version: 66.04
glider: 161
mission: 1
dive: 5
start: 12 3 108 21 56 35
data:
$ID,161
$MISSION,1
$DIVE,5
$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,-2388.1472
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3140
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3670
$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
$GPS1,215233,4807.610,-12223.396,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-75.1
$GPS2,215556,4807.597,-12223.391,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.234
$KALMAN_X,-176.6,-158.9,-117.6,658.1,-0.4
$KALMAN_Y,158.8,189.2,189.6,-1767.1,-49.8
$MHEAD_RNG_PITCHd_Wd,136.1,1207,-17.5,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,72,0.00,0.00,-59.65,0.000,2,0.000,0.000,134,2309,2963
$GC,74,-0.85,-146.6,3.2,-4.2,10,122,10.62,2.15,-32.10,0.000,4,0.242,0.064,2861,901,3963
$GC,189,-0.85,-146.6,8.8,-5.6,31,196,0.00,2.17,0.00,0.000,6,0.000,0.054,2855,2281,3964
$GC,259,-0.85,-146.6,11.9,-4.5,44,266,0.00,2.30,0.00,0.000,4,0.000,0.073,2844,3699,3964
$GC,505,-0.85,-146.6,29.9,-8.3,90,512,0.00,2.15,0.00,0.000,6,0.000,0.047,2845,2305,3964
$GC,574,-0.85,-146.6,35.2,-7.6,103,581,0.00,2.28,0.00,0.000,4,0.000,0.073,2835,3704,3964
$GC,810,-0.85,-146.6,55.5,-8.1,147,816,0.08,2.15,0.00,0.000,6,0.155,0.047,2859,2305,3964
$GC,943,-0.85,-146.6,65.0,-6.9,172,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2305,3964
$GC,1071,-0.85,-146.6,73.6,-6.8,196,1078,0.00,2.28,0.00,0.000,4,0.000,0.074,2850,3708,3964
$GC,1165,-0.85,-146.6,80.2,-7.5,213,1170,0.00,2.12,0.00,0.000,6,0.000,0.047,2850,2299,3964
$GC,1297,-0.85,-146.6,89.1,-6.1,238,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2298,3964
$GC,1425,-0.85,-146.6,96.6,-5.8,262,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2298,3964
$GC,1553,-0.85,-146.6,104.3,-6.1,286,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2299,3964
$STATE,1600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1603,-0.19,0.0,107.0,5.6,295,1659,0.68,0.00,52.75,0.714,6,0.140,0.000,3069,2192,3670
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,0.85,146.6,107.7,0.0,305,1778,0.95,2.28,108.07,0.678,4,0.081,0.048,3417,796,3071
$GC,1793,0.85,146.6,95.8,13.7,329,1799,0.00,2.28,0.00,0.000,6,0.000,0.048,3417,2194,3071
$GC,1925,0.85,146.6,76.7,13.6,354,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2194,3071
$GC,2054,0.85,146.6,59.1,13.9,378,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2194,3071
$GC,2182,0.85,146.6,41.7,13.1,402,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2194,3071
$GC,2311,0.85,146.6,25.1,12.3,426,2318,0.00,2.17,0.00,0.000,4,0.000,0.046,3428,785,3071
$GC,2353,0.85,146.6,19.4,13.2,434,2361,0.00,2.20,0.00,0.000,6,0.000,0.047,3428,2199,3071
$GC,2423,0.85,146.6,10.4,13.0,447,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2199,3071
$GC,2487,0.98,247.9,4.2,5.3,459,2565,0.00,2.35,72.97,0.628,4,0.000,0.064,3428,3609,2659
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2595,begin surface coast
$FINISH,3.6,1.019273
$STATE,2723,end surface coast,CONTROL_FINISHED_OK
$STATE,2723,begin surface
$SM_CCo,2738,221.20,0.603,0,0,1426,550.21
$SM_GC,2.12,0.00,0.00,221.20,0.000,0.000,0.603,135,2284,1426,-9.39,-0.45,550.21
$IRIDIUM_FIX,4751.72,-12340.51,270298,212100
$TT8_MAMPS,0.049088
$HUMID,1538
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,41.8
$24V_AH,24.1,0.953
$10V_AH,10.6,0.395
$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,21.550,31.050,233.800,221.200,0.000,0.000,0.000,0.000,1.000,0.000,0.000,17.438,0.000,1368.862,519.401,1081.817,35.771,33.305,949.909,0.000,909.906,0.000,5.518,0.000
$DEVICE_MAMPS,241.605,73.632,714.077,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.562,621.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22258,502
$CAP_FILE_SIZE,66149,0
$CFSIZE,260165632,258080768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,224638,4807.381,-12223.278,9,1.7,26,18.3