version: 66.04
glider: 161
mission: 1
dive: 15
start: 12 4 108 7 47 54
data:
$ID,161
$MISSION,1
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$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,48
$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,600
$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,-2653.7883
$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,41
$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,0
$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
$GPS1,074235,4806.504,-12222.455,6,4.0,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-72.4
$GPS2,074715,4806.481,-12222.454,12,1.6,12,18.3
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,0.148
$KALMAN_X,225.9,82.5,1.5,1053.0,105.6
$KALMAN_Y,-502.1,-128.7,18.6,-2687.9,-101.2
$MHEAD_RNG_PITCHd_Wd,303.6,3401,-22.4,-9.028
$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,-0.96,-78.2,0.0,0.0,0,67,0.00,0.00,-54.20,0.000,2,0.000,0.000,134,2313,2857
$GC,68,-0.96,-78.2,3.0,-2.7,9,121,10.55,0.00,-36.78,0.000,6,0.235,0.000,2828,2313,3963
$GC,183,-0.96,-78.2,9.5,-5.5,30,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2313,3964
$GC,247,-0.96,-78.2,12.3,-5.0,42,254,0.00,2.25,0.00,0.000,4,0.000,0.073,2819,3682,3964
$GC,279,-0.96,-78.2,14.1,-5.4,48,286,0.00,2.15,0.00,0.000,6,0.000,0.048,2819,2309,3964
$GC,349,-0.96,-78.2,18.2,-6.5,61,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2309,3964
$GC,413,-0.96,-78.2,22.6,-7.0,73,420,0.00,2.28,0.00,0.000,4,0.000,0.073,2809,3694,3964
$GC,477,-0.96,-78.2,27.7,-8.4,85,484,0.00,2.17,0.00,0.000,6,0.000,0.048,2808,2298,3964
$GC,547,-0.96,-78.2,33.4,-8.0,98,553,0.00,2.17,0.00,0.000,4,0.000,0.051,2808,898,3964
$GC,584,-0.96,-78.2,36.9,-9.7,105,591,0.08,2.17,0.00,0.000,6,0.170,0.055,2824,2275,3965
$GC,653,-0.96,-78.2,42.3,-7.5,118,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2275,3964
$GC,782,-0.96,-78.2,52.2,-7.7,142,789,0.00,2.30,0.00,0.000,4,0.000,0.073,2814,3700,3964
$GC,841,-0.96,-78.2,57.1,-8.5,153,848,0.00,2.17,0.00,0.000,6,0.000,0.046,2814,2292,3964
$GC,974,-0.96,-78.2,68.0,-7.9,178,981,0.00,2.15,0.00,0.000,4,0.000,0.051,2814,897,3964
$GC,1017,-0.96,-78.2,71.7,-8.7,186,1024,0.00,2.20,0.00,0.000,6,0.000,0.054,2805,2301,3964
$GC,1151,-0.96,-78.2,82.4,-8.0,211,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2300,3964
$GC,1279,-0.96,-78.2,91.6,-7.1,235,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2300,3964
$GC,1407,-0.96,-78.2,100.6,-6.7,259,1413,0.00,2.25,0.00,0.000,4,0.000,0.074,2795,3706,3964
$GC,1475,-0.96,-78.2,106.3,-8.5,272,1483,0.10,2.15,0.00,0.000,6,0.161,0.047,2826,2305,3964
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1488,-0.19,0.0,107.0,7.8,274,1544,0.75,0.00,52.72,0.705,6,0.141,0.000,3071,2198,3670
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1546,0.96,78.2,107.8,0.0,284,1608,1.05,0.00,58.10,0.669,6,0.079,0.000,3445,2198,3350
$GC,1734,0.96,78.2,87.6,13.3,319,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2198,3350
$GC,1862,0.96,78.2,71.1,12.2,343,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2198,3350
$GC,1990,0.96,78.2,56.0,11.5,367,1997,0.00,2.17,0.00,0.000,4,0.000,0.045,3456,788,3350
$GC,2022,0.96,78.2,52.3,11.6,373,2029,0.00,2.22,0.00,0.000,6,0.000,0.046,3456,2210,3350
$GC,2155,0.96,78.2,36.6,11.8,398,2162,0.00,2.22,0.00,0.000,4,0.000,0.061,3456,3613,3350
$GC,2209,0.96,78.2,29.8,13.0,408,2216,0.00,2.15,0.00,0.000,6,0.000,0.037,3467,2184,3350
$GC,2278,0.96,78.2,21.8,11.0,421,2285,0.00,2.10,0.00,0.000,4,0.000,0.044,3477,805,3350
$GC,2316,0.96,78.2,17.7,11.3,428,2323,0.00,2.15,0.00,0.000,6,0.000,0.044,3477,2199,3350
$GC,2385,0.96,78.2,10.5,10.5,441,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2200,3350
$GC,2450,1.03,139.4,5.5,4.3,453,2499,0.00,2.22,44.58,0.630,4,0.000,0.044,3487,794,3100
$STATE,2694,end climb,NO_VERTICAL_VELOCITY
$STATE,2694,begin surface
$SM_CCo,2695,477.05,0.586,0,0,500,777.60
$SM_GC,1.57,9.23,0.00,0.00,0.044,0.000,0.000,132,2293,495,-9.33,-0.20,778.58
$IRIDIUM_FIX,4751.72,-12340.51,280298,070743
$TT8_MAMPS,0.049088
$HUMID,1515
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,18.80
$XPDR_PINGS,4
$24V_AH,24.5,2.004
$10V_AH,10.7,0.893
$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,21.750,44.275,155.400,477.050,0.000,25.384,30.267,164.375,1.000,0.000,0.000,13.903,0.000,1438.199,758.426,1080.454,280.698,33.323,1187.330,0.000,906.359,0.000,0.534,0.000
$DEVICE_MAMPS,235.469,73.632,704.873,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.585,623.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22203,498
$CAP_FILE_SIZE,56950,0
$CFSIZE,260165632,257785856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,084257,4806.583,-12222.571,8,1.9,8,18.3