version: 66.04
glider: 160
mission: 1
dive: 23
start: 12 4 108 11 33 31
data:
$ID,160
$MISSION,1
$DIVE,23
$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,62
$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,630
$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,-5378.3237
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,112459,4806.203,-12222.254,9,3.4,28,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.2
$GPS2,113253,4806.143,-12222.198,9,99.0,28,18.3
$SPEED_LIMITS,0.140,0.202
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.183
$KALMAN_X,-482.8,167.9,108.4,1888.9,75.9
$KALMAN_Y,1465.7,-199.4,-123.3,-5130.7,-254.6
$MHEAD_RNG_PITCHd_Wd,316.8,4097,-17.9,-8.065
$D_GRID,107
$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,-0.72,-97.8,0.0,0.0,0,89,0.00,0.00,-75.40,0.000,2,0.000,0.000,150,2355,2471
$GC,90,-0.72,-97.8,3.0,-1.8,14,150,8.62,0.00,-48.47,0.000,6,0.245,0.000,2325,2354,3963
$GC,212,-0.72,-97.8,13.4,-9.7,37,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2354,3963
$GC,276,-0.72,-97.8,17.9,-7.2,49,283,0.00,2.35,0.00,0.000,4,0.000,0.074,2323,3754,3963
$GC,313,-0.72,-97.8,21.0,-8.9,56,320,0.00,2.28,0.00,0.000,6,0.000,0.050,2323,2348,3963
$GC,382,-0.72,-97.8,27.9,-10.4,69,389,0.00,2.28,0.00,0.000,4,0.000,0.055,2323,939,3963
$GC,489,-0.72,-97.8,40.8,-12.8,89,496,0.00,2.28,0.00,0.000,6,0.000,0.058,2323,2345,3963
$GC,622,-0.72,-97.8,57.0,-12.0,114,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2345,3963
$GC,751,-0.72,-97.8,72.4,-12.3,138,757,0.00,2.28,0.00,0.000,4,0.000,0.057,2323,942,3964
$GC,787,-0.72,-97.8,76.8,-12.1,145,794,0.00,2.28,0.00,0.000,6,0.000,0.058,2323,2350,3964
$GC,920,-0.72,-97.8,91.5,-10.7,170,927,0.00,2.28,0.00,0.000,4,0.000,0.055,2323,940,3963
$GC,957,-0.72,-97.8,95.7,-12.0,177,964,0.00,2.28,0.00,0.000,6,0.000,0.059,2323,2352,3963
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1066,-0.17,0.0,107.2,10.4,197,1141,0.55,0.00,68.15,0.728,6,0.142,0.000,2500,2416,3588
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1142,0.72,97.8,109.4,0.0,211,1222,0.82,0.00,74.20,0.697,6,0.084,0.000,2787,2415,3189
$GC,1348,0.72,97.8,87.8,12.8,250,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2415,3189
$GC,1476,0.72,97.8,71.5,13.2,274,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2415,3188
$GC,1605,0.72,97.8,56.7,11.7,298,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2415,3188
$GC,1733,0.72,97.8,41.3,12.0,322,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2415,3188
$GC,1861,0.72,97.8,26.6,11.4,346,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2415,3189
$GC,1925,0.72,97.8,19.7,10.5,358,1932,0.00,2.30,0.00,0.000,4,0.000,0.051,2796,983,3188
$GC,1957,0.72,97.8,16.4,10.3,364,1964,0.00,2.25,0.00,0.000,6,0.000,0.049,2796,2399,3188
$GC,2026,0.72,97.8,10.1,8.3,377,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2399,3188
$GC,2090,0.86,212.1,8.3,1.7,389,2177,0.12,0.00,83.62,0.650,6,0.081,0.000,2847,2399,2724
$GC,2240,1.03,351.7,5.6,0.3,417,2353,0.15,2.40,104.70,0.628,4,0.076,0.051,2908,987,2153
$STATE,2361,end climb,SURFACE_DEPTH_REACHED
$STATE,2361,begin surface coast
$FINISH,3.4,1.220608
$STATE,2516,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2516,begin surface
$SM_CCo,2530,213.38,0.617,0,0,1019,630.18
$SM_GC,2.30,0.00,0.00,213.38,0.000,0.000,0.617,143,2361,1019,-7.56,0.31,630.18
$IRIDIUM_FIX,4751.72,-12303.86,280298,111151
$TT8_MAMPS,0.051389
$HUMID,1527
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.70
$XPDR_PINGS,4
$24V_AH,24.1,2.973
$10V_AH,10.7,1.165
$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,18.025,27.550,330.675,213.375,0.000,49.241,55.520,223.901,1.000,0.000,0.000,31.469,0.000,1340.907,624.861,862.097,389.043,33.319,1036.772,0.000,686.615,0.000,0.536,0.000
$DEVICE_MAMPS,244.673,102.778,727.883,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,312.380,256.657,358.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19066,469
$CAP_FILE_SIZE,50248,0
$CFSIZE,260165632,257990656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041208,122007,4806.318,-12222.298,35,1.0,35,18.3