.992,8,1.4,8,18.3