version: 66.04
glider: 160
mission: 1
dive: 10
start: 12 4 108 1 21 47
data:
$ID,160
$MISSION,1
$DIVE,10
$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,-5083.0073
$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,24
$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,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
$GPS1,011345,4807.086,-12222.992,8,1.4,8,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.1
$GPS2,012108,4807.002,-12222.937,7,1.1,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.167
$KALMAN_X,-538.3,-181.4,-33.0,1524.4,-59.3
$KALMAN_Y,388.3,253.5,-59.6,-2982.0,-58.4
$MHEAD_RNG_PITCHd_Wd,122.5,2188,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,94,0.00,0.00,-80.47,0.000,2,0.000,0.000,150,2294,2581
$GC,95,-0.84,-97.8,3.3,-2.6,15,155,8.48,2.35,-45.12,0.000,4,0.248,0.082,2270,3716,3963
$GC,163,-0.84,-97.8,6.6,-8.1,28,170,0.00,2.28,0.00,0.000,6,0.000,0.047,2269,2306,3963
$GC,232,-0.84,-97.8,12.2,-9.9,41,239,0.00,2.28,0.00,0.000,4,0.000,0.054,2269,895,3963
$GC,478,-0.84,-97.8,44.9,-15.6,87,485,0.00,2.28,0.00,0.000,6,0.000,0.061,2269,2302,3963
$GC,611,-0.84,-97.8,65.8,-15.4,112,618,0.00,2.28,0.00,0.000,4,0.000,0.054,2269,895,3963
$GC,856,-0.84,-97.8,103.2,-14.8,158,863,0.00,2.25,0.00,0.000,6,0.000,0.058,2269,2294,3963
$STATE,924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,924,begin apogee
$GC,927,-0.17,0.0,113.1,14.4,171,1001,0.73,0.00,67.38,0.704,6,0.156,0.000,2497,2193,3590
$STATE,1001,end apogee,CONTROL_FINISHED_OK
$STATE,1001,begin climb
$GC,1003,0.84,97.8,115.9,0.0,185,1082,0.95,0.00,74.30,0.686,6,0.087,0.000,2824,2194,3189
$GC,1208,0.84,97.8,91.6,15.1,224,1215,0.00,2.38,0.00,0.000,4,0.000,0.063,2824,3609,3189
$GC,1282,0.84,97.8,79.2,17.5,238,1290,0.00,2.25,0.00,0.000,6,0.000,0.046,2834,2210,3189
$GC,1416,0.84,97.8,59.5,13.8,263,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2210,3189
$GC,1544,0.84,97.8,41.7,13.4,287,1551,0.00,2.30,0.00,0.000,4,0.000,0.059,2834,3620,3188
$GC,1581,0.84,97.8,36.4,14.5,294,1588,0.00,2.22,0.00,0.000,6,0.000,0.043,2843,2201,3188
$GC,1650,0.84,97.8,26.7,14.4,307,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2201,3189
$GC,1714,0.84,97.8,18.1,13.3,319,1721,0.00,2.30,0.00,0.000,4,0.000,0.058,2843,3618,3188
$GC,1746,0.84,97.8,13.8,13.6,325,1753,0.00,2.22,0.00,0.000,6,0.000,0.043,2853,2196,3188
$GC,1815,0.87,116.3,6.2,8.7,338,1834,0.00,2.30,14.82,0.605,4,0.000,0.054,2863,782,3113
$STATE,2012,end climb,NO_VERTICAL_VELOCITY
$STATE,2012,begin surface
$SM_CCo,2014,489.02,0.600,0,0,490,760.18
$SM_GC,1.77,7.55,0.00,0.00,0.048,0.000,0.000,145,2318,485,-7.47,0.51,761.41
$IRIDIUM_FIX,4748.51,-12217.40,280298,010139
$TT8_MAMPS,0.050622
$HUMID,1548
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.2,42.4
$24V_AH,24.3,1.456
$10V_AH,10.7,0.802
$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,17.700,32.425,156.500,489.025,0.000,48.482,64.196,204.009,1.750,0.000,0.000,14.959,0.000,1213.334,776.214,692.698,369.620,33.319,1097.424,0.000,551.063,0.000,5.513,0.000
$DEVICE_MAMPS,247.741,82.069,704.106,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,250.795,198.413,276.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,375
$CAP_FILE_SIZE,43996,0
$CFSIZE,260165632,258375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041208,020558,4806.875,-12222.688,7,3.1,26,18.3