version: 66.04
glider: 161
mission: 1
dive: 8
start: 12 4 108 1 5 16
data:
$ID,161
$MISSION,1
$DIVE,8
$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,-2489.4153
$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,53
$R_STBD_OVSHOOT,23
$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
$GPS1,005532,4806.718,-12222.694,8,1.0,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.0
$GPS2,010438,4806.600,-12222.605,8,1.0,13,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.159
$KALMAN_X,-49.8,-112.2,8.9,1328.1,122.0
$KALMAN_Y,-88.3,95.3,-39.8,-3044.1,-195.0
$MHEAD_RNG_PITCHd_Wd,127.0,1340,-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,10,begin dive
$GC,12,-1.03,-78.2,0.0,0.0,0,102,0.00,0.00,-88.32,0.000,2,0.000,0.000,131,2298,2776
$GC,104,-1.03,-78.2,3.0,-3.9,15,158,10.52,2.35,-39.28,0.000,4,0.241,0.087,2793,3710,3963
$GC,162,-1.03,-78.2,5.1,-5.7,25,169,0.00,2.17,0.00,0.000,6,0.000,0.048,2793,2314,3964
$GC,231,-1.03,-78.2,8.3,-3.1,38,238,0.00,2.30,0.00,0.000,4,0.000,0.073,2783,3711,3965
$GC,477,-1.03,-78.2,24.6,-8.2,84,484,0.00,2.20,0.00,0.000,6,0.000,0.048,2783,2302,3964
$GC,547,-1.03,-78.2,30.4,-8.2,97,554,0.00,2.30,0.00,0.000,4,0.000,0.074,2773,3706,3965
$GC,792,-1.03,-78.2,55.9,-11.3,143,799,0.10,2.17,0.00,0.000,6,0.171,0.048,2803,2301,3965
$GC,926,-1.03,-78.2,68.2,-9.2,168,933,0.00,2.28,0.00,0.000,4,0.000,0.074,2794,3702,3965
$GC,974,-1.03,-78.2,72.6,-9.4,177,981,0.00,2.15,0.00,0.000,6,0.000,0.048,2794,2304,3965
$GC,1107,-1.03,-78.2,83.8,-8.1,202,1114,0.00,2.17,0.00,0.000,4,0.000,0.051,2794,891,3965
$GC,1149,-1.03,-78.2,87.4,-8.4,210,1157,0.00,2.20,0.00,0.000,6,0.000,0.057,2786,2295,3965
$GC,1283,-1.03,-78.2,98.4,-8.3,235,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2295,3965
$GC,1412,-1.03,-78.2,108.4,-7.5,259,1418,0.00,2.25,0.00,0.000,4,0.000,0.074,2775,3700,3965
$STATE,1464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1464,begin apogee
$GC,1468,-0.19,0.0,112.9,8.6,269,1525,0.93,0.00,53.00,0.713,6,0.150,0.000,3069,2194,3670
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1526,1.03,78.2,113.9,0.0,279,1593,1.12,2.25,58.20,0.676,4,0.079,0.046,3481,793,3351
$GC,1607,1.03,78.2,107.2,11.6,294,1614,0.00,2.28,0.00,0.000,6,0.000,0.045,3481,2203,3350
$GC,1741,1.03,78.2,89.0,13.1,319,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2203,3350
$GC,1869,1.03,78.2,71.5,13.4,343,1876,0.00,2.20,0.00,0.000,4,0.000,0.044,3491,787,3350
$GC,1922,1.03,78.2,64.6,13.1,353,1929,0.00,2.20,0.00,0.000,6,0.000,0.045,3491,2196,3350
$GC,2055,1.03,78.2,47.7,12.2,378,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2197,3350
$GC,2184,1.03,78.2,32.0,12.3,402,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2197,3350
$GC,2248,1.03,78.2,24.3,12.1,414,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2197,3350
$GC,2312,1.03,78.2,17.0,11.0,426,2319,0.00,2.22,0.00,0.000,4,0.000,0.060,3491,3610,3351
$GC,2360,1.03,78.2,11.4,11.4,435,2368,0.00,2.12,0.00,0.000,6,0.000,0.037,3502,2190,3350
$GC,2430,1.13,158.6,6.1,3.1,448,2496,0.00,2.17,58.20,0.635,4,0.000,0.044,3512,807,3022
$GC,2601,1.26,259.7,5.6,1.3,479,2679,0.00,2.17,73.57,0.613,6,0.000,0.044,3512,2198,2611
$STATE,2681,end climb,SURFACE_DEPTH_REACHED
$STATE,2681,begin surface coast
$FINISH,3.9,1.018838
$STATE,2826,end surface coast,CONTROL_FINISHED_OK
$STATE,2826,begin surface
$SM_CCo,2840,212.38,0.597,0,0,1426,550.21
$SM_GC,2.16,0.00,0.00,212.38,0.000,0.000,0.597,132,2309,1426,-9.40,0.25,550.21
$IRIDIUM_FIX,4751.72,-12056.72,280298,010124
$TT8_MAMPS,0.049855
$HUMID,1509
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,42.1
$24V_AH,24.0,1.304
$10V_AH,10.6,0.550
$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,22.300,44.625,242.975,212.375,0.000,50.486,193.887,179.022,1.500,0.000,0.000,15.111,0.000,1425.494,567.080,1126.059,479.354,33.321,1031.582,0.000,948.945,0.000,5.516,0.000
$DEVICE_MAMPS,240.838,86.671,712.543,597.493,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.568,667.166,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25390,520
$CAP_FILE_SIZE,55572,0
$CFSIZE,260165632,258002944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,015645,4806.378,-12222.444,7,1.9,19,18.3