version: 66.04
glider: 161
mission: 1
dive: 16
start: 12 4 108 8 55 7
data:
$ID,161
$MISSION,1
$DIVE,16
$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,-2686.1912
$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,50
$R_STBD_OVSHOOT,25
$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
$GPS1,084257,4806.583,-12222.571,8,1.9,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.8
$GPS2,085429,4806.492,-12222.469,10,2.1,29,18.3
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.152
$KALMAN_X,384.7,141.4,20.9,795.6,97.4
$KALMAN_Y,-728.3,-197.1,13.1,-2364.0,-115.1
$MHEAD_RNG_PITCHd_Wd,305.5,3374,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.96,-78.2,0.0,0.0,0,120,0.00,0.00,-106.05,0.000,2,0.000,0.000,132,2294,3170
$GC,121,-0.96,-78.2,3.0,-2.6,18,163,10.45,0.00,-25.48,0.000,6,0.235,0.000,2825,2294,3962
$GC,225,-0.96,-78.2,8.8,-5.8,37,232,0.00,2.17,0.00,0.000,4,0.000,0.051,2825,914,3963
$GC,418,-0.96,-78.2,17.6,-5.8,73,424,0.00,2.20,0.00,0.000,6,0.000,0.057,2817,2298,3963
$GC,486,-0.96,-78.2,21.9,-6.3,86,493,0.00,2.30,0.00,0.000,4,0.000,0.074,2806,3709,3963
$GC,540,-0.96,-78.2,26.0,-7.7,96,547,0.00,2.17,0.00,0.000,6,0.000,0.048,2807,2310,3963
$GC,610,-0.96,-78.2,31.5,-7.9,109,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2310,3963
$GC,673,-0.96,-78.2,36.8,-8.0,121,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2310,3963
$GC,737,-0.96,-78.2,42.1,-8.4,133,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2311,3963
$GC,866,-0.96,-78.2,53.0,-8.3,157,872,0.00,2.28,0.00,0.000,4,0.000,0.074,2798,3706,3963
$GC,908,-0.96,-78.2,56.9,-9.5,165,914,0.08,2.17,0.00,0.000,6,0.163,0.048,2822,2298,3963
$GC,1041,-0.96,-78.2,67.8,-7.9,190,1048,0.00,2.17,0.00,0.000,4,0.000,0.051,2822,886,3963
$GC,1083,-0.96,-78.2,71.3,-8.6,198,1091,0.00,2.22,0.00,0.000,6,0.000,0.057,2816,2298,3963
$GC,1218,-0.96,-78.2,81.4,-7.5,223,1224,0.00,2.28,0.00,0.000,4,0.000,0.074,2805,3707,3963
$GC,1250,-0.96,-78.2,84.0,-8.1,229,1256,0.00,2.17,0.00,0.000,6,0.000,0.048,2805,2295,3963
$GC,1382,-0.96,-78.2,93.4,-7.1,254,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2295,3963
$GC,1510,-0.96,-78.2,102.3,-7.1,278,1518,0.00,2.28,0.00,0.000,4,0.000,0.074,2796,3704,3964
$GC,1542,-0.96,-78.2,104.8,-7.9,284,1550,0.10,2.15,0.00,0.000,6,0.157,0.048,2828,2305,3964
$STATE,1574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1577,-0.19,0.0,107.1,6.8,290,1633,0.73,0.00,52.80,0.707,6,0.137,0.000,3067,2197,3670
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1634,0.96,78.2,107.7,0.0,300,1696,1.05,0.00,58.05,0.670,6,0.082,0.000,3442,2197,3351
$GC,1823,0.96,78.2,87.7,13.2,335,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2197,3351
$GC,1951,0.96,78.2,72.1,12.0,359,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2197,3351
$GC,2079,0.96,78.2,57.6,11.2,383,2085,0.00,2.17,0.00,0.000,4,0.000,0.046,3453,789,3351
$GC,2132,0.96,78.2,51.8,11.0,393,2138,0.00,2.22,0.00,0.000,6,0.000,0.047,3453,2209,3351
$GC,2265,0.96,78.2,37.0,10.6,418,2272,0.00,2.22,0.00,0.000,4,0.000,0.062,3453,3612,3350
$GC,2329,0.96,78.2,29.1,12.4,430,2336,0.00,2.15,0.00,0.000,6,0.000,0.037,3463,2183,3350
$GC,2399,0.96,78.2,21.0,11.8,443,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2183,3351
$GC,2462,0.96,78.2,14.4,9.8,455,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2183,3351
$GC,2526,0.96,78.2,8.0,9.5,467,2533,0.00,2.10,0.00,0.000,4,0.000,0.044,3474,801,3351
$GC,2660,1.07,173.1,6.1,1.7,492,2732,0.00,2.15,68.35,0.629,6,0.000,0.045,3473,2201,2964
$GC,2795,1.22,292.2,5.2,-0.2,516,2874,0.17,0.00,76.35,0.607,2,0.076,0.000,3541,2201,2536
$STATE,2874,end climb,SURFACE_DEPTH_REACHED
$STATE,2874,begin surface coast
$FINISH,3.4,1.018042
$STATE,3112,end surface coast,CONTROL_FINISHED_OK
$STATE,3112,begin surface
$SM_CCo,3126,237.57,0.594,0,0,1224,600.00
$SM_GC,2.10,0.00,0.00,237.57,0.000,0.000,0.594,134,2315,1224,-9.40,0.45,600.00
$IRIDIUM_FIX,4751.72,-12340.51,280298,080846
$TT8_MAMPS,0.049088
$HUMID,1503
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,18.80
$XPDR_PINGS,7
$24V_AH,24.1,2.117
$10V_AH,10.6,0.951
$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,22.275,39.875,255.550,237.575,0.000,70.068,99.782,309.168,1.750,0.000,0.000,31.775,0.000,1636.860,603.603,1255.180,558.455,33.330,1108.888,0.000,1051.884,0.000,0.535,0.000
$DEVICE_MAMPS,235.469,79.001,707.174,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.547,752.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25396,574
$CAP_FILE_SIZE,64623,0
$CFSIZE,260165632,257740800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,095159,4806.630,-12222.581,11,2.5,30,18.3