version: 66.04
glider: 161
mission: 1
dive: 22
start: 12 4 108 15 15 16
data:
$ID,161
$MISSION,1
$DIVE,22
$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,-2810.1458
$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,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
$GPS1,150933,4807.479,-12223.505,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.4
$GPS2,151438,4807.471,-12223.499,12,1.4,12,18.3
$SPEED_LIMITS,0.140,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.161
$KALMAN_X,597.9,198.3,27.0,-750.6,-74.8
$KALMAN_Y,-1089.2,-234.5,-56.9,-87.1,49.0
$MHEAD_RNG_PITCHd_Wd,314.0,1160,-20.3,-8.065
$D_GRID,103
$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,-78.2,0.0,0.0,0,132,0.00,0.00,-117.93,0.000,2,0.000,0.000,132,2330,3431
$GC,133,-0.88,-78.2,3.3,-2.8,20,163,10.82,0.00,-15.62,0.000,6,0.244,0.000,2851,2330,3963
$GC,226,-0.88,-78.2,9.1,-6.8,37,233,0.00,2.20,0.00,0.000,4,0.000,0.051,2851,937,3965
$GC,413,-0.88,-78.2,20.2,-6.6,72,420,0.00,2.20,0.00,0.000,6,0.000,0.057,2845,2319,3965
$GC,482,-0.88,-78.2,24.6,-6.4,85,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2319,3965
$GC,546,-0.88,-78.2,28.9,-6.6,97,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2319,3965
$GC,610,-0.88,-78.2,33.3,-7.0,109,617,0.00,2.30,0.00,0.000,4,0.000,0.074,2834,3733,3964
$GC,669,-0.88,-78.2,37.9,-7.9,120,676,0.00,2.17,0.00,0.000,6,0.000,0.048,2835,2334,3965
$GC,739,-0.88,-78.2,43.1,-7.6,133,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3965
$GC,867,-0.88,-78.2,52.4,-7.3,157,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3965
$GC,995,-0.88,-78.2,61.2,-6.8,181,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3965
$GC,1123,-0.88,-78.2,70.5,-7.3,205,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3965
$GC,1251,-0.88,-78.2,79.5,-7.1,229,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3964
$GC,1379,-0.88,-78.2,88.0,-6.3,253,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2334,3965
$GC,1507,-0.88,-78.2,96.2,-6.2,277,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2334,3965
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1617,begin apogee
$GC,1620,-0.19,0.0,103.2,5.9,298,1676,0.73,0.00,52.90,0.697,6,0.137,0.000,3070,2226,3670
$STATE,1677,end apogee,CONTROL_FINISHED_OK
$STATE,1677,begin climb
$GC,1678,0.88,78.2,103.7,0.0,308,1745,0.98,2.28,58.05,0.663,4,0.078,0.046,3430,815,3350
$GC,1781,0.88,78.2,95.3,11.1,327,1788,0.00,2.28,0.00,0.000,6,0.000,0.047,3430,2230,3350
$GC,1914,0.88,78.2,79.1,12.2,352,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2230,3350
$GC,2042,0.88,78.2,64.3,11.4,376,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2230,3350
$GC,2171,0.88,78.2,50.1,11.5,400,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2230,3350
$GC,2299,0.88,78.2,36.4,10.5,424,2306,0.00,2.17,0.00,0.000,4,0.000,0.044,3440,812,3350
$GC,2337,0.88,78.2,32.4,10.7,431,2344,0.00,2.20,0.00,0.000,6,0.000,0.046,3440,2227,3350
$GC,2406,0.88,78.2,24.8,11.0,444,2413,0.00,2.22,0.00,0.000,4,0.000,0.061,3440,3635,3350
$GC,2460,0.88,78.2,18.8,11.1,454,2467,0.00,2.15,0.00,0.000,6,0.000,0.036,3452,2204,3350
$GC,2529,0.88,78.2,11.8,9.6,467,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2204,3350
$GC,2593,0.90,95.3,6.8,6.9,479,2612,0.00,0.00,13.77,0.634,6,0.000,0.000,3452,2204,3281
$GC,2675,1.04,212.3,6.1,-0.1,494,2754,0.00,0.00,76.85,0.614,2,0.000,0.000,3451,2204,2849
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,3.0,1.019339
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2857,293.88,0.585,0,0,1224,600.00
$SM_GC,1.48,0.00,0.00,293.88,0.000,0.000,0.585,131,2332,1224,-9.40,0.20,600.00
$IRIDIUM_FIX,4751.72,-12340.51,280298,141452
$TT8_MAMPS,0.049855
$HUMID,1497
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,18.70
$XPDR_PINGS,9
$24V_AH,24.0,2.786
$10V_AH,10.6,1.264
$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,22.000,22.500,201.575,293.875,0.000,29.720,27.051,185.318,2.250,0.000,0.000,14.222,0.000,1428.278,597.811,1126.203,301.877,33.323,1049.710,0.000,953.264,0.000,0.536,0.000
$DEVICE_MAMPS,243.906,73.632,697.203,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.804,658.383,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22202,524
$CAP_FILE_SIZE,54705,0
$CFSIZE,260165632,257548288
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,160815,4807.736,-12223.707,10,1.5,10,18.3