version: 66.04
glider: 161
mission: 1
dive: 6
start: 12 3 108 23 2 35
data:
$ID,161
$MISSION,1
$DIVE,6
$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,80
$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,-2429.5862
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,225821,4807.292,-12223.189,11,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.5
$GPS2,230157,4807.260,-12223.161,10,2.0,10,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,-0.178
$KALMAN_X,-163.7,-158.7,-96.0,907.4,40.0
$KALMAN_Y,106.6,176.2,143.9,-2283.5,-109.5
$MHEAD_RNG_PITCHd_Wd,138.5,521,-24.4,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.03,-78.2,0.0,0.0,0,56,0.00,0.00,-42.72,0.000,2,0.000,0.000,136,2284,2588
$GC,57,-1.03,-78.2,3.2,-4.1,7,117,10.27,2.17,-45.65,0.000,4,0.235,0.066,2801,905,3964
$GC,121,-1.03,-78.2,5.6,-7.2,18,128,0.00,2.20,0.00,0.000,6,0.000,0.055,2792,2291,3964
$GC,190,-1.03,-78.2,9.7,-5.1,31,197,0.00,2.30,0.00,0.000,4,0.000,0.073,2782,3704,3964
$GC,436,-1.03,-78.2,25.6,-9.3,77,443,0.00,2.15,0.00,0.000,6,0.000,0.047,2782,2313,3964
$GC,506,-1.03,-78.2,32.1,-9.5,90,513,0.00,2.28,0.00,0.000,4,0.000,0.074,2772,3706,3964
$GC,639,-1.03,-78.2,46.0,-11.0,115,646,0.10,2.17,0.00,0.000,6,0.173,0.048,2802,2296,3964
$GC,773,-1.03,-78.2,58.0,-8.8,140,780,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,3700,3964
$GC,842,-1.03,-78.2,64.5,-9.2,153,849,0.00,2.15,0.00,0.000,6,0.000,0.047,2792,2304,3964
$GC,975,-1.03,-78.2,76.5,-8.8,178,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2304,3964
$GC,1103,-1.03,-78.2,87.3,-7.6,202,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2304,3965
$GC,1232,-1.03,-78.2,97.3,-7.9,226,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2304,3965
$STATE,1332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1333,begin apogee
$GC,1335,-0.19,0.0,105.0,8.1,245,1391,0.88,0.00,52.83,0.709,6,0.151,0.000,3069,2195,3670
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1393,1.03,78.2,106.0,0.0,255,1455,1.12,0.00,58.05,0.675,6,0.082,0.000,3469,2195,3351
$GC,1581,1.03,78.2,85.7,13.4,290,1589,0.00,2.20,0.00,0.000,4,0.000,0.047,3480,793,3351
$GC,1630,1.03,78.2,79.1,13.6,299,1636,0.00,2.22,0.00,0.000,6,0.000,0.047,3480,2202,3351
$GC,1762,1.03,78.2,62.5,12.3,324,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,2202,3351
$GC,1891,1.03,78.2,46.9,11.8,348,1899,0.00,2.22,0.00,0.000,4,0.000,0.061,3480,3602,3351
$GC,1934,1.03,78.2,41.3,13.6,356,1941,0.00,2.17,0.00,0.000,6,0.000,0.038,3491,2176,3351
$GC,2068,1.03,78.2,25.3,11.6,381,2075,0.00,2.10,0.00,0.000,4,0.000,0.045,3501,802,3351
$GC,2159,1.03,78.2,14.9,11.6,398,2166,0.00,2.15,0.00,0.000,6,0.000,0.045,3501,2196,3351
$GC,2229,1.05,90.7,8.6,8.9,411,2243,0.00,2.17,10.50,0.620,4,0.000,0.044,3511,800,3300
$GC,2284,1.19,208.6,6.5,-0.1,421,2373,0.00,2.17,85.10,0.624,6,0.000,0.045,3511,2204,2819
$GC,2436,1.34,326.1,5.0,-0.1,448,2502,0.17,0.00,64.18,0.604,2,0.073,0.000,3579,2204,2462
$STATE,2503,end climb,SURFACE_DEPTH_REACHED
$STATE,2503,begin surface coast
$FINISH,3.3,1.018285
$STATE,2661,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2661,begin surface
$SM_CCo,2675,186.05,0.598,0,0,1426,550.21
$SM_GC,2.06,0.00,0.00,186.05,0.000,0.000,0.598,134,2316,1426,-9.40,0.45,550.21
$IRIDIUM_FIX,4751.72,-12056.72,270298,232346
$TT8_MAMPS,0.049855
$HUMID,1526
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.2,42.9
$24V_AH,24.1,1.063
$10V_AH,10.6,0.448
$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,22.425,35.400,270.650,186.050,0.000,0.000,0.000,0.000,2.750,0.000,0.000,12.692,0.000,1288.598,518.080,1058.155,36.561,33.293,954.749,0.000,893.541,0.000,5.519,0.000
$DEVICE_MAMPS,235.469,78.234,708.708,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.836,630.570,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,489
$CAP_FILE_SIZE,62184,0
$CFSIZE,260165632,258052096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,235102,4807.050,-12223.023,11,2.0,28,18.3