version: 66.04
glider: 160
mission: 2
dive: 5
start: 12 10 108 23 4 8
data:
$ID,160
$MISSION,2
$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,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,620
$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,-6134.7012
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2625
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$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,4
$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,-23.364115
$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,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,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
$GPS1,225723,4807.816,-12223.661,9,3.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.8
$GPS2,230329,4807.815,-12223.677,11,3.1,30,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.193
$KALMAN_X,-172.8,-144.1,-100.3,-84.0,-12.2
$KALMAN_Y,141.7,29.1,-2.8,-683.6,62.2
$MHEAD_RNG_PITCHd_Wd,135.2,1727,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,56,0.00,0.00,-42.67,0.000,2,0.000,0.000,148,2354,2135
$GC,57,-0.84,-97.8,3.2,-7.0,7,129,8.90,2.40,-58.22,0.000,4,0.252,0.087,2339,3762,3962
$GC,132,-0.84,-97.8,6.6,-6.4,20,139,0.00,2.30,0.00,0.000,6,0.000,0.050,2339,2347,3963
$GC,202,-0.84,-97.8,12.8,-7.6,33,209,0.00,2.28,0.00,0.000,4,0.000,0.057,2339,944,3963
$GC,448,-0.84,-97.8,40.6,-14.6,79,454,0.00,2.30,0.00,0.000,6,0.000,0.066,2339,2349,3963
$GC,581,-0.84,-97.8,59.7,-14.5,104,588,0.00,2.28,0.00,0.000,4,0.000,0.056,2338,942,3963
$GC,779,-0.84,-97.8,88.5,-14.9,141,785,0.00,2.30,0.00,0.000,6,0.000,0.059,2339,2355,3963
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,902,-0.17,0.0,105.1,13.5,164,975,0.70,0.00,67.65,0.731,6,0.152,0.000,2562,2355,3589
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,977,0.84,97.8,108.5,0.0,177,1056,0.98,2.45,73.65,0.691,4,0.096,0.064,2892,3762,3190
$GC,1087,0.84,97.8,100.4,11.7,197,1093,0.00,2.33,0.00,0.000,6,0.000,0.044,2900,2352,3189
$GC,1219,0.84,97.8,85.3,11.1,222,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2351,3189
$GC,1348,0.84,97.8,71.7,10.3,246,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2351,3189
$GC,1476,0.84,97.8,58.1,10.7,270,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2351,3189
$GC,1605,0.84,97.8,44.2,11.1,294,1612,0.00,2.33,0.00,0.000,4,0.000,0.068,2901,3759,3189
$GC,1648,0.84,97.8,39.3,11.4,302,1655,0.00,2.22,0.00,0.000,6,0.000,0.044,2906,2351,3189
$GC,1718,0.85,102.1,32.0,9.7,315,1730,0.00,2.28,4.88,0.520,4,0.000,0.056,2906,940,3172
$GC,1756,0.85,104.2,28.3,9.9,322,1763,0.00,2.28,0.00,0.000,6,0.000,0.049,2906,2357,3172
$GC,1825,0.85,104.2,20.9,10.8,335,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2357,3172
$GC,1890,0.85,105.2,14.5,9.9,347,1897,0.00,0.00,4.20,0.476,6,0.000,0.000,2906,2357,3159
$GC,1959,0.87,122.9,8.3,8.8,360,1978,0.00,0.00,14.20,0.638,6,0.000,0.000,2906,2357,3087
$GC,2040,1.07,281.8,5.1,-0.9,375,2164,0.17,2.42,115.65,0.635,4,0.067,0.057,2978,941,2438
$STATE,2167,end climb,NO_VERTICAL_VELOCITY
$STATE,2167,begin surface
$SM_CCo,2169,368.58,0.603,0,0,490,760.18
$SM_GC,1.62,7.80,0.00,0.00,0.044,0.000,0.000,145,2355,486,-7.69,0.14,761.17
$IRIDIUM_FIX,4748.51,-12237.92,060398,222203
$TT8_MAMPS,0.050622
$HUMID,1496
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,17.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.7,40.6
$24V_AH,24.4,4.381
$10V_AH,10.7,1.584
$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,18.550,32.575,280.225,368.575,0.000,29.371,25.325,225.786,1.500,0.000,0.000,33.403,0.000,1079.094,704.169,885.114,337.660,33.304,1085.725,0.000,721.327,0.000,5.508,0.000
$DEVICE_MAMPS,251.576,87.438,730.951,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.114,209.172,493.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19148,397
$CAP_FILE_SIZE,46237,0
$CFSIZE,260165632,258494464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,234901,4807.670,-12223.502,30,1.4,35,18.3