version: 66.04
glider: 160
mission: 1
dive: 14
start: 12 4 108 4 33 40
data:
$ID,160
$MISSION,1
$DIVE,14
$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,-5167.5781
$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,23
$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
$GPS1,042821,4806.468,-12222.213,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.8
$GPS2,043302,4806.449,-12222.190,10,1.9,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.208
$KALMAN_X,-1029.9,-119.8,-0.4,2842.3,-119.1
$KALMAN_Y,1791.0,71.9,-129.9,-5159.6,445.9
$MHEAD_RNG_PITCHd_Wd,146.5,864,-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,-97.8,0.0,0.0,0,89,0.00,0.00,-75.15,0.000,2,0.000,0.000,147,2314,2983
$GC,90,-0.84,-97.8,3.0,-2.2,14,134,8.52,2.33,-27.77,0.000,4,0.248,0.069,2275,898,3963
$GC,158,-0.84,-97.8,11.5,-13.8,27,165,0.00,2.28,0.00,0.000,6,0.000,0.056,2271,2288,3963
$GC,227,-0.84,-97.8,19.5,-10.9,40,234,0.00,2.38,0.00,0.000,4,0.000,0.071,2270,3713,3963
$GC,473,-0.84,-97.8,54.9,-16.0,86,480,0.00,2.25,0.00,0.000,6,0.000,0.047,2270,2306,3963
$GC,606,-0.84,-97.8,75.9,-15.0,111,613,0.00,2.33,0.00,0.000,4,0.000,0.070,2269,3708,3963
$GC,670,-0.84,-97.8,85.4,-14.3,123,677,0.00,2.25,0.00,0.000,6,0.000,0.049,2269,2302,3963
$GC,803,-0.84,-97.8,104.8,-14.5,148,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2301,3963
$STATE,877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,877,begin apogee
$GC,880,-0.17,0.0,115.4,13.9,162,954,0.70,0.00,67.80,0.716,6,0.154,0.000,2490,2191,3589
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,955,0.84,97.8,118.4,0.0,176,1035,0.95,0.00,73.78,0.693,6,0.087,0.000,2818,2191,3190
$GC,1161,0.84,97.8,94.5,13.9,215,1168,0.00,2.40,0.00,0.000,4,0.000,0.063,2818,3616,3190
$GC,1219,0.84,97.8,85.5,16.0,226,1226,0.00,2.30,0.00,0.000,6,0.000,0.048,2828,2208,3190
$GC,1352,0.84,97.8,65.0,14.7,251,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2208,3190
$GC,1481,0.84,97.8,47.5,12.7,275,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2208,3190
$GC,1608,0.84,97.8,30.7,13.7,299,1615,0.00,2.30,0.00,0.000,4,0.000,0.058,2828,3622,3189
$GC,1672,0.84,97.8,21.8,14.2,311,1679,0.00,2.25,0.00,0.000,6,0.000,0.041,2838,2193,3190
$GC,1741,0.84,97.8,13.4,12.0,324,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2193,3190
$GC,1805,0.86,108.1,6.6,9.3,336,1819,0.00,2.35,9.10,0.580,4,0.000,0.057,2837,3624,3148
$GC,1860,1.09,296.1,5.9,-2.9,346,2000,0.12,2.25,135.02,0.631,2,0.067,0.041,2907,2197,2394
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,3.2,1.218226
$STATE,2201,end surface coast,CONTROL_FINISHED_OK
$STATE,2201,begin surface
$SM_CCo,2214,247.90,0.611,0,0,1060,620.12
$SM_GC,2.14,0.00,0.00,247.90,0.000,0.000,0.611,143,2314,1060,-7.53,0.37,620.12
$IRIDIUM_FIX,4748.51,-12220.12,280298,030316
$TT8_MAMPS,0.051389
$HUMID,1550
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.6,44.8
$24V_AH,24.1,1.894
$10V_AH,10.7,0.915
$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,18.175,28.000,285.700,247.900,0.000,29.715,24.532,160.470,1.000,0.000,0.000,17.489,0.000,1122.394,605.334,752.244,263.074,33.324,965.435,0.000,601.555,0.000,5.820,0.000
$DEVICE_MAMPS,247.741,71.331,716.378,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,272.796,218.991,307.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,410
$CAP_FILE_SIZE,43543,0
$CFSIZE,260165632,258260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,051509,4806.290,-12222.151,9,2.0,9,18.3