version: 66.04
glider: 160
mission: 2
dive: 7
start: 12 11 108 0 54 43
data:
$ID,160
$MISSION,2
$DIVE,7
$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,-6184.5337
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,004317,4807.391,-12223.303,11,99.0,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.8
$GPS2,005405,4807.325,-12223.314,14,99.0,33,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.189
$KALMAN_X,-166.6,-150.2,-65.6,328.0,41.8
$KALMAN_Y,82.7,5.0,17.7,-1523.6,-4.7
$MHEAD_RNG_PITCHd_Wd,133.2,717,-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,-97.8,0.0,0.0,0,84,0.00,0.00,-70.90,0.000,2,0.000,0.000,150,2356,2230
$GC,86,-0.84,-97.8,3.1,-5.8,12,157,8.65,2.28,-56.05,0.000,4,0.245,0.067,2345,934,3961
$GC,396,-0.84,-97.8,28.8,-13.0,69,403,0.00,2.33,0.00,0.000,6,0.000,0.069,2340,2347,3963
$GC,466,-0.84,-97.8,38.5,-14.5,82,472,0.00,2.30,0.00,0.000,4,0.000,0.059,2340,939,3963
$GC,550,-0.84,-97.8,50.9,-14.5,98,558,0.00,2.30,0.00,0.000,6,0.000,0.060,2339,2347,3963
$GC,685,-0.84,-97.8,70.2,-14.2,123,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2347,3963
$GC,813,-0.84,-97.8,88.4,-14.4,147,819,0.00,2.28,0.00,0.000,4,0.000,0.060,2339,943,3963
$GC,882,-0.84,-97.8,98.0,-12.6,160,889,0.00,2.30,0.00,0.000,6,0.000,0.060,2339,2356,3963
$STATE,918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,918,begin apogee
$GC,921,-0.17,0.0,103.0,12.6,167,993,0.70,0.00,67.65,0.737,6,0.153,0.000,2560,2356,3589
$STATE,994,end apogee,CONTROL_FINISHED_OK
$STATE,994,begin climb
$GC,995,0.84,97.8,106.1,0.0,180,1073,0.98,0.00,73.78,0.693,6,0.097,0.000,2888,2356,3189
$GC,1199,0.84,97.8,88.6,10.8,218,1207,0.00,2.35,0.00,0.000,4,0.000,0.065,2888,3760,3189
$GC,1242,0.84,97.8,83.7,11.6,226,1250,0.00,2.28,0.00,0.000,6,0.000,0.044,2895,2352,3189
$GC,1376,0.84,97.8,69.9,10.6,251,1383,0.00,2.28,0.00,0.000,4,0.000,0.057,2898,944,3189
$GC,1434,0.84,97.8,63.9,10.2,262,1442,0.00,2.28,0.00,0.000,6,0.000,0.049,2898,2354,3189
$GC,1568,0.84,97.8,50.2,10.2,287,1575,0.00,2.28,0.00,0.000,4,0.000,0.064,2898,3755,3189
$GC,1621,0.84,97.8,44.2,11.8,297,1628,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,2352,3189
$GC,1755,0.85,101.4,30.3,9.8,322,1762,0.00,0.00,4.55,0.500,6,0.000,0.000,2906,2351,3174
$GC,1825,0.85,102.9,23.3,9.9,335,1831,0.00,2.30,0.00,0.000,4,0.000,0.066,2905,3755,3174
$GC,1846,0.85,102.9,21.1,10.4,339,1853,0.00,2.22,0.00,0.000,6,0.000,0.045,2912,2349,3174
$GC,1916,0.85,102.9,13.8,10.3,352,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2349,3174
$GC,1979,0.87,118.7,7.8,8.9,364,1998,0.00,0.00,14.10,0.641,6,0.000,0.000,2912,2349,3103
$GC,2060,1.07,284.1,5.0,-1.4,379,2190,0.17,2.38,120.70,0.638,4,0.069,0.056,2986,946,2428
$STATE,2214,end climb,NO_VERTICAL_VELOCITY
$STATE,2214,begin surface
$SM_CCo,2215,367.52,0.606,0,0,490,760.18
$SM_GC,1.56,7.82,0.00,0.00,0.044,0.000,0.000,151,2360,486,-7.67,0.28,761.17
$IRIDIUM_FIX,4748.51,-12221.84,070398,000043
$TT8_MAMPS,0.050622
$HUMID,1507
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,41.4
$24V_AH,24.4,4.651
$10V_AH,10.7,1.676
$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,18.325,36.775,280.775,367.525,0.000,85.990,136.773,217.096,0.750,0.000,0.000,36.083,0.000,1193.379,734.478,905.825,500.251,33.314,1133.041,0.000,739.345,0.000,5.509,0.000
$DEVICE_MAMPS,244.673,69.030,737.087,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.408,217.175,510.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19115,406
$CAP_FILE_SIZE,48476,0
$CFSIZE,260165632,258437120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,014002,4807.066,-12223.043,10,2.0,15,18.3