version: 66.04
glider: 161
mission: 1
dive: 2
start: 12 3 108 18 30 7
data:
$ID,161
$MISSION,1
$DIVE,2
$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,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,625
$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,-2218.562
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3160
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,182615,4808.297,-12223.623,12,0.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.4
$GPS2,182932,4808.317,-12223.634,12,1.2,12,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.275
$KALMAN_X,-41.4,-41.4,-41.4,33.7,-110.4
$KALMAN_Y,86.5,86.5,86.5,-168.4,230.9
$MHEAD_RNG_PITCHd_Wd,140.7,2562,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.81,-195.5,0.0,0.0,0,131,0.00,0.00,-117.25,0.000,2,0.000,0.000,138,2592,3383
$GC,132,-0.81,-195.5,3.2,-4.1,20,168,10.82,2.20,-18.73,0.000,4,0.245,0.064,2895,1156,3963
$GC,226,-0.81,-195.5,5.9,-2.5,37,232,0.00,2.25,0.00,0.000,6,0.000,0.060,2887,2573,3963
$GC,295,-0.81,-195.5,7.6,-2.6,50,302,0.00,1.92,0.00,0.000,4,0.000,0.077,2878,3756,3964
$GC,455,-0.81,-195.5,14.3,-5.4,80,462,0.00,1.83,0.00,0.000,6,0.000,0.051,2878,2584,3964
$GC,525,-0.81,-195.5,18.1,-5.6,93,532,0.00,2.17,0.00,0.000,4,0.000,0.051,2878,1169,3964
$GC,562,-0.81,-195.5,20.3,-6.1,100,569,0.00,2.22,0.00,0.000,6,0.000,0.061,2871,2574,3964
$GC,632,-0.81,-195.5,24.7,-6.6,113,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2574,3964
$GC,696,-0.81,-195.5,28.7,-6.8,125,703,0.00,2.17,0.00,0.000,4,0.000,0.051,2871,1167,3964
$GC,754,-0.81,-195.5,32.7,-7.0,136,762,0.10,2.22,0.00,0.000,6,0.154,0.061,2894,2573,3964
$GC,824,-0.81,-195.5,36.8,-5.3,149,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2573,3964
$GC,888,-0.81,-195.5,40.5,-5.6,161,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2573,3964
$GC,1017,-0.81,-195.5,47.7,-5.4,185,1023,0.00,2.15,0.00,0.000,4,0.000,0.051,2894,1174,3964
$GC,1091,-0.81,-195.5,52.1,-5.9,199,1097,0.00,2.22,0.00,0.000,6,0.000,0.061,2887,2582,3964
$GC,1224,-0.81,-195.5,60.0,-5.7,224,1231,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,1170,3964
$GC,1251,-0.81,-195.5,61.6,-6.7,229,1258,0.00,2.22,0.00,0.000,6,0.000,0.062,2884,2580,3964
$GC,1384,-0.81,-195.5,69.2,-5.6,254,1391,0.00,2.17,0.00,0.000,4,0.000,0.051,2884,1169,3964
$GC,1422,-0.81,-195.5,71.5,-6.0,261,1428,0.00,2.22,0.00,0.000,6,0.000,0.061,2875,2582,3964
$GC,1554,-0.81,-195.5,79.4,-5.6,286,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2582,3964
$GC,1683,-0.81,-195.5,86.8,-5.6,310,1690,0.00,2.17,0.00,0.000,4,0.000,0.051,2875,1167,3964
$GC,1764,-0.81,-195.5,91.7,-5.9,325,1770,0.00,2.22,0.00,0.000,6,0.000,0.061,2869,2580,3964
$STATE,1805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1805,begin apogee
$GC,1807,-0.19,0.0,94.2,5.8,333,1896,0.68,0.00,81.78,0.709,6,0.140,0.000,3089,2580,3503
$STATE,1896,end apogee,CONTROL_FINISHED_OK
$STATE,1896,begin climb
$GC,1897,0.81,195.5,94.1,0.0,349,2048,0.93,2.30,144.40,0.665,4,0.083,0.047,3425,1168,2705
$GC,2110,0.81,195.5,66.8,16.3,388,2118,0.00,2.30,0.00,0.000,6,0.000,0.052,3425,2585,2704
$GC,2244,0.81,195.5,44.8,16.3,413,2251,0.00,2.20,0.00,0.000,4,0.000,0.045,3434,1171,2705
$GC,2340,0.81,195.5,29.6,15.8,431,2347,0.00,2.22,0.00,0.000,6,0.000,0.052,3434,2577,2704
$GC,2410,0.81,195.5,18.5,16.6,444,2417,0.00,2.17,0.00,0.000,4,0.000,0.045,3444,1165,2704
$GC,2484,0.81,195.5,7.2,14.6,458,2492,0.00,2.22,0.00,0.000,6,0.000,0.052,3444,2578,2704
$STATE,2505,end climb,SURFACE_DEPTH_REACHED
$STATE,2505,begin surface coast
$FINISH,2.2,1.017410
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2532,begin surface
$SM_CCo,2545,319.27,0.594,1,0,954,625.02
$SM_GC,1.35,0.00,0.00,319.27,0.000,0.000,0.594,131,2580,954,-9.47,-0.06,625.02
$IRIDIUM_FIX,4751.72,-12340.51,270298,181837
$TT8_MAMPS,0.049855
$HUMID,1541
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,18.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.0,39.2
$24V_AH,24.1,0.597
$10V_AH,10.6,0.235
$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,21.675,48.000,226.175,319.275,0.000,0.000,0.000,0.000,1.500,0.000,0.000,14.259,0.000,1170.037,689.901,1017.450,33.878,30.169,1123.101,0.000,850.550,0.000,5.508,0.000
$DEVICE_MAMPS,244.673,76.700,709.475,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.468,588.863,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,467
$CAP_FILE_SIZE,60268,0
$CFSIZE,260165632,258191360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,031208,191821,4808.119,-12223.545,7,1.2,7,18.3