version: 66.04
glider: 161
mission: 1
dive: 1
start: 12 3 108 17 51 49
data:
$ID,161
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,200
$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,735
$N_FILEKB,4
$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,-2171.7271
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3186
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2582
$C_ROLL_CLIMB,2582
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3503
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-19.491602
$PRESSURE_SLOPE,0.0001162844
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043144668
$SEABIRD_T_H,0.00063067116
$SEABIRD_T_I,2.3331902e-05
$SEABIRD_T_J,2.4048572e-06
$SEABIRD_C_G,-9.9688005
$SEABIRD_C_H,1.1159369
$SEABIRD_C_I,-0.00065751909
$SEABIRD_C_J,0.00014078162
$GPS1,174423,4808.217,-12223.525,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.3
$GPS2,175107,4808.263,-12223.558,14,0.9,30,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.283
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,145.3,2439,-14.9,-10.000
$D_GRID,103
$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,-0.81,-195.5,0.0,0.0,0,136,0.00,0.00,-122.47,0.000,2,0.000,0.000,127,2596,3475
$GC,137,-0.81,-195.5,3.1,-3.8,21,173,11.15,2.25,-16.45,0.000,4,0.252,0.062,2916,1155,3963
$GC,246,-0.81,-195.5,5.7,-1.2,41,253,0.00,2.25,0.00,0.000,6,0.000,0.060,2910,2576,3964
$GC,316,-0.81,-195.5,6.6,-1.2,54,323,0.00,1.92,0.00,0.000,4,0.000,0.077,2901,3761,3965
$GC,465,-0.81,-195.5,11.3,-4.0,82,473,0.00,1.83,0.00,0.000,6,0.000,0.050,2901,2581,3965
$GC,535,-0.81,-195.5,14.0,-4.3,95,542,0.00,2.15,0.00,0.000,4,0.000,0.049,2901,1172,3964
$GC,621,-0.81,-195.5,18.3,-4.9,111,628,0.00,2.22,0.00,0.000,6,0.000,0.061,2897,2579,3965
$GC,690,-0.81,-195.5,22.2,-5.6,124,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2579,3965
$STATE,753,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,753,begin apogee
$GC,756,-0.19,0.0,25.6,5.4,136,843,0.68,0.00,81.72,0.676,6,0.140,0.000,3115,2579,3503
$STATE,843,end apogee,CONTROL_FINISHED_OK
$STATE,843,begin climb
$GC,844,0.81,195.5,25.7,0.0,151,996,0.93,2.28,143.85,0.632,4,0.075,0.046,3455,1157,2705
$STATE,1020,end climb,SURFACE_DEPTH_REACHED
$STATE,1020,begin surface coast
$FINISH,2.0,1.016564
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1062,404.90,0.595,0,0,506,735.16
$SM_GC,1.26,0.00,0.00,404.90,0.000,0.000,0.595,137,2591,506,-9.53,0.25,735.16
$IRIDIUM_FIX,4751.72,-12056.72,270298,171753
$TT8_MAMPS,0.050622
$HUMID,1527
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,18.40
$XPDR_PINGS,13
$24V_AH,24.2,0.481
$10V_AH,10.6,0.186
$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,22.075,17.225,225.575,404.900,0.000,0.000,0.000,0.000,3.250,0.000,0.000,32.457,0.000,338.797,698.572,472.883,25.062,29.224,938.002,0.000,373.244,0.000,0.993,0.000
$DEVICE_MAMPS,251.576,76.700,676.494,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.103,325.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6510,187
$CAP_FILE_SIZE,39868,0
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,031208,181702,4808.247,-12223.587,11,1.0,28,18.3