version: 66.04
glider: 160
mission: 2
dive: 13
start: 12 11 108 6 4 12
data:
$ID,160
$MISSION,2
$DIVE,13
$D_SURF,5
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,80
$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,560
$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,-6332.1255
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,055339,4805.947,-12221.829,12,1.9,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.1
$GPS2,060333,4805.800,-12221.725,12,1.9,12,18.3
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.166
$KALMAN_X,377.5,18.4,120.6,1389.0,111.1
$KALMAN_Y,-1059.0,-88.8,-99.3,-2992.7,-311.4
$MHEAD_RNG_PITCHd_Wd,311.4,503,-15.5,-6.965
$D_GRID,110
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.64,-97.8,0.0,0.0,0,82,0.00,0.00,-69.70,0.000,2,0.000,0.000,148,2344,2262
$GC,84,-0.64,-97.8,3.2,-4.2,13,145,8.88,2.33,-47.62,0.000,4,0.240,0.071,2416,938,3963
$GC,154,-0.64,-97.8,6.9,-2.3,26,161,0.00,2.33,0.00,0.000,6,0.000,0.058,2416,2342,3963
$GC,287,-0.64,-97.8,12.7,-6.4,51,294,0.00,2.38,0.00,0.000,4,0.000,0.075,2416,3761,3963
$GC,431,-0.64,-97.8,25.4,-9.7,78,438,0.00,2.28,0.00,0.000,6,0.000,0.051,2416,2350,3963
$GC,564,-0.64,-97.8,38.8,-10.4,103,571,0.00,2.28,0.00,0.000,4,0.000,0.060,2416,942,3964
$GC,596,-0.64,-97.8,42.3,-11.1,109,602,0.00,2.30,0.00,0.000,6,0.000,0.059,2416,2352,3963
$GC,729,-0.64,-97.8,56.8,-10.6,134,736,0.00,2.33,0.00,0.000,4,0.000,0.072,2416,3762,3963
$GC,755,-0.64,-97.8,59.8,-11.1,139,762,0.00,2.28,0.00,0.000,6,0.000,0.051,2416,2345,3963
$GC,888,-0.64,-97.8,73.8,-10.3,164,895,0.00,2.25,0.00,0.000,4,0.000,0.059,2416,941,3964
$GC,931,-0.64,-97.8,78.3,-10.6,172,938,0.00,2.30,0.00,0.000,6,0.000,0.060,2416,2355,3964
$GC,1064,-0.64,-97.8,91.4,-9.7,197,1071,0.00,2.30,0.00,0.000,4,0.000,0.074,2416,3758,3963
$GC,1090,-0.64,-97.8,94.2,-10.3,202,1097,0.00,2.25,0.00,0.000,6,0.000,0.051,2416,2347,3964
$GC,1223,-0.64,-97.8,106.9,-9.5,227,1230,0.00,2.25,0.00,0.000,4,0.000,0.059,2416,941,3963
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1264,-0.17,0.0,110.4,9.6,234,1334,0.45,0.00,67.88,0.734,6,0.139,0.000,2563,2362,3589
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1336,0.64,97.8,113.1,0.0,247,1416,0.77,2.40,73.82,0.691,4,0.099,0.067,2824,3762,3190
$GC,1452,0.64,97.8,106.3,8.6,269,1459,0.00,2.35,0.00,0.000,6,0.000,0.048,2828,2349,3189
$GC,1585,0.64,97.8,95.8,7.6,294,1592,0.00,2.30,0.00,0.000,4,0.000,0.056,2828,942,3189
$GC,1638,0.64,97.8,91.9,7.5,304,1645,0.00,2.30,0.00,0.000,6,0.000,0.050,2828,2353,3189
$GC,1771,0.64,97.8,82.0,7.5,329,1778,0.00,2.33,0.00,0.000,4,0.000,0.067,2829,3759,3189
$GC,1824,0.64,97.8,77.6,8.7,339,1831,0.00,2.28,0.00,0.000,6,0.000,0.046,2828,2345,3188
$GC,1957,0.64,97.8,67.5,7.3,364,1965,0.00,2.25,0.00,0.000,4,0.000,0.056,2829,943,3189
$GC,1978,0.64,97.8,66.0,7.4,368,1986,0.00,2.28,0.00,0.000,6,0.000,0.051,2828,2354,3188
$GC,2112,0.64,97.8,56.0,7.5,393,2119,0.00,2.30,0.00,0.000,4,0.000,0.065,2829,3765,3189
$GC,2127,0.64,97.8,54.7,7.6,396,2134,0.00,2.25,0.00,0.000,6,0.000,0.047,2829,2352,3189
$GC,2261,0.64,97.8,45.0,7.3,421,2268,0.00,2.33,0.00,0.000,4,0.000,0.067,2829,3762,3189
$GC,2287,0.64,97.8,42.8,7.8,426,2294,0.00,2.25,0.00,0.000,6,0.000,0.048,2829,2348,3188
$GC,2420,0.64,97.8,33.3,7.1,451,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2348,3189
$GC,2549,0.64,98.1,24.6,6.9,475,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2348,3188
$GC,2676,0.65,107.1,16.0,6.5,499,2689,0.00,0.00,8.52,0.601,6,0.000,0.000,2828,2348,3151
$GC,2815,0.71,154.7,8.2,4.7,525,2855,0.00,2.42,35.38,0.670,4,0.000,0.068,2828,3768,2957
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,5.5,1.018943
$STATE,2970,end surface coast,CONTROL_FINISHED_OK
$STATE,2970,begin surface
$SM_CCo,2971,461.85,0.609,0,0,490,760.18
$SM_GC,1.70,7.40,0.00,0.00,0.042,0.000,0.000,146,2350,485,-7.69,0.00,761.41
$IRIDIUM_FIX,4748.51,-12224.57,070398,060610
$TT8_MAMPS,0.050622
$HUMID,1496
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,19.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,85.2,38.0
$24V_AH,24.4,5.417
$10V_AH,10.7,1.921
$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,17.500,64.600,185.600,461.850,0.000,74.343,190.494,148.835,3.250,0.000,0.000,13.943,0.000,1826.107,824.852,1010.805,470.191,33.325,1278.896,0.000,808.184,0.000,9.906,0.000
$DEVICE_MAMPS,240.071,75.166,734.019,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22212,554
$CAP_FILE_SIZE,60182,0
$CFSIZE,260165632,258248704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,070359,4805.942,-12221.854,11,99.0,30,18.3