version: 66.04
glider: 160
mission: 2
dive: 15
start: 12 11 108 8 11 47
data:
$ID,160
$MISSION,2
$DIVE,15
$D_SURF,6
$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,-6385.856
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2645
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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,2
$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
$GPS1,080331,4806.168,-12222.053,30,1.2,40,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-76.6
$GPS2,081108,4806.127,-12221.990,9,1.2,14,18.3
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,-0.071
$KALMAN_X,694.3,96.4,52.4,740.3,126.5
$KALMAN_Y,-1341.4,-164.2,-148.3,-1991.7,-130.3
$MHEAD_RNG_PITCHd_Wd,215.6,236,-26.7,-6.965
$D_GRID,108
$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,-0.93,-36.8,0.0,0.0,0,56,0.00,0.00,-43.70,0.000,2,0.000,0.000,149,2291,2471
$GC,58,-0.97,-65.5,3.4,-3.3,8,117,8.45,2.47,-42.42,0.000,4,0.235,0.091,2326,3717,3858
$GC,243,-0.97,-65.5,12.6,-8.0,43,250,0.00,2.30,0.00,0.000,6,0.000,0.051,2326,2302,3859
$GC,377,-0.97,-65.5,25.4,-10.1,68,383,0.00,2.30,0.00,0.000,4,0.000,0.059,2326,882,3859
$GC,622,-0.97,-65.5,56.9,-13.5,114,629,0.00,2.33,0.00,0.000,6,0.000,0.062,2326,2297,3859
$GC,755,-0.97,-65.5,74.4,-13.7,139,762,0.00,2.30,0.00,0.000,4,0.000,0.061,2326,891,3858
$GC,1001,-0.97,-65.5,105.7,-11.5,185,1008,0.00,2.30,0.00,0.000,6,0.000,0.061,2326,2304,3858
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1024,-0.17,0.0,108.2,12.1,189,1077,0.82,0.00,49.33,0.739,6,0.160,0.000,2583,2304,3588
$STATE,1078,end apogee,CONTROL_FINISHED_OK
$STATE,1078,begin climb
$GC,1079,0.97,65.5,110.2,0.0,199,1133,1.08,0.00,49.58,0.692,6,0.091,0.000,2953,2304,3321
$GC,1259,0.97,65.5,92.7,11.0,233,1266,0.00,2.35,0.00,0.000,4,0.000,0.064,2953,3714,3320
$GC,1419,0.97,65.5,72.6,12.2,263,1426,0.00,2.28,0.00,0.000,6,0.000,0.044,2960,2298,3320
$GC,1552,0.97,65.5,58.3,10.3,288,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2298,3320
$GC,1680,0.97,65.5,45.2,10.0,312,1687,0.00,2.28,0.00,0.000,4,0.000,0.057,2970,881,3321
$GC,1765,0.97,65.5,36.6,10.2,328,1772,0.00,2.28,0.00,0.000,6,0.000,0.051,2969,2299,3321
$GC,1899,0.97,65.5,23.4,9.9,353,1906,0.00,2.30,0.00,0.000,4,0.000,0.065,2969,3711,3320
$GC,1941,0.97,65.5,19.0,10.4,361,1948,0.00,2.25,0.00,0.000,6,0.000,0.045,2979,2292,3320
$GC,2074,0.97,66.6,6.9,6.8,386,2081,0.00,2.22,0.00,0.000,4,0.000,0.057,2987,896,3320
$STATE,2239,end climb,NO_VERTICAL_VELOCITY
$STATE,2239,begin surface
$SM_CCo,2241,525.75,0.610,0,0,489,760.18
$SM_GC,1.44,7.85,0.00,0.00,0.044,0.000,0.000,150,2302,486,-7.74,0.06,761.17
$IRIDIUM_FIX,4748.51,-12220.12,070398,080823
$TT8_MAMPS,0.050622
$HUMID,1475
$INTERNAL_PRESSURE,9.20344
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.7,42.6
$24V_AH,24.6,5.648
$10V_AH,10.7,1.977
$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,18.200,32.375,98.900,525.750,0.000,54.299,63.627,211.882,1.250,0.000,0.000,16.394,0.000,1437.720,746.101,766.948,377.415,33.329,1075.453,0.000,611.098,0.000,6.114,0.000
$DEVICE_MAMPS,234.702,90.506,738.621,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,417
$CAP_FILE_SIZE,45016,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,090008,4806.073,-12222.077,7,1.8,13,18.3