version: 66.04
glider: 160
mission: 1
dive: 17
start: 12 4 108 6 53 36
data:
$ID,160
$MISSION,1
$DIVE,17
$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,-5235.4766
$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,28
$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,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
$GPS1,064837,4806.008,-12221.810,10,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.9
$GPS2,065257,4805.977,-12221.776,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,-0.054
$KALMAN_X,-944.8,-70.6,-33.4,3249.0,44.1
$KALMAN_Y,2326.1,66.4,183.9,-6872.4,146.2
$MHEAD_RNG_PITCHd_Wd,233.4,280,-27.2,-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,-0.99,-63.1,0.0,0.0,0,114,0.00,0.00,-100.90,0.000,2,0.000,0.000,145,2304,3083
$GC,116,-1.03,-97.8,3.2,-2.6,19,159,8.30,2.35,-28.05,0.000,4,0.249,0.087,2213,3705,3963
$GC,360,-1.03,-97.8,34.9,-17.6,65,367,0.00,2.28,0.00,0.000,6,0.000,0.051,2213,2302,3963
$GC,429,-1.03,-97.8,47.0,-18.0,78,436,0.00,2.33,0.00,0.000,4,0.000,0.069,2212,3697,3963
$GC,461,-1.03,-97.8,52.8,-19.0,84,468,0.00,2.22,0.00,0.000,6,0.000,0.049,2212,2307,3964
$GC,594,-1.03,-97.8,77.0,-19.0,109,601,0.00,2.28,0.00,0.000,4,0.000,0.056,2212,892,3964
$GC,679,-1.03,-97.8,92.2,-18.3,125,686,0.00,2.28,0.00,0.000,6,0.000,0.058,2211,2303,3964
$STATE,774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,774,begin apogee
$GC,777,-0.17,0.0,108.8,17.0,143,851,0.93,0.00,68.10,0.724,6,0.171,0.000,2492,2189,3589
$STATE,851,end apogee,CONTROL_FINISHED_OK
$STATE,851,begin climb
$GC,852,1.03,97.8,112.0,0.0,157,932,1.12,0.00,74.35,0.696,6,0.089,0.000,2876,2189,3190
$GC,1058,1.03,97.8,83.1,17.9,196,1065,0.00,2.38,0.00,0.000,4,0.000,0.064,2876,3601,3189
$GC,1159,1.03,97.8,63.7,18.7,215,1166,0.00,2.22,0.00,0.000,6,0.000,0.044,2885,2210,3188
$GC,1293,1.03,97.8,40.9,16.6,240,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2209,3189
$GC,1420,1.03,97.8,20.6,15.7,264,1427,0.00,2.28,0.00,0.000,4,0.000,0.056,2885,3610,3188
$GC,1495,1.03,97.8,8.6,14.9,278,1502,0.00,2.22,0.00,0.000,6,0.000,0.040,2895,2194,3188
$GC,1564,1.18,222.9,5.4,-3.3,291,1661,0.12,2.30,91.38,0.643,4,0.083,0.051,2952,792,2679
$GC,1761,1.30,314.9,4.0,0.2,328,1770,0.00,2.28,5.05,0.482,2,0.000,0.047,2952,2199,2657
$STATE,1770,end climb,SURFACE_DEPTH_REACHED
$STATE,1770,begin surface coast
$FINISH,3.8,1.217218
$STATE,1805,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1805,begin surface
$SM_CCo,1818,296.83,0.619,0,0,1060,620.12
$SM_GC,2.20,0.00,0.00,296.83,0.000,0.000,0.619,148,2308,1060,-7.52,0.23,620.12
$IRIDIUM_FIX,4748.51,-12224.57,280298,060659
$TT8_MAMPS,0.051389
$HUMID,1535
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.50
$XPDR_PINGS,5
$24V_AH,24.1,2.238
$10V_AH,10.7,0.994
$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,18.725,27.750,238.875,296.825,0.000,30.510,28.758,138.614,1.250,0.000,0.000,14.916,0.000,874.021,637.558,621.603,243.770,33.330,947.258,0.000,495.342,0.000,0.534,0.000
$DEVICE_MAMPS,248.508,86.671,724.048,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,222.836,180.315,255.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,336
$CAP_FILE_SIZE,37869,0
$CFSIZE,260165632,258179072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,041208,072921,4805.898,-12221.955,12,1.6,12,18.3