version: 66.04
glider: 161
mission: 1
dive: 19
start: 12 4 108 11 59 45
data:
$ID,161
$MISSION,1
$DIVE,19
$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,62
$T_MISSION,75
$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,-2762.5896
$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,2325
$C_ROLL_CLIMB,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,35
$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
$GPS1,115332,4806.891,-12222.870,7,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.7
$GPS2,115907,4806.865,-12222.829,14,1.0,30,18.3
$SPEED_LIMITS,0.140,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.151
$KALMAN_X,582.8,226.8,76.8,13.1,14.4
$KALMAN_Y,-973.6,-278.6,-61.4,-1275.0,-32.8
$MHEAD_RNG_PITCHd_Wd,308.0,2552,-20.3,-8.065
$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,-0.88,-78.2,0.0,0.0,0,85,0.00,0.00,-71.68,0.000,2,0.000,0.000,131,2332,3094
$GC,86,-0.88,-78.2,3.4,-3.2,12,123,10.80,0.00,-22.75,0.000,6,0.242,0.000,2854,2333,3963
$GC,185,-0.88,-78.2,10.9,-6.5,30,192,0.00,2.20,0.00,0.000,4,0.000,0.051,2854,939,3964
$GC,217,-0.88,-78.2,12.7,-5.4,36,224,0.00,2.20,0.00,0.000,6,0.000,0.056,2845,2315,3964
$GC,287,-0.88,-78.2,15.8,-4.8,49,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2315,3964
$GC,351,-0.88,-78.2,19.0,-5.1,61,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2315,3964
$GC,414,-0.88,-78.2,22.8,-6.3,73,421,0.00,2.17,0.00,0.000,4,0.000,0.051,2845,928,3964
$GC,452,-0.88,-78.2,25.5,-7.3,80,459,0.00,2.22,0.00,0.000,6,0.000,0.056,2837,2328,3964
$GC,521,-0.88,-78.2,30.5,-7.5,93,528,0.00,2.30,0.00,0.000,4,0.000,0.075,2827,3736,3965
$GC,575,-0.88,-78.2,34.8,-8.2,103,582,0.08,2.17,0.00,0.000,6,0.156,0.048,2851,2339,3964
$GC,645,-0.88,-78.2,39.9,-7.0,116,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2339,3964
$GC,708,-0.88,-78.2,44.4,-7.1,128,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2339,3964
$GC,836,-0.88,-78.2,53.4,-6.9,152,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2339,3965
$GC,965,-0.88,-78.2,62.3,-6.5,176,972,0.00,2.20,0.00,0.000,4,0.000,0.051,2851,918,3964
$GC,1013,-0.88,-78.2,66.0,-7.3,185,1020,0.00,2.22,0.00,0.000,6,0.000,0.058,2845,2327,3964
$GC,1146,-0.88,-78.2,75.1,-6.5,210,1154,0.00,2.28,0.00,0.000,4,0.000,0.075,2835,3733,3964
$GC,1200,-0.88,-78.2,79.0,-7.5,220,1207,0.00,2.17,0.00,0.000,6,0.000,0.048,2835,2325,3964
$GC,1334,-0.88,-78.2,88.1,-6.5,245,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2325,3965
$GC,1462,-0.88,-78.2,96.2,-6.5,269,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2325,3965
$GC,1590,-0.88,-78.2,104.4,-6.2,293,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2325,3965
$STATE,1604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1604,begin apogee
$GC,1607,-0.19,0.0,105.3,6.3,296,1663,0.73,0.00,52.92,0.696,6,0.137,0.000,3071,2217,3670
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1665,0.88,78.2,106.0,0.0,306,1727,0.98,0.00,58.15,0.660,6,0.078,0.000,3420,2217,3350
$GC,1853,0.88,78.2,87.7,11.5,341,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2217,3350
$GC,1981,0.88,78.2,73.4,11.3,365,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2217,3350
$GC,2109,0.88,78.2,60.0,10.1,389,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2217,3349
$GC,2238,0.88,78.2,47.0,9.9,413,2244,0.00,2.17,0.00,0.000,4,0.000,0.047,3430,806,3350
$GC,2301,0.88,78.2,40.5,10.3,425,2308,0.00,2.22,0.00,0.000,6,0.000,0.047,3430,2238,3350
$GC,2434,0.88,78.2,26.9,10.3,450,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2238,3349
$GC,2499,0.88,78.2,20.7,9.8,462,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2238,3350
$GC,2562,0.88,78.2,14.8,9.0,474,2569,0.00,2.17,0.00,0.000,4,0.000,0.044,3441,812,3349
$GC,2584,0.88,78.2,12.9,9.0,478,2591,0.00,2.17,0.00,0.000,6,0.000,0.046,3441,2223,3350
$GC,2653,0.93,119.6,8.2,5.2,491,2690,0.00,0.00,30.60,0.633,6,0.000,0.000,3441,2222,3182
$GC,2752,1.07,240.4,7.1,-0.3,509,2847,0.12,2.25,87.85,0.610,4,0.079,0.045,3501,813,2688
$STATE,3032,end climb,NO_VERTICAL_VELOCITY
$STATE,3032,begin surface
$SM_CCo,3033,406.77,0.578,0,0,500,777.60
$SM_GC,1.35,9.30,0.00,0.00,0.045,0.000,0.000,136,2319,496,-9.33,-0.14,778.83
$IRIDIUM_FIX,4751.72,-12340.51,280298,111159
$TT8_MAMPS,0.049088
$HUMID,1531
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.70
$XPDR_PINGS,7
$24V_AH,24.6,2.442
$10V_AH,10.7,1.110
$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,22.000,35.775,229.525,406.775,0.000,31.485,29.098,189.303,1.750,0.000,0.000,32.048,0.000,1607.859,727.372,1224.513,317.796,33.330,1209.138,0.000,1018.528,0.000,0.534,0.000
$DEVICE_MAMPS,241.605,75.166,696.436,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.293,705.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25414,560
$CAP_FILE_SIZE,61324,0
$CFSIZE,260165632,257638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,125921,4807.059,-12223.008,13,1.0,13,18.3