version: 66.04
glider: 160
mission: 1
dive: 6
start: 12 3 108 22 15 18
data:
$ID,160
$MISSION,1
$DIVE,6
$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,-4989.5415
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,221017,4807.814,-12223.707,11,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-76.8
$GPS2,221439,4807.787,-12223.693,10,1.5,10,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.168
$KALMAN_X,-243.1,-140.2,-47.0,268.3,-46.9
$KALMAN_Y,248.5,275.4,173.2,-1644.1,-49.4
$MHEAD_RNG_PITCHd_Wd,122.9,1691,-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,-97.8,0.0,0.0,0,56,0.00,0.00,-43.83,0.000,2,0.000,0.000,154,2192,2341
$GC,58,-0.84,-97.8,3.0,-1.5,8,123,8.65,2.33,-52.10,0.000,4,0.253,0.070,2275,784,3963
$GC,142,-0.84,-97.8,8.5,-10.6,24,149,0.00,2.30,0.00,0.000,6,0.000,0.054,2270,2197,3963
$GC,211,-0.84,-97.8,15.4,-10.0,37,218,0.00,2.33,0.00,0.000,4,0.000,0.064,2269,3607,3963
$GC,457,-0.84,-97.8,50.5,-15.7,83,464,0.00,2.25,0.00,0.000,6,0.000,0.048,2269,2200,3963
$GC,590,-0.84,-97.8,71.0,-14.8,108,597,0.00,2.33,0.00,0.000,4,0.000,0.068,2269,3607,3963
$GC,686,-0.84,-97.8,86.1,-15.1,126,693,0.00,2.22,0.00,0.000,6,0.000,0.048,2269,2206,3963
$GC,819,-0.84,-97.8,104.6,-14.4,151,826,0.00,2.30,0.00,0.000,4,0.000,0.069,2269,3606,3963
$STATE,828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,828,begin apogee
$GC,833,-0.17,0.0,105.9,13.3,153,907,0.73,0.00,67.62,0.695,6,0.158,0.000,2495,2197,3589
$STATE,907,end apogee,CONTROL_FINISHED_OK
$STATE,907,begin climb
$GC,908,0.84,97.8,109.0,0.0,167,987,0.95,0.00,73.78,0.680,6,0.088,0.000,2820,2197,3189
$GC,1114,0.84,97.8,84.6,14.8,206,1121,0.00,2.38,0.00,0.000,4,0.000,0.064,2820,3610,3189
$GC,1199,0.84,97.8,71.3,15.5,222,1206,0.00,2.30,0.00,0.000,6,0.000,0.048,2830,2196,3189
$GC,1332,0.84,97.8,52.7,13.5,247,1339,0.00,2.33,0.00,0.000,4,0.000,0.061,2830,3608,3189
$GC,1374,0.84,97.8,46.2,15.9,255,1381,0.00,2.25,0.00,0.000,6,0.000,0.045,2839,2201,3189
$GC,1508,0.84,97.8,27.8,13.2,280,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2200,3189
$GC,1571,0.84,97.8,19.5,13.1,292,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2201,3188
$GC,1635,0.84,97.8,11.6,12.2,304,1642,0.00,2.25,0.00,0.000,4,0.000,0.053,2850,783,3188
$GC,1661,0.84,97.8,8.8,10.5,309,1669,0.00,2.25,0.00,0.000,6,0.000,0.047,2850,2202,3189
$GC,1731,1.06,270.3,6.7,-1.9,322,1865,0.12,2.40,125.53,0.621,4,0.084,0.058,2901,3606,2485
$GC,1884,1.21,396.3,4.7,1.3,351,1961,0.08,2.30,72.28,0.601,2,0.070,0.042,2944,2197,2094
$STATE,1962,end climb,SURFACE_DEPTH_REACHED
$STATE,1962,begin surface coast
$FINISH,3.7,1.221098
$STATE,2017,end surface coast,CONTROL_FINISHED_OK
$STATE,2017,begin surface
$SM_CCo,2030,179.70,0.585,2,0,1142,600.00
$SM_GC,2.75,0.00,0.00,179.70,0.000,0.000,0.585,145,2196,1142,-7.53,-0.11,600.00
$IRIDIUM_FIX,4751.72,-12221.84,270298,212149
$TT8_MAMPS,0.051389
$HUMID,1563
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.3,40.7
$24V_AH,24.2,0.973
$10V_AH,10.7,0.690
$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,18.575,36.725,339.200,179.700,0.000,22.924,25.319,152.961,1.000,0.000,0.000,12.006,0.000,946.711,595.711,690.096,250.154,33.302,947.291,0.000,552.653,0.000,5.509,0.000
$DEVICE_MAMPS,253.110,69.797,694.902,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,248.023,202.387,285.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15933,376
$CAP_FILE_SIZE,42243,0
$CFSIZE,260165632,258490368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,031208,225335,4807.643,-12223.555,39,99.0,58,18.3