version: 66.04
glider: 161
mission: 1
dive: 4
start: 12 3 108 20 39 52
data:
$ID,161
$MISSION,1
$DIVE,4
$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,550
$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,-2307.5305
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3650
$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
$GPS1,203557,4807.928,-12223.545,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.0
$GPS2,203914,4807.922,-12223.569,13,2.0,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.237
$KALMAN_X,-164.5,-152.0,-124.6,428.7,-46.5
$KALMAN_Y,215.4,206.4,190.9,-1241.9,68.2
$MHEAD_RNG_PITCHd_Wd,137.6,1848,-17.5,-10.000
$D_GRID,105
$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,-146.6,0.0,0.0,0,101,0.00,0.00,-88.35,0.000,2,0.000,0.000,128,2197,3280
$GC,103,-0.85,-146.6,3.2,-3.9,15,139,10.77,2.22,-21.58,0.000,4,0.245,0.067,2862,789,3962
$GC,378,-0.85,-146.6,17.2,-6.4,66,385,0.00,2.22,0.00,0.000,6,0.000,0.055,2855,2200,3964
$GC,448,-0.85,-146.6,21.8,-6.7,79,455,0.00,2.28,0.00,0.000,4,0.000,0.075,2845,3603,3964
$GC,485,-0.85,-146.6,24.5,-7.6,86,492,0.00,2.17,0.00,0.000,6,0.000,0.049,2845,2198,3964
$GC,555,-0.85,-146.6,29.6,-7.4,99,562,0.00,2.17,0.00,0.000,4,0.000,0.053,2845,794,3964
$GC,619,-0.85,-146.6,34.5,-8.1,111,626,0.08,2.20,0.00,0.000,6,0.157,0.056,2861,2191,3964
$GC,689,-0.85,-146.6,39.3,-6.8,124,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2191,3964
$GC,752,-0.85,-146.6,43.8,-7.0,136,759,0.00,2.28,0.00,0.000,4,0.000,0.075,2852,3602,3964
$GC,801,-0.85,-146.6,47.3,-7.8,145,807,0.00,2.15,0.00,0.000,6,0.000,0.049,2852,2206,3964
$GC,933,-0.85,-146.6,56.7,-6.8,170,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2206,3964
$GC,1062,-0.85,-146.6,65.3,-6.6,194,1069,0.00,2.28,0.00,0.000,4,0.000,0.075,2843,3610,3964
$GC,1137,-0.85,-146.6,70.9,-7.5,208,1144,0.00,2.15,0.00,0.000,6,0.000,0.047,2842,2201,3964
$GC,1271,-0.85,-146.6,80.7,-7.7,233,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2201,3964
$GC,1403,-0.85,-146.6,90.1,-7.3,258,1410,0.00,2.28,0.00,0.000,4,0.000,0.074,2833,3611,3964
$GC,1435,-0.85,-146.6,92.3,-7.9,264,1443,0.10,2.15,0.00,0.000,6,0.153,0.048,2865,2206,3964
$GC,1570,-0.85,-146.6,100.2,-5.4,289,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2205,3964
$STATE,1653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1653,begin apogee
$GC,1656,-0.19,0.0,105.0,5.1,305,1717,0.65,0.00,56.30,0.709,6,0.135,0.000,3079,2102,3650
$STATE,1718,end apogee,CONTROL_FINISHED_OK
$STATE,1718,begin climb
$GC,1719,0.85,146.6,105.7,0.0,316,1836,0.95,2.30,108.38,0.675,4,0.077,0.049,3429,694,3051
$GC,1861,0.85,146.6,91.6,14.0,342,1868,0.00,2.28,0.00,0.000,6,0.000,0.046,3429,2104,3051
$GC,1995,0.85,146.6,72.3,14.0,367,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2103,3051
$GC,2123,0.85,146.6,54.1,13.9,391,2130,0.00,2.25,0.00,0.000,4,0.000,0.064,3429,3504,3051
$GC,2149,0.85,146.6,50.1,15.6,396,2157,0.00,2.20,0.00,0.000,6,0.000,0.039,3440,2078,3051
$GC,2283,0.85,146.6,30.9,14.4,421,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2078,3051
$GC,2347,0.85,146.6,21.7,14.6,433,2354,0.00,2.12,0.00,0.000,4,0.000,0.048,3450,697,3051
$GC,2406,0.85,146.6,13.5,13.5,444,2413,0.08,2.17,0.00,0.000,6,0.166,0.046,3426,2101,3051
$GC,2476,0.85,146.6,5.1,11.2,457,2483,0.00,2.22,0.00,0.000,4,0.000,0.062,3426,3504,3051
$STATE,2614,end climb,SURFACE_DEPTH_REACHED
$STATE,2614,begin surface coast
$FINISH,3.9,1.020330
$STATE,2790,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2790,begin surface
$SM_CCo,2806,293.83,0.609,0,0,1406,550.21
$SM_GC,2.35,0.00,0.00,293.83,0.000,0.000,0.609,134,2189,1406,-9.41,-0.31,550.21
$IRIDIUM_FIX,4751.72,-12340.51,270298,202026
$TT8_MAMPS,0.050622
$HUMID,1539
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,41.0
$24V_AH,24.0,0.832
$10V_AH,10.6,0.339
$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,21.800,44.225,164.675,293.825,0.000,0.000,0.000,0.000,1.500,0.000,0.000,15.074,0.000,1394.953,594.470,1116.540,37.490,32.317,1035.278,0.000,937.973,0.000,5.513,0.000
$DEVICE_MAMPS,245.440,75.166,709.475,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.380,653.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,516
$CAP_FILE_SIZE,65667,0
$CFSIZE,260165632,258113536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,213217,4807.686,-12223.422,8,99.0,27,18.3