version: 66.04
glider: 160
mission: 2
dive: 9
start: 12 11 108 2 35 35
data:
$ID,160
$MISSION,2
$DIVE,9
$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,-6252.6074
$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,21
$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
$GPS1,023015,4806.825,-12222.679,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.4
$GPS2,023456,4806.791,-12222.635,13,1.7,30,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.200
$KALMAN_X,29.3,-87.0,24.0,817.2,108.1
$KALMAN_Y,-67.1,-17.3,-1.3,-2326.9,-90.6
$MHEAD_RNG_PITCHd_Wd,139.9,1661,-21.7,-10.000
$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,11,-0.84,-97.8,0.0,0.0,0,84,0.00,0.00,-71.07,0.000,2,0.000,0.000,145,2347,2282
$GC,86,-0.84,-97.8,3.3,-6.5,12,146,8.77,2.33,-45.97,0.000,4,0.246,0.071,2349,940,3963
$GC,160,-0.84,-97.8,7.3,-3.6,25,167,0.00,2.33,0.00,0.000,6,0.000,0.058,2342,2350,3963
$GC,230,-0.84,-97.8,12.4,-7.3,38,236,0.00,2.35,0.00,0.000,4,0.000,0.072,2339,3756,3964
$GC,475,-0.84,-97.8,42.3,-14.8,84,482,0.00,2.25,0.00,0.000,6,0.000,0.049,2339,2354,3964
$GC,609,-0.84,-97.8,61.6,-13.7,109,615,0.00,2.35,0.00,0.000,4,0.000,0.074,2339,3758,3964
$GC,715,-0.84,-97.8,77.6,-15.3,129,722,0.00,2.25,0.00,0.000,6,0.000,0.050,2339,2350,3964
$GC,848,-0.84,-97.8,96.0,-13.5,154,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2350,3964
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,935,-0.17,0.0,107.6,13.7,170,1008,0.73,0.00,67.72,0.727,6,0.153,0.000,2565,2349,3589
$STATE,1008,end apogee,CONTROL_FINISHED_OK
$STATE,1008,begin climb
$GC,1009,0.84,97.8,110.9,0.0,183,1089,0.95,2.50,73.55,0.686,4,0.096,0.066,2887,3763,3190
$GC,1119,0.84,97.8,102.9,11.4,203,1126,0.00,2.35,0.00,0.000,6,0.000,0.047,2892,2348,3190
$GC,1252,0.84,97.8,88.5,10.7,228,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2349,3189
$GC,1380,0.84,97.8,74.9,10.5,252,1388,0.00,2.28,0.00,0.000,4,0.000,0.055,2893,941,3189
$GC,1444,0.84,97.8,68.2,10.8,264,1452,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,2354,3189
$GC,1579,0.84,97.8,54.3,10.3,289,1585,0.00,2.30,0.00,0.000,4,0.000,0.065,2893,3759,3189
$GC,1626,0.84,97.8,48.9,11.6,298,1633,0.00,2.25,0.00,0.000,6,0.000,0.044,2898,2346,3189
$GC,1761,0.85,99.7,35.4,9.9,323,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2346,3189
$GC,1824,0.87,118.0,29.4,8.7,335,1843,0.00,0.00,15.93,0.650,6,0.000,0.000,2898,2346,3107
$GC,1905,0.87,118.0,21.3,10.3,350,1912,0.00,2.33,0.00,0.000,4,0.000,0.064,2898,3757,3107
$GC,1943,0.87,118.0,17.0,11.7,357,1950,0.00,2.25,0.00,0.000,6,0.000,0.045,2904,2346,3107
$GC,2013,0.89,136.5,10.0,8.7,370,2032,0.00,2.33,14.98,0.655,4,0.000,0.055,2905,925,3032
$GC,2047,0.94,175.4,7.7,7.3,376,2083,0.00,2.30,29.50,0.640,6,0.000,0.051,2905,2346,2873
$GC,2146,1.12,322.3,7.4,-0.1,394,2224,0.22,0.00,75.68,0.629,2,0.062,0.000,2993,2346,2457
$STATE,2224,end climb,NO_VERTICAL_VELOCITY
$STATE,2224,begin surface
$SM_CCo,2226,371.92,0.600,0,0,490,760.18
$SM_GC,1.61,7.85,0.00,0.00,0.043,0.000,0.000,148,2347,486,-7.69,-0.08,761.17
$IRIDIUM_FIX,4748.51,-12226.29,070398,010147
$TT8_MAMPS,0.051389
$HUMID,1498
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,41.7
$24V_AH,24.4,4.903
$10V_AH,10.7,1.761
$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,18.525,37.000,277.350,371.925,0.000,24.239,34.253,144.486,0.750,0.000,0.000,32.522,0.000,1094.996,725.420,905.059,255.711,33.314,1119.766,0.000,738.678,0.000,5.511,0.000
$DEVICE_MAMPS,246.207,73.632,727.116,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.505,212.303,500.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19094,407
$CAP_FILE_SIZE,45566,0
$CFSIZE,260165632,258379776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,032131,4806.505,-12222.437,39,2.0,39,18.3