version: 66.04
glider: 160
mission: 2
dive: 3
start: 12 10 108 21 13 21
data:
$ID,160
$MISSION,2
$DIVE,3
$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,-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,550
$N_FILEKB,8
$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,-6052.4053
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2600
$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,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$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,3
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-23.364115
$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,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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,210907,4808.081,-12223.926,7,2.0,23,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.6
$GPS2,211245,4808.083,-12223.937,10,2.0,10,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.170
$KALMAN_X,-84.0,-75.8,-73.8,-590.3,-64.3
$KALMAN_Y,-4.6,-16.7,-18.1,18.0,-11.5
$MHEAD_RNG_PITCHd_Wd,123.7,2317,-21.7,-10.000
$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,12,-0.84,-97.8,0.0,0.0,0,79,0.00,0.00,-65.50,0.000,2,0.000,0.000,149,2211,2089
$GC,80,-0.84,-97.8,3.2,-6.5,11,152,8.60,2.35,-58.47,0.000,4,0.249,0.089,2323,3605,3962
$GC,391,-0.84,-97.8,29.5,-14.3,68,398,0.00,2.25,0.00,0.000,6,0.000,0.050,2324,2196,3964
$GC,461,-0.84,-97.8,39.5,-14.9,81,467,0.00,2.35,0.00,0.000,4,0.000,0.073,2324,3609,3964
$GC,706,-0.84,-97.8,78.0,-15.4,127,713,0.00,2.25,0.00,0.000,6,0.000,0.052,2324,2198,3964
$GC,839,-0.84,-97.8,97.6,-14.6,152,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2196,3964
$STATE,881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,881,begin apogee
$GC,884,-0.17,0.0,103.6,13.6,160,956,0.68,0.00,67.75,0.745,6,0.150,0.000,2538,2194,3589
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,958,0.84,97.8,107.4,0.0,173,1036,0.98,0.00,73.53,0.700,6,0.103,0.000,2863,2194,3189
$GC,1163,0.85,101.5,91.3,9.7,211,1176,0.00,2.42,4.50,0.505,4,0.000,0.067,2862,3613,3175
$GC,1200,0.85,101.5,87.5,10.1,218,1208,0.00,2.30,0.00,0.000,6,0.000,0.050,2869,2207,3175
$GC,1335,0.86,112.3,75.0,9.3,243,1348,0.00,2.38,9.70,0.640,4,0.000,0.067,2869,3608,3130
$GC,1426,0.86,112.3,65.2,11.1,260,1434,0.00,2.28,0.00,0.000,6,0.000,0.048,2869,2197,3130
$GC,1561,0.87,118.9,52.7,9.5,285,1573,0.00,0.00,6.53,0.588,6,0.000,0.000,2869,2197,3104
$GC,1700,0.88,123.2,39.3,9.7,311,1708,0.00,2.38,4.88,0.528,4,0.000,0.067,2869,3613,3086
$GC,1755,0.88,123.2,33.6,10.3,321,1761,0.00,2.28,0.00,0.000,6,0.000,0.050,2869,2199,3086
$GC,1824,0.89,133.9,27.0,9.3,334,1838,0.00,2.35,9.38,0.629,4,0.000,0.061,2869,778,3042
$GC,1874,0.90,140.1,22.4,9.6,343,1887,0.00,2.30,6.50,0.577,6,0.000,0.052,2869,2201,3017
$GC,1950,0.90,140.4,15.2,10.0,357,1956,0.00,2.30,0.00,0.000,4,0.000,0.064,2869,3607,3016
$GC,1987,0.90,140.4,11.3,10.7,364,1994,0.00,2.25,0.00,0.000,6,0.000,0.048,2869,2204,3017
$GC,2057,0.94,171.9,5.4,7.8,377,2087,0.00,2.35,24.05,0.660,4,0.000,0.062,2869,786,2887
$GC,2096,1.09,299.8,4.5,1.2,384,2197,0.20,2.33,94.45,0.630,6,0.048,0.053,2962,2204,2366
$STATE,2221,end climb,NO_VERTICAL_VELOCITY
$STATE,2221,begin surface
$SM_CCo,2222,354.88,0.607,0,0,489,760.18
$SM_GC,1.51,7.72,0.00,0.00,0.041,0.000,0.000,145,2206,486,-7.61,0.14,761.17
$IRIDIUM_FIX,4748.51,-12226.29,060398,212112
$TT8_MAMPS,0.051389
$HUMID,1524
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,24.5,4.126
$10V_AH,10.7,1.492
$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,18.175,37.100,301.250,354.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,11.952,0.000,1080.482,725.139,876.032,36.416,31.402,1124.531,0.000,737.661,0.000,0.537,0.000
$DEVICE_MAMPS,249.275,88.972,744.757,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.343,215.825,504.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19102,406
$CAP_FILE_SIZE,55004,0
$CFSIZE,260165632,258539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,215844,4807.972,-12223.806,10,1.5,27,18.3