version: 66.04
glider: 161
mission: 1
dive: 23
start: 12 4 108 16 14 0
data:
$ID,161
$MISSION,1
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,75
$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,30
$T_MISSION,35
$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,-2841.8794
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,160815,4807.736,-12223.707,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.1
$GPS2,161322,4807.739,-12223.706,9,3.1,28,18.3
$SPEED_LIMITS,0.144,0.184
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.151
$KALMAN_X,623.4,164.5,-10.0,-962.4,-51.2
$KALMAN_Y,-1073.0,-197.2,-30.7,329.1,49.9
$MHEAD_RNG_PITCHd_Wd,306.8,605,-20.9,-8.333
$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,-0.90,-78.2,0.0,0.0,0,102,0.00,0.00,-88.95,0.000,2,0.000,0.000,132,2332,3434
$GC,104,-0.90,-78.2,3.0,-2.2,15,140,10.73,2.33,-16.90,0.000,4,0.239,0.087,2838,3723,3964
$GC,170,-0.90,-78.2,6.7,-6.8,27,177,0.00,2.17,0.00,0.000,6,0.000,0.047,2838,2345,3965
$GC,240,-0.90,-78.2,11.7,-6.8,40,247,0.00,2.22,0.00,0.000,4,0.000,0.051,2838,923,3965
$GC,357,-0.90,-78.2,19.0,-6.6,62,365,0.00,2.22,0.00,0.000,6,0.000,0.055,2830,2318,3964
$GC,427,-0.90,-78.2,23.6,-7.1,75,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2318,3964
$GC,491,-0.90,-78.2,28.2,-7.1,87,498,0.00,2.30,0.00,0.000,4,0.000,0.073,2819,3728,3965
$GC,540,-0.90,-78.2,32.0,-8.2,96,547,0.08,2.17,0.00,0.000,6,0.156,0.048,2843,2328,3965
$GC,609,-0.90,-78.2,37.0,-6.8,109,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2328,3965
$GC,673,-0.90,-78.2,41.4,-7.0,121,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2328,3964
$GC,802,-0.90,-78.2,50.4,-7.1,145,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2328,3964
$GC,930,-0.90,-78.2,59.2,-6.9,169,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2328,3965
$STATE,1057,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1057,begin apogee
$GC,1060,-0.19,0.0,68.3,7.0,193,1116,0.70,0.00,52.83,0.672,6,0.142,0.000,3069,2220,3670
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1118,0.90,78.2,69.2,0.0,203,1179,1.00,0.00,57.67,0.637,6,0.084,0.000,3421,2220,3351
$GC,1305,0.90,78.2,52.7,11.1,238,1313,0.00,2.20,0.00,0.000,4,0.000,0.045,3431,815,3350
$GC,1365,0.90,78.2,46.2,11.0,249,1372,0.00,2.22,0.00,0.000,6,0.000,0.047,3431,2225,3350
$GC,1498,0.90,78.2,31.7,10.6,274,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2225,3350
$GC,1563,0.90,78.2,25.0,10.3,286,1569,0.00,2.25,0.00,0.000,4,0.000,0.061,3431,3635,3350
$GC,1637,0.90,78.2,16.7,11.1,300,1644,0.00,2.17,0.00,0.000,6,0.000,0.038,3442,2202,3350
$GC,1707,0.90,78.2,9.8,9.6,313,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2202,3350
$GC,1771,0.96,125.1,5.6,5.0,325,1814,0.00,2.15,34.60,0.624,4,0.000,0.044,3452,827,3158
$STATE,1848,end climb,SURFACE_DEPTH_REACHED
$STATE,1848,begin surface coast
$FINISH,3.6,1.021118
$STATE,1859,end surface coast,CONTROL_FINISHED_OK
$STATE,1859,begin surface
$SM_CCo,1875,348.60,0.585,0,0,1224,600.00
$SM_GC,1.36,0.00,0.00,348.60,0.000,0.000,0.585,130,2338,1224,-9.41,0.37,600.00
$IRIDIUM_FIX,4751.72,-12340.51,280298,151526
$TT8_MAMPS,0.049855
$HUMID,1506
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,18.70
$XPDR_PINGS,6
$24V_AH,24.0,2.883
$10V_AH,10.6,1.302
$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,21.950,26.950,145.100,348.600,0.000,23.137,29.451,174.276,1.500,0.000,0.000,31.106,0.000,872.855,595.826,782.215,278.194,33.321,911.953,0.000,636.414,0.000,0.535,0.000
$DEVICE_MAMPS,239.304,87.438,671.892,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.034,470.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15952,341
$CAP_FILE_SIZE,42390,0
$CFSIZE,260165632,257536000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,165153,4807.896,-12223.865,12,4.9,31,18.3