version: 66.04
glider: 160
mission: 2
dive: 11
start: 12 11 108 4 19 41
data:
$ID,160
$MISSION,2
$DIVE,11
$D_SURF,5
$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,0
$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,-6287.1938
$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,22
$R_STBD_OVSHOOT,23
$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,10
$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
$GPS1,041437,4806.121,-12222.218,9,1.3,25,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.8
$GPS2,041903,4806.051,-12222.171,14,1.0,14,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.020
$KALMAN_X,54.0,-38.6,123.6,1223.2,77.2
$KALMAN_Y,-273.4,-56.4,-76.1,-3376.0,-110.4
$MHEAD_RNG_PITCHd_Wd,65.0,231,-27.2,-10.000
$D_GRID,150
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.99,-63.1,0.0,0.0,0,80,0.00,0.00,-65.53,0.000,2,0.000,0.000,145,2347,2180
$GC,81,-1.03,-97.8,3.1,-3.7,11,141,8.48,2.35,-47.03,0.000,4,0.242,0.071,2288,925,3963
$GC,380,-1.03,-97.8,31.4,-15.2,66,387,0.00,2.35,0.00,0.000,6,0.000,0.061,2283,2350,3964
$GC,449,-1.03,-97.8,42.3,-16.4,79,456,0.00,2.30,0.00,0.000,4,0.000,0.058,2283,939,3964
$GC,513,-1.03,-97.8,53.1,-17.1,91,519,0.00,2.30,0.00,0.000,6,0.000,0.060,2283,2346,3964
$GC,646,-1.03,-97.8,75.6,-16.6,116,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2346,3964
$GC,774,-1.03,-97.8,97.2,-16.7,140,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2346,3964
$STATE,875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,875,begin apogee
$GC,878,-0.17,0.0,114.1,16.2,159,950,0.90,0.00,67.85,0.727,6,0.166,0.000,2560,2346,3589
$STATE,950,end apogee,CONTROL_FINISHED_OK
$STATE,950,begin climb
$GC,951,1.03,97.8,117.7,0.0,172,1035,1.15,2.45,73.62,0.691,4,0.100,0.064,2947,3759,3190
$GC,1044,1.03,97.8,109.8,12.8,189,1051,0.00,2.35,0.00,0.000,6,0.000,0.043,2957,2350,3190
$GC,1177,1.03,97.8,90.9,13.7,214,1184,0.00,2.38,0.00,0.000,4,0.000,0.065,2957,3761,3189
$GC,1226,1.03,97.8,83.7,15.5,223,1232,0.00,2.28,0.00,0.000,6,0.000,0.042,2966,2347,3189
$GC,1358,1.03,97.8,65.0,13.5,248,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2347,3189
$GC,1487,1.03,97.8,48.0,13.6,272,1494,0.00,2.33,0.00,0.000,4,0.000,0.064,2966,3758,3189
$GC,1503,1.03,97.8,45.8,13.6,275,1510,0.00,2.25,0.00,0.000,6,0.000,0.044,2974,2346,3189
$GC,1637,1.03,97.8,27.6,13.9,300,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2346,3189
$GC,1700,1.03,97.8,19.2,13.1,312,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2346,3189
$GC,1764,1.03,97.8,10.9,13.0,324,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2346,3189
$GC,1829,1.15,196.5,7.0,-0.5,336,1906,0.00,2.33,71.93,0.646,4,0.000,0.056,2974,934,2786
$STATE,2075,end climb,NO_VERTICAL_VELOCITY
$STATE,2075,begin surface
$SM_CCo,2076,430.77,0.604,0,0,489,760.18
$SM_GC,1.67,7.82,0.00,0.00,0.045,0.000,0.000,146,2358,486,-7.68,0.23,761.17
$IRIDIUM_FIX,4748.51,-12219.12,070398,030319
$TT8_MAMPS,0.050622
$HUMID,1482
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,43.3
$24V_AH,24.4,5.155
$10V_AH,10.7,1.845
$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,18.350,28.100,213.400,430.775,0.000,30.676,23.350,149.983,1.500,0.000,0.000,16.524,0.000,1069.869,720.335,832.547,254.107,33.311,1071.721,0.000,694.073,0.000,5.516,0.000
$DEVICE_MAMPS,242.372,71.331,727.116,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.519,205.955,479.739,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,381
$CAP_FILE_SIZE,40744,0
$CFSIZE,260165632,258330624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,050359,4805.995,-12221.805,9,2.4,28,18.3