version: 66.04
glider: 160
mission: 1
dive: 5
start: 12 3 108 21 33 6
data:
$ID,160
$MISSION,1
$DIVE,5
$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,70
$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,100
$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,-4976.9053
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2555
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$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,-23.342426
$PRESSURE_SLOPE,0.000115925
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$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,0.004341932
$SEABIRD_T_H,0.00063318753
$SEABIRD_T_I,2.3343002e-05
$SEABIRD_T_J,2.4016158e-06
$SEABIRD_C_G,-9.9320574
$SEABIRD_C_H,1.1090317
$SEABIRD_C_I,-0.00091700396
$SEABIRD_C_J,0.00016420601
$GPS1,211738,4808.029,-12223.790,7,1.3,7,18.3
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.9
$GPS2,213227,4807.945,-12223.780,15,1.3,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.184
$KALMAN_X,-156.9,-102.8,-57.3,47.4,-26.9
$KALMAN_Y,211.9,218.9,193.3,-1271.6,2.5
$MHEAD_RNG_PITCHd_Wd,130.1,1999,-21.7,-10.000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,98,0.00,0.00,-85.38,0.000,2,0.000,0.000,151,2008,2698
$GC,100,-0.84,-97.8,3.2,-2.5,16,154,8.48,2.00,-41.28,0.000,4,0.247,0.072,2277,784,3963
$GC,179,-0.84,-97.8,8.5,-10.0,31,186,0.00,2.30,0.00,0.000,6,0.000,0.054,2270,2202,3963
$GC,248,-0.84,-97.8,15.5,-11.0,44,255,0.00,2.33,0.00,0.000,4,0.000,0.066,2263,3611,3963
$GC,493,-0.84,-97.8,51.4,-15.6,90,501,0.00,2.22,0.00,0.000,6,0.000,0.048,2263,2207,3963
$GC,627,-0.84,-97.8,71.9,-15.1,115,634,0.00,2.30,0.00,0.000,4,0.000,0.067,2262,3606,3963
$GC,776,-0.84,-97.8,95.2,-14.8,143,783,0.00,2.22,0.00,0.000,6,0.000,0.048,2262,2207,3963
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,852,-0.17,0.0,105.7,14.0,157,926,0.73,0.00,67.62,0.704,6,0.156,0.000,2490,2204,3590
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,928,0.84,97.8,108.4,0.0,171,1008,0.98,2.45,74.20,0.690,4,0.091,0.064,2823,3610,3190
$GC,1043,0.84,97.8,96.7,15.6,193,1051,0.00,2.33,0.00,0.000,6,0.000,0.049,2832,2205,3189
$GC,1177,0.84,97.8,75.9,14.3,218,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2205,3189
$GC,1305,0.84,97.8,57.9,14.4,242,1312,0.00,2.30,0.00,0.000,4,0.000,0.061,2833,3604,3189
$GC,1353,0.84,97.8,50.8,14.9,251,1360,0.00,2.25,0.00,0.000,6,0.000,0.044,2842,2195,3189
$GC,1486,0.84,97.8,31.8,13.8,276,1493,0.00,2.30,0.00,0.000,4,0.000,0.062,2842,3606,3189
$GC,1501,0.84,97.8,29.5,14.2,279,1509,0.00,2.22,0.00,0.000,6,0.000,0.045,2852,2210,3189
$GC,1571,0.84,97.8,20.1,13.1,292,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2209,3189
$GC,1635,0.84,97.8,11.8,12.7,304,1642,0.00,2.25,0.00,0.000,4,0.000,0.053,2862,789,3189
$GC,1677,0.84,97.8,6.6,12.3,312,1684,0.10,2.25,0.00,0.000,6,0.185,0.048,2833,2203,3189
$GC,1746,1.07,280.9,6.4,-2.6,325,1886,0.20,2.35,133.20,0.627,4,0.073,0.058,2910,3608,2443
$GC,1895,1.23,413.8,4.6,0.9,353,1951,0.00,2.33,51.55,0.597,2,0.000,0.042,2918,2193,2166
$STATE,1951,end climb,SURFACE_DEPTH_REACHED
$STATE,1951,begin surface coast
$FINISH,3.7,1.220265
$STATE,1996,end surface coast,CONTROL_FINISHED_OK
$STATE,1996,begin surface
$SM_CCo,2009,190.12,0.596,0,0,1141,600.00
$SM_GC,2.72,0.00,0.00,190.12,0.000,0.000,0.596,154,2192,1141,-7.50,-0.23,600.00
$IRIDIUM_FIX,4748.51,-12224.57,270298,212121
$TT8_MAMPS,0.052156
$HUMID,1554
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.4,34.0
$24V_AH,24.2,0.870
$10V_AH,10.7,0.664
$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,18.425,36.400,326.575,190.125,0.000,85.581,150.856,458.589,1.250,0.000,0.000,17.621,0.000,1038.346,607.860,691.020,753.379,33.303,959.880,0.000,547.049,0.000,9.824,0.000
$DEVICE_MAMPS,246.974,72.098,704.106,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,244.864,199.153,283.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15914,372
$CAP_FILE_SIZE,49962,0
$CFSIZE,260165632,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,031208,221017,4807.814,-12223.707,11,1.6,14,18.3