version: 66.04
glider: 160
mission: 2
dive: 12
start: 12 11 108 5 9 16
data:
$ID,160
$MISSION,2
$DIVE,12
$D_SURF,5
$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,0
$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,-6317.5527
$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,20
$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,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,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
$GPS1,050359,4805.995,-12221.805,9,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.5
$GPS2,050837,4805.914,-12221.730,11,1.4,27,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.121
$KALMAN_X,22.4,-2.0,149.5,1735.4,2.1
$KALMAN_Y,-531.9,-70.2,-100.0,-3331.1,-174.3
$MHEAD_RNG_PITCHd_Wd,296.2,370,-27.2,-10.000
$D_GRID,150
$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,-0.99,-63.1,0.0,0.0,0,67,0.00,0.00,-54.62,0.000,2,0.000,0.000,147,2358,1896
$GC,69,-1.02,-94.6,3.2,-6.7,9,140,8.40,0.00,-59.88,0.000,6,0.239,0.000,2287,2359,3963
$GC,202,-1.03,-97.8,9.0,-4.3,33,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2359,3963
$GC,267,-1.03,-97.8,15.8,-11.9,45,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2359,3963
$GC,330,-1.03,-97.8,23.9,-12.8,57,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2359,3963
$GC,395,-1.03,-97.8,32.8,-15.0,69,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2359,3963
$GC,458,-1.03,-97.8,42.9,-16.2,81,465,0.00,2.30,0.00,0.000,4,0.000,0.056,2287,938,3964
$GC,490,-1.03,-97.8,48.2,-17.3,87,496,0.00,2.30,0.00,0.000,6,0.000,0.059,2284,2348,3964
$GC,623,-1.03,-97.8,71.0,-16.5,112,630,0.00,2.30,0.00,0.000,4,0.000,0.058,2283,934,3964
$GC,679,-1.03,-97.8,80.2,-17.3,122,685,0.00,2.33,0.00,0.000,6,0.000,0.061,2283,2355,3964
$GC,812,-1.03,-97.8,102.8,-15.6,147,818,0.00,2.28,0.00,0.000,4,0.000,0.057,2283,944,3964
$STATE,868,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,868,begin apogee
$GC,873,-0.17,0.0,112.4,16.0,158,946,0.93,0.00,67.78,0.730,6,0.173,0.000,2562,2357,3589
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,947,1.03,97.8,116.2,0.0,171,1027,1.15,2.45,73.50,0.692,4,0.100,0.064,2948,3762,3190
$GC,1062,1.03,97.8,105.1,14.7,192,1070,0.00,2.33,0.00,0.000,6,0.000,0.043,2956,2354,3190
$GC,1196,1.03,97.8,86.8,12.8,217,1203,0.00,2.33,0.00,0.000,4,0.000,0.056,2960,932,3189
$GC,1249,1.03,97.8,79.7,13.4,227,1256,0.00,2.33,0.00,0.000,6,0.000,0.052,2960,2356,3189
$GC,1382,1.03,97.8,62.1,13.5,252,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2356,3189
$GC,1510,1.03,97.8,45.6,12.7,276,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2355,3189
$GC,1639,1.03,97.8,29.3,12.3,300,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2355,3189
$GC,1703,1.03,97.8,21.3,12.2,312,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2355,3189
$GC,1768,1.03,97.8,13.6,11.8,324,1774,0.00,2.28,0.00,0.000,4,0.000,0.053,2963,936,3189
$GC,1778,1.03,97.8,12.4,11.6,326,1785,0.00,2.25,0.00,0.000,6,0.000,0.050,2963,2347,3189
$GC,1848,1.03,97.8,5.1,11.5,339,1854,0.00,2.28,0.00,0.000,4,0.000,0.059,2963,941,3188
$GC,1906,1.17,210.2,6.8,-2.0,350,1995,0.08,2.25,81.20,0.650,6,0.072,0.048,3004,2354,2732
$GC,2058,1.28,302.5,6.0,0.2,377,2135,0.00,2.42,68.85,0.627,4,0.000,0.065,3004,3759,2355
$STATE,2175,end climb,NO_VERTICAL_VELOCITY
$STATE,2175,begin surface
$SM_CCo,2176,353.73,0.603,0,0,489,760.18
$SM_GC,1.39,7.90,0.00,0.00,0.044,0.000,0.000,148,2345,485,-7.68,-0.14,761.41
$IRIDIUM_FIX,4751.72,-12221.84,070398,040428
$TT8_MAMPS,0.049855
$HUMID,1482
$INTERNAL_PRESSURE,9.20344
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,41.6
$24V_AH,24.4,5.281
$10V_AH,10.7,1.888
$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,18.450,37.125,291.325,353.725,0.000,30.835,25.948,146.384,1.000,0.000,0.000,29.729,0.000,1053.423,709.898,890.069,259.211,33.326,1101.619,0.000,728.462,0.000,5.514,0.000
$DEVICE_MAMPS,239.304,65.195,730.184,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.414,216.116,508.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19077,398
$CAP_FILE_SIZE,46056,0
$CFSIZE,260165632,258293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,055339,4805.947,-12221.829,12,1.9,12,18.3