version: 66.04
glider: 160
mission: 1
dive: 20
start: 12 4 108 9 0 38
data:
$ID,160
$MISSION,1
$DIVE,20
$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,-5300.2764
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2562
$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,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,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
$GPS1,085523,4805.982,-12222.039,6,99.0,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-64.8
$GPS2,085959,4805.963,-12222.011,11,99.0,30,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.189
$KALMAN_X,-760.1,63.5,57.0,2555.4,94.6
$KALMAN_Y,1924.8,-37.0,206.4,-6415.7,-212.9
$MHEAD_RNG_PITCHd_Wd,313.2,4504,-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,-97.8,0.0,0.0,0,77,0.00,0.00,-64.68,0.000,2,0.000,0.000,145,2347,2756
$GC,79,-0.84,-97.8,3.1,-2.9,12,133,8.55,2.30,-38.35,0.000,4,0.247,0.069,2282,940,3963
$GC,371,-0.84,-97.8,34.4,-13.8,67,378,0.00,2.28,0.00,0.000,6,0.000,0.059,2282,2337,3964
$GC,440,-0.84,-97.8,44.3,-14.8,80,447,0.00,2.28,0.00,0.000,4,0.000,0.055,2282,939,3964
$GC,509,-0.84,-97.8,54.5,-14.9,93,516,0.00,2.30,0.00,0.000,6,0.000,0.059,2282,2352,3964
$GC,643,-0.84,-97.8,73.7,-14.1,118,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2352,3964
$GC,770,-0.84,-97.8,91.6,-14.1,142,777,0.00,2.28,0.00,0.000,4,0.000,0.052,2282,939,3964
$GC,855,-0.84,-97.8,103.2,-13.1,158,863,0.00,2.28,0.00,0.000,6,0.000,0.058,2282,2350,3964
$STATE,897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,897,begin apogee
$GC,900,-0.17,0.0,108.5,12.0,166,974,0.70,0.00,68.40,0.726,6,0.156,0.000,2501,2411,3589
$STATE,974,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,975,0.84,97.8,111.0,0.0,180,1055,0.95,0.00,74.15,0.694,6,0.084,0.000,2829,2411,3190
$GC,1181,0.84,97.8,84.8,16.1,219,1188,0.00,2.30,0.00,0.000,4,0.000,0.065,2829,3780,3189
$GC,1202,0.84,97.8,81.2,17.2,223,1209,0.00,2.20,0.00,0.000,6,0.000,0.043,2838,2411,3189
$GC,1335,0.84,97.8,60.0,15.4,248,1342,0.00,2.30,0.00,0.000,4,0.000,0.053,2849,987,3189
$GC,1356,0.84,97.8,56.7,15.4,252,1363,0.00,2.28,0.00,0.000,6,0.000,0.051,2848,2398,3189
$GC,1489,0.84,97.8,36.7,15.0,277,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2398,3189
$GC,1553,0.84,97.8,27.5,14.2,289,1560,0.00,2.25,0.00,0.000,4,0.000,0.058,2849,3790,3188
$GC,1580,0.84,97.8,23.4,16.8,294,1587,0.00,2.17,0.00,0.000,6,0.000,0.039,2858,2393,3189
$GC,1649,0.84,97.8,13.4,14.1,307,1656,0.00,2.20,0.00,0.000,4,0.000,0.047,2868,997,3189
$GC,1664,0.84,97.8,11.5,13.1,310,1672,0.10,2.22,0.00,0.000,6,0.197,0.048,2840,2400,3189
$GC,1734,0.99,216.3,5.7,1.8,323,1826,0.12,2.33,86.85,0.642,4,0.077,0.048,2891,990,2705
$STATE,1984,end climb,NO_VERTICAL_VELOCITY
$STATE,1984,begin surface
$SM_CCo,1985,419.38,0.609,0,0,490,760.18
$SM_GC,2.02,7.72,0.00,0.00,0.054,0.000,0.000,145,2352,485,-7.50,0.06,761.41
$IRIDIUM_FIX,4748.51,-12226.29,280298,080842
$TT8_MAMPS,0.051389
$HUMID,1525
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,19.60
$XPDR_PINGS,7
$24V_AH,24.3,2.600
$10V_AH,10.7,1.073
$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,18.150,36.350,229.400,419.375,0.000,23.324,29.637,141.880,1.750,0.000,0.000,33.617,0.000,1086.135,752.824,703.256,243.577,33.331,1083.940,0.000,544.254,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,103.545,725.582,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,246.629,195.524,276.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15942,370
$CAP_FILE_SIZE,42760,0
$CFSIZE,260165632,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,041208,094307,4806.054,-12222.105,13,1.9,23,18.3