version: 66.04
glider: 160
mission: 1
dive: 27
start: 12 4 108 15 3 17
data:
$ID,160
$MISSION,1
$DIVE,27
$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,-5454.9321
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,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,32
$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
$GPS1,145726,4806.607,-12222.608,35,1.8,35,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.0
$GPS2,150239,4806.777,-12222.750,14,1.4,14,18.3
$SPEED_LIMITS,0.140,0.202
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.161
$KALMAN_X,-83.5,240.4,39.9,804.5,28.1
$KALMAN_Y,1108.1,-333.8,-280.2,-3309.3,1.0
$MHEAD_RNG_PITCHd_Wd,304.8,2742,-17.9,-8.065
$D_GRID,105
$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,11,-0.72,-97.8,0.0,0.0,0,93,0.00,0.00,-80.15,0.000,2,0.000,0.000,151,2357,3047
$GC,95,-0.72,-97.8,3.1,-2.0,15,138,8.70,2.35,-27.15,0.000,4,0.247,0.081,2315,3757,3964
$GC,158,-0.72,-97.8,9.8,-13.4,27,165,0.00,2.25,0.00,0.000,6,0.000,0.047,2315,2362,3964
$GC,227,-0.72,-97.8,18.0,-10.6,40,234,0.00,2.33,0.00,0.000,4,0.000,0.056,2314,937,3964
$GC,317,-0.72,-97.8,27.6,-11.1,57,324,0.00,2.30,0.00,0.000,6,0.000,0.064,2313,2345,3964
$GC,386,-0.72,-97.8,35.1,-10.9,70,393,0.00,2.28,0.00,0.000,4,0.000,0.055,2313,940,3964
$GC,429,-0.72,-97.8,40.0,-11.7,78,436,0.00,2.30,0.00,0.000,6,0.000,0.058,2311,2353,3964
$GC,498,-0.72,-97.8,48.5,-12.3,91,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2353,3964
$GC,626,-0.72,-97.8,64.9,-13.2,115,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2353,3964
$GC,754,-0.72,-97.8,81.9,-12.9,139,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2353,3964
$GC,882,-0.72,-97.8,96.8,-11.4,163,889,0.00,2.28,0.00,0.000,4,0.000,0.054,2311,940,3964
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,956,begin apogee
$GC,961,-0.17,0.0,105.5,11.5,177,1035,0.60,0.00,68.30,0.729,6,0.146,0.000,2502,2400,3588
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1037,0.72,97.8,108.0,0.0,191,1117,0.82,2.38,74.10,0.690,4,0.083,0.064,2789,3792,3189
$GC,1131,0.72,97.8,100.1,11.8,209,1139,0.00,2.30,0.00,0.000,6,0.000,0.044,2797,2401,3188
$GC,1265,0.72,97.8,81.0,14.6,234,1272,0.00,2.30,0.00,0.000,4,0.000,0.054,2808,994,3188
$GC,1302,0.72,97.8,75.9,13.6,241,1309,0.00,2.30,0.00,0.000,6,0.000,0.051,2808,2401,3188
$GC,1435,0.72,97.8,58.0,13.1,266,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2401,3188
$GC,1563,0.72,97.8,40.9,12.7,290,1570,0.00,2.25,0.00,0.000,4,0.000,0.059,2808,3788,3188
$GC,1595,0.72,97.8,36.3,14.6,296,1602,0.00,2.17,0.00,0.000,6,0.000,0.040,2816,2393,3188
$GC,1664,0.72,97.8,26.5,13.6,309,1671,0.00,2.22,0.00,0.000,4,0.000,0.048,2827,988,3188
$GC,1679,0.72,97.8,24.3,13.9,312,1687,0.10,2.25,0.00,0.000,6,0.179,0.048,2797,2405,3188
$GC,1749,0.72,97.8,15.9,12.0,325,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2405,3188
$GC,1813,0.72,97.8,9.4,9.5,337,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2405,3188
$GC,1877,0.81,171.0,5.8,4.0,349,1938,0.00,2.33,53.97,0.651,4,0.000,0.063,2797,3785,2891
$GC,2000,1.01,338.6,5.1,-1.2,372,2067,0.22,2.22,62.15,0.628,2,0.060,0.044,2892,2396,2550
$STATE,2068,end climb,SURFACE_DEPTH_REACHED
$STATE,2068,begin surface coast
$FINISH,3.7,1.216330
$STATE,2070,end surface coast,CONTROL_FINISHED_OK
$STATE,2070,begin surface
$SM_CCo,2083,286.15,0.603,0,0,1019,630.18
$SM_GC,1.90,0.00,0.00,286.15,0.000,0.000,0.603,150,2351,1019,-7.54,0.03,630.18
$IRIDIUM_FIX,4804.60,-12234.97,280298,141400
$TT8_MAMPS,0.051389
$HUMID,1519
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,24.1,3.464
$10V_AH,10.7,1.283
$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,18.600,41.225,258.525,286.150,0.000,27.483,31.255,188.259,0.750,0.000,0.000,16.082,0.000,1015.097,652.908,714.503,299.338,33.319,1003.643,0.000,565.837,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,103.545,728.650,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,255.506,202.150,284.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15885,385
$CAP_FILE_SIZE,46631,0
$CFSIZE,260165632,257888256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,041208,154315,4806.983,-12222.953,11,1.3,11,18.3