version: 66.04
glider: 160
mission: 2
dive: 8
start: 12 11 108 1 45 11
data:
$ID,160
$MISSION,2
$DIVE,8
$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,60
$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,8
$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,-6219.4565
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2625
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$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,4
$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,-23.364115
$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,80
$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,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,014002,4807.066,-12223.043,10,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.8
$GPS2,014432,4807.034,-12223.016,15,1.7,32,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.185
$KALMAN_X,-99.6,-120.3,-24.0,557.9,60.2
$KALMAN_Y,-20.7,-16.7,15.6,-1936.6,-56.5
$MHEAD_RNG_PITCHd_Wd,130.9,2290,-21.7,-10.000
$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,-0.84,-97.8,0.0,0.0,0,90,0.00,0.00,-77.15,0.000,2,0.000,0.000,151,2360,2436
$GC,92,-0.84,-97.8,3.3,-4.3,13,151,8.68,2.35,-42.67,0.000,4,0.243,0.070,2346,932,3963
$GC,390,-0.84,-97.8,30.4,-13.2,68,397,0.00,2.33,0.00,0.000,6,0.000,0.061,2340,2347,3964
$GC,460,-0.84,-97.8,39.8,-13.6,81,466,0.00,2.30,0.00,0.000,4,0.000,0.058,2340,940,3964
$GC,705,-0.84,-97.8,75.6,-14.6,127,712,0.00,2.30,0.00,0.000,6,0.000,0.059,2339,2352,3964
$GC,838,-0.84,-97.8,94.1,-14.1,152,845,0.00,2.28,0.00,0.000,4,0.000,0.056,2339,940,3964
$GC,897,-0.84,-97.8,102.1,-13.2,163,903,0.00,2.28,0.00,0.000,6,0.000,0.059,2340,2346,3964
$STATE,922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,922,begin apogee
$GC,924,-0.17,0.0,105.6,13.8,168,997,0.73,0.00,67.93,0.730,6,0.154,0.000,2566,2346,3589
$STATE,998,end apogee,CONTROL_FINISHED_OK
$STATE,998,begin climb
$GC,999,0.84,97.8,108.8,0.0,181,1077,0.95,0.00,73.65,0.688,6,0.096,0.000,2888,2346,3189
$GC,1204,0.85,99.9,91.4,9.8,219,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2346,3189
$GC,1332,0.85,100.1,78.2,10.0,243,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2346,3189
$GC,1460,0.85,104.6,65.5,9.7,267,1473,0.00,0.00,6.78,0.586,6,0.000,0.000,2888,2346,3161
$GC,1599,0.85,106.5,51.6,9.9,293,1606,0.00,2.33,0.00,0.000,4,0.000,0.067,2888,3759,3161
$GC,1641,0.85,106.5,47.0,11.5,301,1648,0.00,2.25,0.00,0.000,6,0.000,0.047,2895,2352,3161
$GC,1775,0.85,106.5,33.2,10.3,326,1782,0.00,2.28,0.00,0.000,4,0.000,0.058,2898,937,3161
$GC,1813,0.86,109.4,29.6,9.8,333,1825,0.00,2.28,5.32,0.541,6,0.000,0.051,2898,2355,3141
$GC,1888,0.86,110.8,22.0,9.9,347,1895,0.00,2.30,0.00,0.000,4,0.000,0.064,2898,3762,3142
$GC,1936,0.86,110.8,16.4,11.4,356,1943,0.00,2.25,0.00,0.000,6,0.000,0.046,2905,2349,3142
$GC,2006,0.89,137.2,9.6,8.2,369,2030,0.00,0.00,21.40,0.664,6,0.000,0.000,2905,2349,3029
$GC,2093,1.07,284.4,5.8,-0.1,385,2200,0.20,0.00,104.60,0.632,2,0.064,0.000,2985,2347,2447
$STATE,2200,end climb,NO_VERTICAL_VELOCITY
$STATE,2201,begin surface
$SM_CCo,2202,370.83,0.600,0,0,489,760.18
$SM_GC,1.48,7.82,0.00,0.00,0.042,0.000,0.000,145,2347,486,-7.69,-0.08,761.17
$IRIDIUM_FIX,4751.72,-12221.84,070398,010133
$TT8_MAMPS,0.051389
$HUMID,1505
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,41.0
$24V_AH,24.4,4.776
$10V_AH,10.7,1.718
$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,18.375,27.500,279.675,370.825,0.000,24.463,24.983,140.318,1.000,0.000,0.000,34.296,0.000,1090.569,718.990,892.307,242.808,33.313,1108.195,0.000,731.141,0.000,5.510,0.000
$DEVICE_MAMPS,243.139,69.797,730.184,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.095,211.960,495.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19057,403
$CAP_FILE_SIZE,43045,0
$CFSIZE,260165632,258412544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,023015,4806.825,-12222.679,12,1.8,12,18.3