version: 66.04
glider: 160
mission: 1
dive: 16
start: 12 4 108 6 6 12
data:
$ID,160
$MISSION,1
$DIVE,16
$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,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,-5219.9321
$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,26
$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,0
$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
$GPS1,060111,4806.110,-12222.043,9,2.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.4
$GPS2,060533,4806.107,-12222.037,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.040,-0.212
$KALMAN_X,-1180.6,-79.2,-12.9,3154.6,-47.8
$KALMAN_Y,2180.4,70.6,107.7,-6412.7,291.5
$MHEAD_RNG_PITCHd_Wd,151.0,204,-21.7,-10.000
$D_GRID,108
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,88,0.00,0.00,-75.05,0.000,2,0.000,0.000,143,2312,2999
$GC,89,-0.84,-97.8,3.3,-3.4,14,133,8.55,2.30,-28.50,0.000,4,0.248,0.071,2276,894,3963
$GC,371,-0.84,-97.8,36.5,-13.9,67,378,0.00,2.28,0.00,0.000,6,0.000,0.062,2270,2295,3963
$GC,440,-0.84,-97.8,46.8,-14.5,80,447,0.00,2.28,0.00,0.000,4,0.000,0.054,2270,896,3964
$GC,686,-0.84,-97.8,84.8,-14.6,126,693,0.00,2.25,0.00,0.000,6,0.000,0.057,2270,2297,3964
$GC,819,-0.84,-97.8,103.7,-14.3,151,826,0.00,2.28,0.00,0.000,4,0.000,0.057,2270,890,3964
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,854,-0.17,0.0,108.3,14.7,157,928,0.73,0.00,67.90,0.719,6,0.160,0.000,2495,2201,3589
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,930,0.84,97.8,111.4,0.0,171,1009,0.95,2.47,73.97,0.690,4,0.088,0.063,2820,3617,3190
$GC,1125,0.84,97.8,86.2,17.1,208,1132,0.00,2.30,0.00,0.000,6,0.000,0.047,2829,2210,3189
$GC,1258,0.84,97.8,65.4,14.9,233,1265,0.00,2.33,0.00,0.000,4,0.000,0.061,2829,3609,3189
$GC,1300,0.84,97.8,58.6,16.3,241,1308,0.00,2.25,0.00,0.000,6,0.000,0.044,2839,2198,3189
$GC,1434,0.84,97.8,39.1,12.9,266,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2198,3189
$GC,1498,0.84,97.8,30.3,14.4,278,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2198,3189
$GC,1562,0.84,97.8,21.4,14.0,290,1569,0.00,2.30,0.00,0.000,4,0.000,0.060,2839,3608,3189
$GC,1615,0.84,97.8,13.7,14.1,300,1622,0.00,2.22,0.00,0.000,6,0.000,0.040,2849,2195,3189
$GC,1684,0.88,129.8,6.2,7.8,313,1713,0.00,2.25,24.23,0.632,4,0.000,0.054,2851,791,3059
$STATE,1913,end climb,NO_VERTICAL_VELOCITY
$STATE,1913,begin surface
$SM_CCo,1915,480.95,0.616,0,0,489,760.18
$SM_GC,1.60,7.53,0.00,0.00,0.047,0.000,0.000,145,2303,484,-7.47,0.08,761.41
$IRIDIUM_FIX,4751.72,-12242.37,280298,050557
$TT8_MAMPS,0.050622
$HUMID,1535
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.60
$XPDR_PINGS,7
$24V_AH,24.3,2.130
$10V_AH,10.7,0.969
$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,17.750,32.200,166.100,480.950,0.000,22.854,29.727,145.512,1.750,0.000,0.000,16.280,0.000,1110.539,752.266,656.714,244.348,33.331,1057.229,0.000,523.724,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,70.564,718.679,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,238.482,189.182,265.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15950,356
$CAP_FILE_SIZE,39247,0
$CFSIZE,260165632,258207744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,041208,064837,4806.008,-12221.810,10,1.4,26,18.3