version: 66.04
glider: 161
mission: 1
dive: 11
start: 12 4 108 3 57 52
data:
$ID,161
$MISSION,1
$DIVE,11
$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,0
$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,-2553.1772
$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,29
$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,10
$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
$GPS1,034829,4805.996,-12222.055,12,4.4,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.7
$GPS2,035714,4805.951,-12222.017,13,1.6,30,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.162
$KALMAN_X,-345.3,-60.7,105.4,2206.6,-77.0
$KALMAN_Y,268.5,19.2,-203.1,-4368.4,126.8
$MHEAD_RNG_PITCHd_Wd,308.4,4518,-24.4,-10.000
$D_GRID,150
$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,11,begin dive
$GC,12,-1.03,-78.2,0.0,0.0,0,79,0.00,0.00,-65.20,0.000,2,0.000,0.000,132,2300,3106
$GC,80,-1.03,-78.2,3.2,-3.8,11,122,10.68,2.33,-22.42,0.000,4,0.245,0.085,2792,3701,3965
$GC,270,-1.03,-78.2,16.6,-6.7,46,277,0.00,2.15,0.00,0.000,6,0.000,0.046,2792,2322,3966
$GC,340,-1.03,-78.2,21.6,-7.2,59,347,0.00,2.22,0.00,0.000,4,0.000,0.051,2792,892,3966
$GC,388,-1.03,-78.2,25.4,-8.0,68,395,0.00,2.22,0.00,0.000,6,0.000,0.055,2783,2296,3966
$GC,457,-1.03,-78.2,31.5,-9.6,81,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2295,3966
$GC,521,-1.03,-78.2,37.2,-8.6,93,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2295,3966
$GC,585,-1.03,-78.2,43.3,-9.3,105,592,0.00,2.28,0.00,0.000,4,0.000,0.072,2772,3703,3966
$GC,617,-1.03,-78.2,46.6,-11.0,111,623,0.10,2.17,0.00,0.000,6,0.175,0.047,2801,2299,3966
$GC,750,-1.03,-78.2,58.6,-8.6,136,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2299,3966
$GC,878,-1.03,-78.2,69.7,-8.8,160,885,0.00,2.28,0.00,0.000,4,0.000,0.073,2792,3701,3966
$GC,921,-1.03,-78.2,73.7,-9.5,168,928,0.00,2.17,0.00,0.000,6,0.000,0.046,2792,2290,3966
$GC,1055,-1.03,-78.2,85.8,-8.9,193,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2290,3966
$GC,1187,-1.03,-78.2,96.7,-7.8,218,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2290,3966
$GC,1315,-1.03,-78.2,106.6,-8.1,242,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2290,3966
$GC,1444,-1.03,-78.2,115.9,-7.1,266,1451,0.00,2.28,0.00,0.000,4,0.000,0.073,2783,3702,3965
$STATE,1459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1459,begin apogee
$GC,1464,-0.19,0.0,117.2,7.5,269,1520,0.93,0.00,53.45,0.714,6,0.158,0.000,3070,2198,3669
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1522,1.03,78.2,118.2,0.0,279,1588,1.10,2.25,58.28,0.680,4,0.077,0.045,3481,796,3351
$GC,1629,1.03,78.2,107.3,14.3,299,1636,0.00,2.25,0.00,0.000,6,0.000,0.046,3481,2200,3351
$GC,1762,1.03,78.2,87.8,14.6,324,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2200,3350
$GC,1890,1.03,78.2,71.1,12.9,348,1898,0.00,2.17,0.00,0.000,4,0.000,0.044,3490,794,3350
$GC,1933,1.03,78.2,65.6,12.9,356,1940,0.00,2.20,0.00,0.000,6,0.000,0.044,3490,2202,3350
$GC,2067,1.03,78.2,48.4,12.6,381,2074,0.00,2.22,0.00,0.000,4,0.000,0.060,3490,3608,3350
$GC,2109,1.03,78.2,42.5,14.5,389,2116,0.00,2.15,0.00,0.000,6,0.000,0.036,3501,2182,3350
$GC,2243,1.03,78.2,25.6,12.0,414,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2181,3350
$GC,2306,1.03,78.2,17.9,11.7,426,2313,0.00,2.10,0.00,0.000,4,0.000,0.044,3512,800,3350
$GC,2370,1.03,78.2,11.2,10.2,438,2378,0.12,2.15,0.00,0.000,6,0.189,0.044,3475,2199,3350
$GC,2441,1.11,141.7,6.6,4.6,451,2495,0.00,2.20,46.28,0.637,4,0.000,0.043,3485,803,3092
$GC,2584,1.28,277.3,5.8,-1.6,477,2686,0.15,2.17,96.30,0.611,2,0.066,0.044,3552,2195,2549
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$FINISH,2.5,1.018312
$STATE,2951,end surface coast,CONTROL_FINISHED_OK
$STATE,2951,begin surface
$SM_CCo,2965,201.80,0.599,0,0,1427,550.21
$SM_GC,2.01,0.00,0.00,201.80,0.000,0.000,0.599,136,2317,1427,-9.39,0.48,550.21
$IRIDIUM_FIX,4751.72,-12340.51,280298,030314
$TT8_MAMPS,0.049855
$HUMID,1511
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,18.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.0,47.1
$24V_AH,24.0,1.593
$10V_AH,10.6,0.699
$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,22.775,44.450,254.300,201.800,0.000,47.128,173.155,163.807,2.250,0.000,0.000,32.026,0.000,1506.136,546.074,1190.563,448.814,33.328,1023.100,0.000,990.893,0.000,5.526,0.000
$DEVICE_MAMPS,245.440,85.137,714.077,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.463,691.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25309,544
$CAP_FILE_SIZE,58518,0
$CFSIZE,260165632,257904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,045129,4806.119,-12222.172,12,99.0,31,18.3