version: 66.04
glider: 161
mission: 1
dive: 3
start: 12 3 108 19 36 40
data:
$ID,161
$MISSION,1
$DIVE,3
$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,150
$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,-2262.6816
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3145
$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,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3615
$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
$GPS1,193245,4808.156,-12223.574,10,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.8
$GPS2,193603,4808.162,-12223.582,12,1.1,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.243
$KALMAN_X,-99.6,-91.1,-87.4,248.5,-74.2
$KALMAN_Y,193.5,178.3,171.6,-731.5,144.4
$MHEAD_RNG_PITCHd_Wd,140.6,2270,-17.5,-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,-0.85,-146.6,0.0,0.0,0,113,0.00,0.00,-99.47,0.000,2,0.000,0.000,132,2580,3363
$GC,114,-0.85,-146.6,3.1,-3.1,17,150,10.75,1.95,-16.83,0.000,4,0.246,0.094,2854,3756,3964
$GC,266,-0.85,-146.6,11.6,-5.4,45,273,0.00,1.83,0.00,0.000,6,0.000,0.051,2854,2584,3965
$GC,336,-0.85,-146.6,15.3,-5.5,58,343,0.00,2.17,0.00,0.000,4,0.000,0.051,2854,1171,3965
$GC,432,-0.85,-146.6,21.6,-6.9,76,439,0.00,2.22,0.00,0.000,6,0.000,0.060,2846,2576,3965
$GC,501,-0.85,-146.6,26.5,-7.2,89,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2576,3965
$GC,565,-0.85,-146.6,31.3,-7.8,101,572,0.00,2.17,0.00,0.000,4,0.000,0.051,2845,1170,3965
$GC,657,-0.85,-146.6,38.3,-8.0,118,663,0.00,2.22,0.00,0.000,6,0.000,0.061,2840,2574,3965
$GC,726,-0.85,-146.6,43.6,-7.7,131,727,0.10,0.00,0.00,0.000,6,0.172,0.000,2865,2574,3965
$GC,854,-0.85,-146.6,52.2,-6.2,155,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2574,3965
$GC,982,-0.85,-146.6,60.9,-6.7,179,988,0.00,2.17,0.00,0.000,4,0.000,0.051,2865,1164,3965
$GC,1024,-0.85,-146.6,63.8,-6.4,187,1031,0.00,2.22,0.00,0.000,6,0.000,0.061,2858,2574,3965
$GC,1157,-0.85,-146.6,72.8,-6.5,212,1164,0.00,2.15,0.00,0.000,4,0.000,0.050,2858,1171,3965
$GC,1189,-0.85,-146.6,75.1,-7.0,218,1196,0.00,2.22,0.00,0.000,6,0.000,0.061,2850,2583,3965
$GC,1323,-0.85,-146.6,84.3,-7.3,243,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2583,3965
$GC,1451,-0.85,-146.6,92.5,-6.3,267,1457,0.00,2.17,0.00,0.000,4,0.000,0.050,2850,1165,3965
$GC,1546,-0.85,-146.6,98.9,-6.6,285,1552,0.00,2.22,0.00,0.000,6,0.000,0.061,2844,2580,3965
$STATE,1613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1613,begin apogee
$GC,1616,-0.19,0.0,103.1,6.1,298,1683,0.70,0.00,62.55,0.709,6,0.138,0.000,3074,2581,3615
$STATE,1683,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1685,0.85,146.6,103.4,0.0,310,1796,0.98,0.00,107.88,0.675,6,0.087,0.000,3416,2581,3017
$GC,1922,0.85,146.6,74.2,15.0,354,1930,0.00,2.22,0.00,0.000,4,0.000,0.045,3426,1165,3016
$GC,2003,0.85,146.6,62.5,14.7,369,2010,0.00,2.28,0.00,0.000,6,0.000,0.053,3426,2590,3016
$GC,2136,0.85,146.6,42.7,14.7,394,2144,0.00,2.20,0.00,0.000,4,0.000,0.044,3436,1161,3016
$GC,2196,0.85,146.6,34.4,13.5,405,2203,0.00,2.25,0.00,0.000,6,0.000,0.052,3436,2589,3016
$GC,2265,0.85,146.6,24.3,14.3,418,2272,0.00,2.17,0.00,0.000,4,0.000,0.044,3447,1165,3016
$GC,2382,0.85,146.6,7.8,13.6,440,2390,0.00,2.22,0.00,0.000,6,0.000,0.051,3446,2587,3016
$STATE,2419,end climb,SURFACE_DEPTH_REACHED
$STATE,2419,begin surface coast
$FINISH,3.8,1.019357
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2475,353.85,0.599,1,0,1067,625.02
$SM_GC,1.50,0.00,0.00,353.85,0.000,0.000,0.599,128,2588,1067,-9.43,0.17,625.02
$IRIDIUM_FIX,4751.72,-12340.51,270298,191915
$TT8_MAMPS,0.049855
$HUMID,1530
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,18.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.3,23.8
$24V_AH,24.1,0.722
$10V_AH,10.6,0.286
$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,21.750,39.100,170.425,353.850,0.000,0.000,0.000,0.000,2.500,0.000,0.000,14.987,0.000,1192.379,658.696,993.674,32.732,31.397,1061.219,0.000,823.135,0.000,18.452,0.000
$DEVICE_MAMPS,246.207,94.341,708.708,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.107,552.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22199,455
$CAP_FILE_SIZE,60589,0
$CFSIZE,260165632,258154496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031208,202437,4807.950,-12223.482,9,1.4,25,18.3