version: 66.04
glider: 161
mission: 1
dive: 7
start: 12 4 108 0 3 16
data:
$ID,161
$MISSION,1
$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,80
$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,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,-2473.6782
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3670
$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,-19.491602
$PRESSURE_SLOPE,0.0001162844
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043144668
$SEABIRD_T_H,0.00063067116
$SEABIRD_T_I,2.3331902e-05
$SEABIRD_T_J,2.4048572e-06
$SEABIRD_C_G,-9.9688005
$SEABIRD_C_H,1.1159369
$SEABIRD_C_I,-0.00065751909
$SEABIRD_C_J,0.00014078162
$GPS1,235102,4807.050,-12223.023,11,2.0,28,18.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-75.8
$GPS2,000237,4806.935,-12222.924,41,0.8,41,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,-0.160
$KALMAN_X,-112.6,-136.1,-55.2,1085.1,78.1
$KALMAN_Y,25.4,134.9,61.7,-2679.2,-126.0
$MHEAD_RNG_PITCHd_Wd,127.7,2075,-24.4,-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,-1.03,-78.2,0.0,0.0,0,55,0.00,0.00,-42.62,0.000,2,0.000,0.000,134,2316,2573
$GC,56,-1.03,-78.2,3.2,-3.4,7,116,10.45,2.25,-44.83,0.000,4,0.238,0.066,2799,908,3963
$GC,355,-1.03,-78.2,16.5,-6.6,62,362,0.00,2.17,0.00,0.000,6,0.000,0.056,2791,2279,3963
$GC,425,-1.03,-78.2,22.1,-8.7,75,432,0.00,2.15,0.00,0.000,4,0.000,0.051,2791,903,3963
$GC,670,-1.03,-78.2,45.8,-10.0,121,677,0.00,2.20,0.00,0.000,6,0.000,0.056,2782,2298,3964
$GC,803,-1.03,-78.2,59.0,-10.8,146,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2299,3964
$GC,932,-1.03,-78.2,71.4,-10.0,170,939,0.00,2.28,0.00,0.000,4,0.000,0.074,2772,3708,3964
$GC,1002,-1.03,-78.2,78.4,-9.9,183,1008,0.10,2.15,0.00,0.000,6,0.173,0.048,2801,2310,3964
$GC,1134,-1.03,-78.2,89.5,-7.9,208,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2311,3964
$GC,1263,-1.03,-78.2,99.1,-7.3,232,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2311,3964
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1345,-0.19,0.0,105.1,7.8,247,1401,0.82,0.00,52.80,0.706,6,0.146,0.000,3068,2205,3669
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1403,1.03,78.2,106.0,0.0,257,1464,1.12,0.00,58.00,0.672,6,0.083,0.000,3467,2205,3351
$GC,1590,1.03,78.2,85.9,12.8,292,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2205,3351
$GC,1719,1.03,78.2,69.8,11.6,316,1726,0.00,2.20,0.00,0.000,4,0.000,0.047,3477,789,3350
$GC,1772,1.03,78.2,63.5,11.6,326,1780,0.00,2.22,0.00,0.000,6,0.000,0.047,3477,2204,3350
$GC,1906,1.03,78.2,47.3,12.0,351,1913,0.00,2.22,0.00,0.000,4,0.000,0.061,3477,3608,3350
$GC,1932,1.03,78.2,43.9,13.2,356,1940,0.00,2.17,0.00,0.000,6,0.000,0.038,3489,2178,3350
$GC,2066,1.03,78.2,27.9,12.0,381,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2178,3350
$GC,2131,1.03,78.2,20.4,11.3,393,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2178,3350
$GC,2194,1.04,81.3,13.6,9.7,405,2201,0.00,0.00,4.00,0.459,6,0.000,0.000,3488,2178,3338
$GC,2264,1.06,95.6,7.3,8.8,418,2283,0.00,2.12,11.95,0.632,4,0.000,0.046,3498,805,3279
$STATE,2489,end climb,NO_VERTICAL_VELOCITY
$STATE,2489,begin surface
$SM_CCo,2490,510.70,0.594,0,0,500,777.60
$SM_GC,1.36,9.27,0.00,0.00,0.044,0.000,0.000,131,2297,497,-9.34,-0.06,778.34
$IRIDIUM_FIX,4751.72,-12340.51,280298,000003
$TT8_MAMPS,0.050622
$HUMID,1515
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.4,42.1
$24V_AH,24.5,1.201
$10V_AH,10.7,0.498
$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,21.775,26.750,126.750,510.700,0.000,55.002,174.444,308.265,2.500,0.000,0.000,43.463,0.000,1445.424,733.353,1026.296,594.725,33.312,1110.889,0.000,837.015,0.000,5.515,0.000
$DEVICE_MAMPS,237.770,73.632,706.407,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.913,581.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22171,460
$CAP_FILE_SIZE,52508,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,005532,4806.718,-12222.694,8,1.0,13,18.3