version: 66.04
glider: 161
mission: 1
dive: 12
start: 12 4 108 4 57 37
data:
$ID,161
$MISSION,1
$DIVE,12
$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,-2588.3521
$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,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,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
$GPS1,045129,4806.119,-12222.172,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.8
$GPS2,045659,4806.096,-12222.161,12,99.0,31,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.161
$KALMAN_X,-224.9,-38.9,73.6,1912.0,-14.2
$KALMAN_Y,53.3,-0.8,-139.2,-3921.1,42.9
$MHEAD_RNG_PITCHd_Wd,307.8,4196,-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,-78.2,0.0,0.0,0,85,0.00,0.00,-71.07,0.000,2,0.000,0.000,136,2317,3236
$GC,86,-1.03,-78.2,3.1,-3.5,12,123,10.57,2.25,-20.62,0.000,4,0.242,0.087,2790,3699,3963
$GC,223,-1.03,-78.2,13.2,-6.2,37,230,0.00,2.15,0.00,0.000,6,0.000,0.047,2790,2327,3964
$GC,292,-1.03,-78.2,17.5,-6.2,50,299,0.00,2.25,0.00,0.000,4,0.000,0.072,2780,3697,3963
$GC,308,-1.03,-78.2,18.7,-7.5,53,315,0.00,2.17,0.00,0.000,6,0.000,0.046,2780,2305,3964
$GC,377,-1.03,-78.2,23.8,-7.3,66,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2305,3964
$GC,442,-1.03,-78.2,28.9,-8.3,78,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2305,3963
$GC,505,-1.03,-78.2,34.5,-9.1,90,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2305,3963
$GC,570,-1.03,-78.2,40.4,-9.6,102,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2305,3964
$GC,697,-1.03,-78.2,52.4,-9.1,126,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2305,3964
$GC,825,-1.03,-78.2,64.4,-9.0,150,833,0.00,2.25,0.00,0.000,4,0.000,0.072,2771,3691,3964
$GC,889,-1.03,-78.2,70.8,-10.3,162,897,0.10,2.17,0.00,0.000,6,0.172,0.047,2800,2293,3963
$GC,1024,-1.03,-78.2,82.3,-8.4,187,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2293,3963
$GC,1152,-1.03,-78.2,92.2,-7.8,211,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2293,3963
$GC,1280,-1.03,-78.2,101.4,-7.2,235,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2293,3964
$GC,1409,-1.03,-78.2,110.4,-6.5,259,1415,0.00,2.28,0.00,0.000,4,0.000,0.074,2791,3700,3963
$STATE,1460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1460,begin apogee
$GC,1465,-0.19,0.0,114.4,7.5,269,1521,0.90,0.00,52.72,0.710,6,0.159,0.000,3071,2195,3670
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1523,1.03,78.2,115.4,0.0,279,1584,1.10,0.00,58.03,0.673,6,0.081,0.000,3464,2195,3351
$GC,1710,1.03,78.2,93.3,14.6,314,1718,0.00,2.28,0.00,0.000,4,0.000,0.061,3465,3592,3350
$GC,1748,1.03,78.2,87.4,16.1,321,1755,0.00,2.15,0.00,0.000,6,0.000,0.038,3475,2195,3350
$GC,1881,1.03,78.2,69.6,12.4,346,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2194,3350
$GC,2009,1.03,78.2,53.7,11.7,370,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2194,3350
$GC,2138,1.03,78.2,37.6,12.3,394,2145,0.00,2.25,0.00,0.000,4,0.000,0.060,3475,3606,3350
$GC,2176,1.03,78.2,32.5,13.9,401,2183,0.00,2.12,0.00,0.000,6,0.000,0.037,3486,2198,3350
$GC,2245,1.03,78.2,24.2,11.5,414,2252,0.00,2.12,0.00,0.000,4,0.000,0.044,3496,802,3350
$GC,2277,1.03,78.2,20.3,11.8,420,2284,0.00,2.15,0.00,0.000,6,0.000,0.044,3496,2198,3350
$GC,2347,1.03,78.2,12.7,10.3,433,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2198,3350
$GC,2411,1.07,108.4,6.8,7.4,445,2442,0.00,2.17,22.70,0.640,4,0.000,0.044,3507,800,3228
$GC,2515,1.20,217.4,6.0,0.7,464,2598,0.00,2.17,78.75,0.617,6,0.000,0.044,3506,2202,2783
$GC,2661,1.36,343.9,4.5,-0.9,490,2716,0.20,0.00,52.70,0.598,2,0.072,0.000,3582,2202,2492
$STATE,2716,end climb,SURFACE_DEPTH_REACHED
$STATE,2717,begin surface coast
$FINISH,2.5,1.018007
$STATE,2890,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2890,begin surface
$SM_CCo,2904,191.80,0.596,0,0,1427,550.21
$SM_GC,1.68,0.00,0.00,191.80,0.000,0.000,0.596,133,2317,1427,-9.40,0.48,550.21
$IRIDIUM_FIX,4751.72,-12340.51,280298,040400
$TT8_MAMPS,0.049855
$HUMID,1521
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.1,44.2
$24V_AH,24.1,1.688
$10V_AH,10.6,0.750
$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,22.750,35.400,264.900,191.800,0.000,28.180,30.561,187.715,2.750,0.000,0.000,34.543,0.000,1418.933,525.671,1169.668,309.704,33.321,993.596,0.000,970.301,0.000,5.518,0.000
$DEVICE_MAMPS,242.372,86.671,710.242,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.466,675.685,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25419,532
$CAP_FILE_SIZE,57799,0
$CFSIZE,260165632,257871872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,055008,4806.265,-12222.291,37,0.9,37,18.3