version: 66.04
glider: 160
mission: 1
dive: 12
start: 12 4 108 3 1 1
data:
$ID,160
$MISSION,1
$DIVE,12
$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,-5133.2451
$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,27
$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
$GPS1,025523,4806.644,-12222.551,8,3.4,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-77.6
$GPS2,030023,4806.626,-12222.519,13,3.4,32,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.190
$KALMAN_X,-797.8,-156.8,-9.2,2253.7,-78.8
$KALMAN_Y,911.0,161.1,-152.9,-4017.9,156.4
$MHEAD_RNG_PITCHd_Wd,133.4,1325,-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,12,-0.84,-97.8,0.0,0.0,0,68,0.00,0.00,-54.55,0.000,2,0.000,0.000,147,2314,2524
$GC,69,-0.84,-97.8,3.0,-2.1,10,129,8.68,2.30,-45.55,0.000,4,0.254,0.084,2270,3704,3962
$GC,367,-0.84,-97.8,38.8,-14.4,66,375,0.00,2.25,0.00,0.000,6,0.000,0.051,2270,2306,3962
$GC,437,-0.84,-97.8,49.4,-15.1,79,444,0.00,2.33,0.00,0.000,4,0.000,0.073,2270,3701,3962
$GC,636,-0.84,-97.8,80.6,-15.4,116,642,0.00,2.22,0.00,0.000,6,0.000,0.051,2270,2290,3962
$GC,768,-0.84,-97.8,99.7,-14.3,141,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2289,3962
$STATE,874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,874,begin apogee
$GC,877,-0.17,0.0,114.5,13.8,161,951,0.70,0.00,67.50,0.709,6,0.155,0.000,2491,2195,3590
$STATE,951,end apogee,CONTROL_FINISHED_OK
$STATE,951,begin climb
$GC,953,0.84,97.8,117.4,0.0,175,1032,0.98,0.00,74.38,0.691,6,0.090,0.000,2825,2196,3190
$GC,1158,0.84,97.8,92.5,15.4,214,1165,0.00,2.38,0.00,0.000,4,0.000,0.064,2824,3607,3189
$GC,1248,0.84,97.8,77.5,17.5,231,1255,0.00,2.28,0.00,0.000,6,0.000,0.046,2834,2201,3189
$GC,1382,0.84,97.8,57.5,14.5,256,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2201,3189
$GC,1510,0.84,97.8,39.9,13.8,280,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2201,3189
$GC,1574,0.84,97.8,31.2,13.5,292,1581,0.00,2.30,0.00,0.000,4,0.000,0.061,2834,3607,3189
$GC,1648,0.84,97.8,20.5,14.0,306,1655,0.00,2.22,0.00,0.000,6,0.000,0.041,2844,2196,3189
$GC,1718,0.84,97.8,11.2,11.5,319,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2196,3189
$GC,1782,0.98,210.7,6.9,2.2,331,1869,0.00,2.38,82.25,0.635,4,0.000,0.054,2850,789,2728
$GC,2108,1.17,361.8,4.8,-0.4,392,2185,0.17,2.28,72.07,0.627,2,0.061,0.048,2931,2199,2330
$STATE,2185,end climb,SURFACE_DEPTH_REACHED
$STATE,2186,begin surface coast
$FINISH,3.7,1.218988
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2241,begin surface
$SM_CCo,2254,237.23,0.608,0,0,1061,620.12
$SM_GC,2.18,0.00,0.00,237.23,0.000,0.000,0.608,143,2309,1061,-7.54,0.25,620.12
$IRIDIUM_FIX,4748.51,-12224.57,280298,020232
$TT8_MAMPS,0.050622
$HUMID,1558
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,19.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.6,43.9
$24V_AH,24.2,1.678
$10V_AH,10.7,0.860
$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,18.600,23.225,296.200,237.225,0.000,24.408,27.661,163.786,1.500,0.000,0.000,34.713,0.000,1161.112,587.274,776.169,266.634,33.330,949.402,0.000,611.728,0.000,5.517,0.000
$DEVICE_MAMPS,253.877,83.603,709.475,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,277.785,228.336,317.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19061,417
$CAP_FILE_SIZE,42157,0
$CFSIZE,260165632,258314240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,034323,4806.500,-12222.403,13,7.5,32,18.3